def _load_room(node: dict, metadata: dict, material_adjustments: list,
transform: Matrix, house_id: str, parent: MeshObject,
room_per_object: dict,
label_mapping: LabelIdMapping) -> List[MeshObject]:
""" Load the room specified in the given node.
:param node: The node dict which contains information from house.json..
:param metadata: A dict of metadata which will be written into the object's custom data.
:param material_adjustments: Adjustments to the materials which were specified inside house.json.
:param transform: The transformation that should be applied to the loaded objects.
:param house_id: The id of the current house.
:param parent: The parent object to which the room should be linked
:param room_per_object: A dict for object -> room lookup (Will be written into)
:return: The list of loaded mesh objects.
"""
# Build empty room object which acts as a parent for all objects inside
room_obj = Entity.create_empty("Room#" + node["id"])
room_obj.set_cp("type", "Room")
room_obj.set_cp("bbox", SuncgLoader._correct_bbox_frame(node["bbox"]))
room_obj.set_cp("roomTypes", node["roomTypes"])
room_obj.set_parent(parent)
loaded_objects = [room_obj]
# Store indices of all contained objects in
if "nodeIndices" in node:
for child_id in node["nodeIndices"]:
room_per_object[child_id] = room_obj
if "hideFloor" not in node or node["hideFloor"] != 1:
metadata["type"] = "Floor"
metadata["category_id"] = label_mapping.id_from_label("floor")
metadata["fine_grained_class"] = "floor"
loaded_objects += SuncgLoader._load_obj(
os.path.join(SuncgLoader._suncg_dir, "room", house_id,
node["modelId"] + "f.obj"), metadata,
material_adjustments, transform, room_obj)
if "hideCeiling" not in node or node["hideCeiling"] != 1:
metadata["type"] = "Ceiling"
metadata["category_id"] = label_mapping.id_from_label("ceiling")
metadata["fine_grained_class"] = "ceiling"
loaded_objects += SuncgLoader._load_obj(
os.path.join(SuncgLoader._suncg_dir, "room", house_id,
node["modelId"] + "c.obj"), metadata,
material_adjustments, transform, room_obj)
if "hideWalls" not in node or node["hideWalls"] != 1:
metadata["type"] = "Wall"
metadata["category_id"] = label_mapping.id_from_label("wall")
metadata["fine_grained_class"] = "wall"
loaded_objects += SuncgLoader._load_obj(
os.path.join(SuncgLoader._suncg_dir, "room", house_id,
node["modelId"] + "w.obj"), metadata,
material_adjustments, transform, room_obj)
return loaded_objects
def _set_category_ids(loaded_objects: List[MeshObject],
label_mapping: LabelIdMapping):
"""
Set the category ids for the objs based on the .csv file loaded in LabelIdMapping
Each object will have a custom property with a label, can be used by the SegMapRenderer.
:param loaded_objects: objects loaded from the .obj file
"""
# Some category names in scenenet objects are written differently than in nyu_idset.csv
normalize_name = {
"floor-mat": "floor_mat",
"refrigerator": "refridgerator",
"shower-curtain": "shower_curtain",
"nightstand": "night_stand",
"Other-structure": "otherstructure",
"Other-furniture": "otherfurniture",
"Other-prop": "otherprop",
"floor_tiles_floor_tiles_0125": "floor",
"ground": "floor",
"floor_enclose": "floor",
"floor_enclose2": "floor",
"floor_base_object01_56": "floor",
"walls1_line01_12": "wall",
"room_skeleton": "wall",
"ceilingwall": "ceiling"
}
for obj in loaded_objects:
obj_name = obj.get_name().lower().split(".")[0]
# If it's one of the cases that the category have different names in both idsets.
if obj_name in normalize_name:
obj_name = normalize_name[obj_name] # Then normalize it.
if label_mapping.has_label(obj_name):
obj.set_cp("category_id",
label_mapping.id_from_label(obj_name))
# Check whether the object's name without suffixes like 's', '1' or '2' exist in the mapping.
elif label_mapping.has_label(obj_name[:-1]):
obj.set_cp("category_id",
label_mapping.id_from_label(obj_name[:-1]))
elif "painting" in obj_name:
obj.set_cp("category_id",
label_mapping.id_from_label("picture"))
else:
print("This object was not specified: {} use objects for it.".
format(obj_name))
obj.set_cp(
"category_id",
label_mapping.id_from_label("otherstructure".lower()))
# Correct names of floor and ceiling objects to make them later easier to identify (e.g. by the FloorExtractor)
if obj.get_cp("category_id") == label_mapping.id_from_label(
"floor"):
obj.set_name("floor")
elif obj.get_cp("category_id") == label_mapping.id_from_label(
"ceiling"):
obj.set_name("ceiling")
def _load_ground(node: dict, metadata: dict, material_adjustments: list,
transform: Matrix, house_id: str, parent: MeshObject,
label_mapping: LabelIdMapping) -> List[MeshObject]:
""" Load the ground specified in the given node.
:param node: The node dict which contains information from house.json..
:param metadata: A dict of metadata which will be written into the object's custom data.
:param material_adjustments: Adjustments to the materials which were specified inside house.json.
:param transform: The transformation that should be applied to the loaded objects.
:param house_id: The id of the current house.
:param parent: The parent object to which the ground should be linked
:return: The list of loaded mesh objects.
