def __init__(self,
config_path,
args,
working_dir,
temp_dir,
avoid_output=False):
"""
Inits the pipeline, by calling the constructors of all modules mentioned in the config.
:param config_path: path to the config
:param args: arguments which were provided to the run.py and are specified in the config file
:param working_dir: the current working dir usually the place where the run.py sits
:param working_dir: the directory where to put temporary files during the execution
:param avoid_output: if this is true, all modules (renderers and writers) skip producing output. With this it is possible to debug \
properly.
"""
Utility.working_dir = working_dir
config_parser = ConfigParser(silent=True)
config = config_parser.parse(Utility.resolve_path(config_path), args)
# Setup pip packages specified in config
SetupUtility.setup_pip(config["setup"]["pip"] if "pip" in
config["setup"] else [])
if avoid_output:
GlobalStorage.add_to_config_before_init("avoid_output", True)
Utility.temp_dir = Utility.resolve_path(temp_dir)
os.makedirs(Utility.temp_dir, exist_ok=True)
self.modules = Utility.initialize_modules(config["modules"])
import os
from typing import List, Dict, Union, Any, Set, Tuple
from collections import defaultdict
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["h5py"])
import numpy as np
import csv
import math
import json
import bpy
import mathutils
import h5py
from src.utility.BlenderUtility import load_image
from src.utility.MathUtility import MathUtility
from src.utility.Utility import Utility
from src.utility.CameraUtility import CameraUtility
class WriterUtility:
@staticmethod
def load_registered_outputs(keys: Set[str]) -> Dict[str, List[np.ndarray]]:
"""
Loads registered outputs with specified keys
:param keys: set of output_key types to load
:return: dict of lists of raw loaded outputs. Keys can be 'distance', 'colors', 'normals'
"""
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["scikit-image"])
import datetime
from itertools import groupby
import csv
import json
import os
import shutil
import numpy as np
from skimage import measure
import bpy
from src.utility.Utility import Utility
class CocoWriterUtility:
@staticmethod
def write(output_dir: str,
mask_encoding_format="rle",
supercategory="coco_annotations",
append_to_existing_output=False,
segmap_output_key="segmap",
segcolormap_output_key="segcolormap",
rgb_output_key="colors"):
""" Writes coco annotations in the following steps:
1. Locate the seg images
2. Locate the rgb maps
3. Locate the seg mappings
4. Read color mappings
def extract(mesh_objects: [MeshObject], compare_angle_degrees: float = 7.5, compare_height: float = 0.15, up_vector_upwards: bool = True, height_list_path: str = None, new_name_for_object: str = "Floor", should_skip_if_object_is_already_there: bool = False) -> [MeshObject]:
""" Extracts floors in the following steps:
1. Searchs for the specified object.
2. Splits the surfaces which point upwards at a specified level away.
:param mesh_objects: Objects to where all polygons will be extracted.
:param compare_angle_degrees: Maximum difference between the up vector and the current polygon normal in degrees.
:param compare_height: Maximum difference in Z direction between the polygons median point and the specified height of the room.
:param up_vector_upwards: If this is True the `up_vec` points upwards -> [0, 0, 1] if not it points downwards: [0, 0, -1] in world coordinates. This vector is used for the `compare_angle_degrees` option.
:param height_list_path: Path to a file with height values. If none is provided, a ceiling and floor is automatically detected. \
This might fail. The height_list_values can be specified in a list like fashion in the file: [0.0, 2.0]. \
These values are in the same size the dataset is in, which is usually meters. The content must always be \
a list, e.g. [0.0].
:param new_name_for_object: Name for the newly created object, which faces fulfill the given parameters.
:param should_skip_if_object_is_already_there: If this is true no extraction will be done, if an object is there, which has the same name as
name_for_split_obj, which would be used for the newly created object.
:return: The extracted floor objects.
