translation=np.array([-0.3, 0.0, 0.0]),
from_frame='camera',
to_frame='world')
# Create a VirtualCamera
camera = VirtualCamera(ci, cp)
# Add the camera to the scene
scene.camera = camera
#====================================
# Render images
#====================================
# Render raw numpy arrays containing color and depth
color_image_raw, depth_image_raw = scene.render(render_color=True)
# Alternatively, just render a depth image
depth_image_raw = scene.render(render_color=False)
# Alternatively, collect wrapped images
wrapped_color, wrapped_depth, wrapped_segmask = scene.wrapped_render(
[RenderMode.COLOR, RenderMode.DEPTH, RenderMode.SEGMASK])
wrapped_color.save('output/color.jpg')
wrapped_depth.save('output/depth.jpg')
# Test random variables
cfg = {
'focal_length': {
'min': 520,
class Generator:
def __init__(self):
DATASET_DIR = pt.abspath('.')
OUTPUT_DIR = pt.abspath('./data')
self.sampler = ModelSampler(DATASET_DIR)
self.scene = Scene()
self.local_scene = Scene()
self.grip_scene = Scene()
self.dataset_dir = DATASET_DIR
self.output_dir = OUTPUT_DIR
self.image_dir = 'color-input-synth'
self.depth_dir = 'depth-input-synth'
self.seg_dir = 'label-synth'
clear_dir(pt.join(self.output_dir, self.image_dir))
clear_dir(pt.join(self.output_dir, self.depth_dir))
clear_dir(pt.join(self.output_dir, self.seg_dir))
ci = CameraIntrinsics(frame='camera',
fx=617.0,
fy=617.0,
cx=320.0,
cy=240.0,
skew=0.0,
height=480,
width=640)
# Set up the camera pose (z axis faces away from scene, x to right, y up)
cp1 = RigidTransform(rotation=trimesh.transformations.rotation_matrix(
np.deg2rad(-30), [1, 0, 0])[:3, :3]
@ trimesh.transformations.rotation_matrix(
np.deg2rad(180), [0, 1, 0])[:3, :3],
translation=np.array([0.0, 0.75, 1.0]),
from_frame='camera',
to_frame='world')
cp2 = RigidTransform(rotation=trimesh.transformations.rotation_matrix(
np.deg2rad(37), [1, 0, 0])[:3, :3],
translation=np.array([0.0, 0.0, 1.0]),
from_frame='camera',
to_frame='world')
camera1 = VirtualCamera(ci, cp1)
camera2 = VirtualCamera(ci, cp2)
# Add the camera to the scene
self.scene.camera = camera1
self.local_scene.camera = camera1
self.grip_scene.camera = camera1
def clear_scene(self, scene):
obj_names = scene.objects.keys()
light_names = scene.lights.keys()
for obj_name in list(obj_names):
scene.remove_object(obj_name)
for light_name in list(light_names):
scene.remove_light(light_name)
def save_sample(self, idx, color, depth, segmask):
image_filename = pt.join(self.output_dir, self.image_dir,
'{:05d}.png'.format(idx))
depth_filename = pt.join(self.output_dir, self.depth_dir,
'{:05d}.png'.format(idx))
seg_filename = pt.join(self.output_dir, self.seg_dir,
'{:05d}.png'.format(idx))
cv.imwrite(image_filename, color.data)
cv.imwrite(depth_filename,
(10000 * depth.data).astype(np.uint16)) #in 0.1mm
cv.imwrite(seg_filename, segmask)
def process_depths(self, depths, grip_depths):
'''Process raw depths to generate true segmask
'''
assert (len(depths) > 0)
self.depths = depths
self.grip_depths = grip_depths
ds = np.sum(np.stack(depths), axis=0)
gds = np.sum(np.stack(grip_depths), axis=0)
ds[ds == 0.0] = 255
ds[ds != 255] = 0
ds[gds != 0] = 1
ds = ds.astype(np.uint8)
return ds
def generate_scene(self):
depths = []
grip_depths = []
self.scene.add_object('ground', self.sampler.sample_ground_obj())
for model_obj, grip_obj, model_name in self.sampler.sample_scene_objs(
):
self.scene.add_object(model_name, model_obj)
self.local_scene.add_object(model_name, model_obj)
self.grip_scene.add_object(model_name, grip_obj)
depth = self.local_scene.render(render_color=False)
depth_grip = self.grip_scene.render(render_color=False)
depths.append(depth)
grip_depths.append(depth_grip)
self.clear_scene(self.local_scene)
self.clear_scene(self.grip_scene)
# Create an ambient light
#self.depths = depths
ambient = self.sampler.sample_ambient_light()
self.scene.ambient_light = ambient # only one ambient light per scene
directional_lights = self.sampler.sample_direc_lights()
for i, directional_light in enumerate(directional_lights):
self.scene.add_light('direc_{}'.format(i), directional_light)
return self.process_depths(depths, grip_depths)
def prepare_batch(self, num=3):
#if dir exist data will be replaced!
imdir = pt.join(self.output_dir, self.image_dir)
dpdir = pt.join(self.output_dir, self.depth_dir)
segdir = pt.join(self.output_dir, self.seg_dir)
clear_dir(imdir)
clear_dir(dpdir)
clear_dir(segdir)
for i in range(num):
segmask = self.generate_scene()
wrapped_color, wrapped_depth = self.scene.wrapped_render(
[RenderMode.COLOR, RenderMode.DEPTH])
self.save_sample(i, wrapped_color, wrapped_depth, segmask)
self.clear_scene(self.scene)