"""
metadata["type"] = "Ground"
metadata["category_id"] = label_mapping.id_from_label("floor")
metadata["fine_grained_class"] = "ground"
return SuncgLoader._load_obj(
os.path.join(SuncgLoader._suncg_dir, "room", house_id,
node["modelId"] + "f.obj"), metadata,
material_adjustments, transform, parent)
def _load_box(node: dict, material_adjustments: list, transform: Matrix,
parent: MeshObject,
label_mapping: LabelIdMapping) -> List[MeshObject]:
""" Creates a cube inside blender which follows the specifications of the given node.
:param node: The node dict which contains information from house.json..
:param material_adjustments: Adjustments to the materials which were specified inside house.json.
:param transform: The transformation that should be applied to the loaded objects.
:param parent: The parent object to which the ground should be linked
:return: The list of loaded mesh objects.
"""
box = MeshObject.create_primitive("CUBE")
box.set_name("Box#" + node["id"])
# Scale the cube to the required dimensions
box.set_local2world_mat(
Matrix.Scale(node["dimensions"][0] / 2, 4, (1.0, 0.0, 0.0))
@ Matrix.Scale(node["dimensions"][1] / 2, 4,
(0.0, 1.0, 0.0)) @ Matrix.Scale(
node["dimensions"][2] / 2, 4, (0.0, 0.0, 1.0)))
# Create UV mapping (beforehand we apply the scaling from the previous step, such that the resulting uv mapping has the correct aspect)
bpy.ops.object.transform_apply(scale=True)
bpy.ops.object.editmode_toggle()
bpy.ops.uv.cube_project()
bpy.ops.object.editmode_toggle()
# Create an empty material which is filled in the next step
box.new_material("material_0")
SuncgLoader._transform_and_colorize_object(box, material_adjustments,
transform, parent)
# set class to void
box.set_cp("category_id", label_mapping.id_from_label("void"))
# Rotate cube to match objects loaded from .obj, has to be done after transformations have been applied
box.set_local2world_mat(
Matrix.Rotation(math.radians(90), 4, "X") @ Matrix(
box.get_local2world_mat()))
return [box]
def load(house_path: str,
label_mapping: LabelIdMapping,
suncg_dir: str = None) -> List[MeshObject]:
""" Loads a house.json file into blender.
- Loads all objects files specified in the house.json file.
- Orders them hierarchically (level -> room -> object)
- Writes metadata into the custom properties of each object
:param house_path: The path to the house.json file which should be loaded.
:param suncg_dir: The path to the suncg root directory which should be used for loading objects, rooms, textures etc.
:return: The list of loaded mesh objects.
"""
# If not suncg root directory has been given, determine it via the given house directory.
if suncg_dir is None:
suncg_dir = os.path.join(os.path.dirname(house_path), "../..")
SuncgLoader._suncg_dir = suncg_dir
SuncgLoader._collection_of_loaded_objs = {}
# there are only two types of materials, textures and diffuse
SuncgLoader._collection_of_loaded_mats = {"texture": {}, "diffuse": {}}
with open(Utility.resolve_path(house_path), "r") as f:
config = json.load(f)
object_label_map, object_fine_grained_label_map, object_coarse_grained_label_map = SuncgLoader._read_model_category_mapping(
os.path.join('resources', 'suncg', 'Better_labeling_for_NYU.csv'))
house_id = config["id"]
loaded_objects = []
for level in config["levels"]:
# Build empty level object which acts as a parent for all rooms on the level
level_obj = Entity.create_empty("Level#" + level["id"])
level_obj.set_cp("type", "Level")
if "bbox" in level:
level_obj.set_cp(
"bbox", SuncgLoader._correct_bbox_frame(level["bbox"]))
else:
print(
"Warning: The level with id " + level["id"] +
" is missing the bounding box attribute in the given house.json file!"
)
loaded_objects.append(level_obj)
room_per_object = {}
for node in level["nodes"]:
# Skip invalid nodes (This is the same behavior as in the SUNCG Toolbox)
if "valid" in node and node["valid"] == 0:
continue
# Metadata is directly stored in the objects custom data
metadata = {"type": node["type"], "is_suncg": True}
if "modelId" in node:
metadata["modelId"] = node["modelId"]
if node["modelId"] in object_fine_grained_label_map:
metadata[
"fine_grained_class"] = object_fine_grained_label_map[
node["modelId"]]
metadata[
"coarse_grained_class"] = object_coarse_grained_label_map[
node["modelId"]]
metadata["category_id"] = label_mapping.id_from_label(
object_label_map[node["modelId"]])
if "bbox" in node:
metadata["bbox"] = SuncgLoader._correct_bbox_frame(
node["bbox"])
if "transform" in node:
transform = Matrix([
node["transform"][i * 4:(i + 1) * 4] for i in range(4)
])
# Transpose, as given transform matrix was col-wise, but blender expects row-wise
transform.transpose()
else:
transform = None
if "materials" in node:
material_adjustments = node["materials"]
else:
material_adjustments = []
# Lookup if the object belongs to a room
object_id = int(node["id"].split("_")[-1])
if object_id in room_per_object:
parent = room_per_object[object_id]
else:
parent = level_obj
if node["type"] == "Room":
loaded_objects += SuncgLoader._load_room(
node, metadata, material_adjustments, transform,
house_id, level_obj, room_per_object, label_mapping)
elif node["type"] == "Ground":
loaded_objects += SuncgLoader._load_ground(
node, metadata, material_adjustments, transform,
house_id, parent, label_mapping)
elif node["type"] == "Object":
loaded_objects += SuncgLoader._load_object(
node, metadata, material_adjustments, transform,
parent)
elif node["type"] == "Box":
loaded_objects += SuncgLoader._load_box(
node, material_adjustments, transform, parent,
label_mapping)
SuncgLoader._rename_materials()
return loaded_objects