"""
# set the up_vector
up_vec = mathutils.Vector([0, 0, 1])
if not up_vector_upwards:
up_vec *= -1.0
height_list = []
if height_list_path is not None:
height_file_path = Utility.resolve_path(height_list_path)
with open(height_file_path) as file:
import ast
height_list = [float(val) for val in ast.literal_eval(file.read())]
object_names = [obj.name for obj in bpy.context.scene.objects if obj.type == "MESH"]
def clean_up_name(name: str):
"""
Clean up the given name from Floor1 to floor
:param name: given name
:return: str: cleaned up name
"""
name = ''.join([i for i in name if not i.isdigit()]) # remove digits
name = name.lower().replace(".", "").strip() # remove dots and whitespace
return name
object_names = [clean_up_name(name) for name in object_names]
if should_skip_if_object_is_already_there and new_name_for_object.lower() in object_names:
# if should_skip is True and if there is an object, which name is the same as the one for the newly
# split object, than the execution is skipped
return []
newly_created_objects = []
for obj in mesh_objects:
obj.edit_mode()
bm = obj.mesh_as_bmesh()
bpy.ops.mesh.select_all(action='DESELECT')
if height_list:
counter = 0
for height_val in height_list:
counter = FloorExtractor.select_at_height_value(bm, height_val, compare_height, up_vec,
compare_angle_degrees, obj.get_local2world_mat())
if counter:
obj.update_from_bmesh(bm)
bpy.ops.mesh.separate(type='SELECTED')
else:
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["scikit-learn"])
from sklearn.cluster import MeanShift, estimate_bandwidth
# no height list was provided, try to estimate them on its own
# first get a list of all height values of the median points, which are inside of the defined
# compare angle range
list_of_median_poses = [FloorExtractor._get_median_face_pose(f, obj.get_local2world_mat())[2] for f in bm.faces if
FloorExtractor._check_face_angle(f, obj.get_local2world_mat(), up_vec, compare_angle_degrees)]
if not list_of_median_poses:
print("Object with name: {} is skipped no faces were relevant, try with "
"flipped up_vec".format(obj.get_name()))
list_of_median_poses = [FloorExtractor._get_median_face_pose(f, obj.get_local2world_mat())[2] for f in
bm.faces if FloorExtractor._check_face_angle(f, obj.get_local2world_mat(),
-up_vec, compare_angle_degrees)]
if not list_of_median_poses:
print("Still no success for: {} skip object.".format(obj.get_name()))
bpy.ops.object.mode_set(mode='OBJECT')
bpy.ops.object.select_all(action='DESELECT')
continue
successful_up_vec = -up_vec
else:
successful_up_vec = up_vec
list_of_median_poses = np.reshape(list_of_median_poses, (-1, 1))
if np.var(list_of_median_poses) < 1e-4:
# All faces are already correct
height_value = np.mean(list_of_median_poses)
else:
ms = MeanShift(bandwidth=0.2, bin_seeding=True)
ms.fit(list_of_median_poses)
# if the up vector is negative the maximum value is searched
if up_vector_upwards:
height_value = np.min(ms.cluster_centers_)
else:
height_value = np.max(ms.cluster_centers_)
counter = FloorExtractor.select_at_height_value(bm, height_value, compare_height, successful_up_vec,
compare_angle_degrees, obj.get_local2world_mat())
if counter:
obj.update_from_bmesh(bm)
bpy.ops.mesh.separate(type='SELECTED')
selected_objects = bpy.context.selected_objects
if selected_objects:
if len(selected_objects) == 2:
selected_objects = [o for o in selected_objects
if o != bpy.context.view_layer.objects.active]
selected_objects[0].name = new_name_for_object
newly_created_objects.append(MeshObject(selected_objects[0]))
else:
raise Exception("There is more than one selection after splitting, this should not happen!")
else:
raise Exception("No floor object was constructed!")
obj.object_mode()
return newly_created_objects
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip([
"git+https://github.com/abahnasy/smplx",
"git+https://github.com/abahnasy/human_body_prior"
])
import glob
import json
import os
import random
from datetime import datetime
from typing import List, Tuple
import bpy
import mathutils
import numpy as np
import torch
from human_body_prior.body_model.body_model import BodyModel
from src.utility.MeshObjectUtility import MeshObject
from src.utility.Utility import Utility
from src.utility.loader.ObjectLoader import ObjectLoader
class AMASSLoader:
"""
AMASS is a large database of human motion unifying 15 different optical marker-based motion capture datasets by representing them within a common framework and parameterization. All of the mocap data is convereted into realistic 3D human meshes represented by a rigged body model called SMPL, which provides a standard skeletal representation as well as a fully rigged surface mesh. Warning: Only one part of the AMASS database is currently supported by the loader! Please refer to the AMASSLoader example for more information about the currently supported datasets.
Any human pose recorded in these motions could be reconstructed using the following parameters: `"sub_dataset_identifier"`, `"sequence id"`, `"frame id"` and `"model gender"` which will represent the pose, these parameters specify the exact pose to be generated based on the selected mocap dataset and motion category recorded in this dataset.
Note: if this module is used with another loader that loads objects with semantic mapping, make sure the other
for line in csv_reader:
if line["Filetype"] == "zip" and line[
"DownloadAttribute"] == "2K-JPG":
data[line["AssetID"]] = line["PrettyDownloadLink"]
excluding_list = [
"sign", "roadlines", "manhole", "backdrop", "foliage", "TreeEnd",
"TreeStump", "3DBread", "3DApple", "FlowerSet", "FoodSteps",
"PineNeedles", "Grate", "PavingEdge", "Painting", "RockBrush",
"WrinklesBrush", "Sticker", "3DRock"
]
# download each asset and create a folder for it (unpacking + deleting the zip included)
for index, (asset, link) in enumerate(data.items()):
do_not_use = False
for exclude_element in excluding_list:
if asset.lower().startswith(exclude_element.lower()):
do_not_use = True
break
if do_not_use:
continue
print("Download asset: {} of {}/{}".format(asset, index, len(data)))
current_folder = os.path.join(cc_texture_dir, asset)
if not os.path.exists(current_folder):
os.makedirs(current_folder)
current_file_path = os.path.join(current_folder,
"{}.zip".format(asset))
response = requests.get(link, headers=headers)
SetupUtility.extract_from_response(current_folder, response)
print("Done downloading textures, saved in {}".format(cc_texture_dir))
from collections import defaultdict
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["imageio"])
import bpy
import bmesh
import mathutils
from mathutils import Vector
import numpy as np
import imageio
from src.utility.Utility import Utility
def local_to_world(cords, world):
"""
Returns a cords transformed to the given transformation world matrix
:param cords: coordinates a tuple of 3 values for x,y,z
:param world: world matrix <- transformation matrix
"""
return [world @ Vector(cord) for cord in cords]
def get_bounds(obj):
"""
:param obj: a mesh object
:return: [8x[3xfloat]] the object aligned bounding box coordinates in world coordinates
"""
return local_to_world(obj.bound_box, obj.matrix_world)
from utils import ProgressBar
path.append(os.path.join(os.path.dirname(__file__), ".."))
from src.utility.SetupUtility import SetupUtility
if __name__ == "__main__":
# setting the default header, else the server does not allow the download
opener = build_opener()
opener.addheaders = [('User-agent', 'Mozilla/5.0')]
install_opener(opener)
# set the download directory relative to this one
current_dir = os.path.dirname(os.path.abspath(__file__))
pix3d_dir = os.path.join(current_dir, "..", "resources", "pix3d")
if not os.path.exists(pix3d_dir):
os.makedirs(pix3d_dir)
# download the zip file, which contains all the obj files. Size ~3.5 GB
print("Download the zip file, may take a while:")
pix3d_url = "http://pix3d.csail.mit.edu/data/pix3d.zip"
zip_file_path = os.path.join(pix3d_dir, "pix3d.zip")
urlretrieve(pix3d_url, zip_file_path, ProgressBar())
# unzip the zip file
print("Unzip the zip file.")
SetupUtility.extract_file(pix3d_dir, zip_file_path)
os.remove(zip_file_path)
shutil.rmtree(os.path.join(pix3d_dir, "img"))
shutil.rmtree(os.path.join(pix3d_dir, "mask"))
opener = build_opener()
opener.addheaders = [('User-agent', 'Mozilla/5.0')]
install_opener(opener)
# set the download directory relative to this one
current_dir = os.path.dirname(os.path.abspath(__file__))
scenenet_dir = os.path.join(current_dir, "..", "resources", "scenenet")
if not os.path.exists(scenenet_dir):
os.makedirs(scenenet_dir)
# download the zip file, which contains all the obj files
print("Download the zip file, may take a while:")
scenenet_url = "https://bitbucket.org/robotvault/downloadscenenet/get/cfe5ab85ddcc.zip"
zip_file_path = os.path.join(scenenet_dir, "scene_net.zip")
urlretrieve(scenenet_url, zip_file_path)
# unzip the zip file
print("Unzip the zip file.")
SetupUtility.extract_file(scenenet_dir, zip_file_path)
os.remove(zip_file_path)
os.rename(
os.path.join(scenenet_dir, "robotvault-downloadscenenet-cfe5ab85ddcc"),
os.path.join(scenenet_dir, "SceneNetData"))
print(
"Please also download the texture library from here: http://tinyurl.com/zpc9ppb"
)
print("This is a google drive folder downloading via script is tedious.")
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["scikit-image", "opencv-contrib-python"])
import datetime
from itertools import groupby
import csv
import json
import os
import shutil
import numpy as np
from skimage import measure
from typing import List
import cv2
import bpy
from src.utility.Utility import Utility
from src.utility.LabelIdMapping import LabelIdMapping
class CocoWriterUtility:
@staticmethod
def write(output_dir: str,
instance_segmaps: List[np.ndarray] = [],
instance_attribute_maps: List[dict] = [],
colors: List[np.ndarray] = [],
color_file_format: str = "PNG",
mask_encoding_format="rle",
supercategory="coco_annotations",
append_to_existing_output: bool = True,
segmap_output_key="segmap",
segcolormap_output_key="segcolormap",
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["scipy"])
import cv2
import numpy as np
from scipy import stats
from src.main.Module import Module
from src.utility.PostProcessingUtility import PostProcessingUtility
class OilPaintFilter(Module):
"""
Applies the oil paint filter on a single channel image (or more than one channel, where each channel is a replica
of the other). This could be desired for corrupting rendered depth maps to appear more realistic. Also trims the
redundant channels if they exist.
**Configuration**:
.. list-table::
:widths: 25 100 10
:header-rows: 1
* - Parameter
- Description
- Type
* - filter_size
- Mode filter size, should be an odd number. Default: 5
- int
* - edges_only
- If true, applies the filter on the edges only. For RGB images, they should be represented in uint8
arrays. Default: True
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["opencv-contrib-python", "pypng==0.0.20"])
import json
import os
import glob
import numpy as np
import shutil
from typing import List
import png
import cv2
import bpy
from mathutils import Matrix
from src.utility.BlenderUtility import get_all_blender_mesh_objects
from src.utility.Utility import Utility
from src.utility.PostProcessingUtility import PostProcessingUtility
from src.utility.WriterUtility import WriterUtility
class BopWriterUtility:
""" Saves the synthesized dataset in the BOP format. The dataset is split
into chunks which are saved as individual "scenes". For more details
about the BOP format, visit the BOP toolkit docs:
https://github.com/thodan/bop_toolkit/blob/master/docs/bop_datasets_format.md
"""
@staticmethod
def _load_json(path, keys_to_int=False):
"""Loads content of a JSON file.
From the BOP toolkit (https://github.com/thodan/bop_toolkit).
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(
["scikit-image", "pypng==0.0.20", "scipy==1.2.2", "matplotlib==2.2.4"])
import os
import sys
from random import choice
from typing import List
import bpy
import numpy as np
from mathutils import Matrix, Vector
from src.utility.CameraUtility import CameraUtility
from src.utility.MeshObjectUtility import MeshObject
from src.utility.Utility import Utility
class BopLoader:
@staticmethod
def load(bop_dataset_path: str,
temp_dir: str,
sys_paths: list,
model_type: str = "",
cam_type: str = "",
split: str = "test",
scene_id: int = -1,
obj_ids: list = [],
sample_objects: bool = False,
num_of_objs_to_sample: int = None,
obj_instances_limit: int = -1,
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(["Pillow", "opencv-contrib-python"])
import os
from math import tan
import bpy
import cv2
import numpy as np
from src.main.GlobalStorage import GlobalStorage
from src.renderer.RendererInterface import RendererInterface
from src.utility.BlenderUtility import load_image
from src.utility.SGMUtility import fill_in_fast
from src.utility.SGMUtility import resize
from src.utility.Utility import Utility
class StereoGlobalMatchingWriter(RendererInterface):
""" Writes depth image generated from the stereo global matching algorithm to file
**Configuration**:
.. list-table::
:widths: 25 100 10
:header-rows: 1
* - Parameter
- Description
- Type
downloaded = block_num * block_size
if downloaded < total_size:
self.pbar.update(downloaded)
else:
self.pbar.finish()
print("Downloading blender from " + url)
file_tmp = urlretrieve(url, None, DownloadProgressBar())[0]
except ImportError:
print("Progressbar for downloading, can only be shown, "
"when the python package \"progressbar\" is installed")
file_tmp = urlretrieve(url, None)[0]
if platform == "linux" or platform == "linux2":
if version_info.major == 3:
SetupUtility.extract_file(blender_install_path, file_tmp,
"TAR")
else:
with contextlib.closing(lzma.LZMAFile(file_tmp)) as xz:
with tarfile.open(fileobj=xz) as f:
f.extractall(blender_install_path)
elif platform == "darwin":
if not os.path.exists(blender_install_path):
os.makedirs(blender_install_path)
os.rename(
file_tmp,
os.path.join(blender_install_path, blender_version + ".dmg"))
# installing the blender app by mounting it and extracting the information
subprocess.Popen([
"hdiutil attach {}".format(
os.path.join(blender_install_path,
blender_version + ".dmg"))
# Read args
argv = sys.argv
batch_index_file = None
if( '--debug' in argv):
pydevd_pycharm.settrace('localhost', port=1234, stdoutToServer=True, stderrToServer=True)
if "--batch-process" in argv:
batch_index_file = argv[argv.index("--batch-process") + 1]
argv = argv[argv.index("--") + 1:]# +["/Users/Tjoun/BlenderProc/resources/Shapenet.v2" "/Users/Tjoun/BlenderProc/examples/OneObj/output"]
working_dir = os.path.dirname(os.path.abspath(__file__))
from src.utility.SetupUtility import SetupUtility
# Setup general required pip packages e.q. pyyaml
SetupUtility.setup_pip([])
from src.main.Pipeline import Pipeline
from src.utility.Utility import Utility
config_path = argv[0]
temp_dir = argv[1]
if batch_index_file == None:
pipeline = Pipeline(config_path, argv[2:], working_dir, temp_dir)
pipeline.run()
else:
with open(Utility.resolve_path(batch_index_file), "r") as f:
lines = f.readlines()
for line in lines:
ikea_dir = os.path.join(current_dir, "..", "resources", "IKEA")
if not os.path.exists(ikea_dir):
os.makedirs(ikea_dir)
# download the zip file, which contains all the model files.
print("Downloading the zip file (166mb)...")
ikea_url = "http://ikea.csail.mit.edu/zip/IKEA_models.zip"
zip_file_path = os.path.join(ikea_dir, "IKEA_models.zip")
urlretrieve(ikea_url, zip_file_path)
print("Download complete.")
# unzip the zip file
print("Unzipping the zip file...")
ikea_dir = os.path.join(ikea_dir, "IKEA")
SetupUtility.extract_file(ikea_dir, zip_file_path)
os.remove(zip_file_path)
subprocess.call("chmod -R a+rw *", shell=True, cwd=ikea_dir)
print("The IKEA dataset has some weird bugs, these are fixed now.")
if os.path.exists(os.path.join(ikea_dir, "IKEA_bed_BEDDINGE")):
shutil.rmtree(os.path.join(ikea_dir, "IKEA_bed_BEDDINGE"))
nils_folder = os.path.join(ikea_dir, "IKEA_chair_NILS")
if os.path.exists(nils_folder):
shutil.rmtree(nils_folder)
# delete all no double .obj
for folder in glob.glob(os.path.join(ikea_dir, "*")):
no_jitter_folders = glob.glob(os.path.join(folder, "nojitter*"))
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup([])
from src.utility.CameraUtility import CameraUtility
from src.utility.MathUtility import MathUtility
from src.utility.sampler.SuncgPointInRoomSampler import SuncgPointInRoomSampler
from src.utility.LabelIdMapping import LabelIdMapping
from src.utility.MeshObjectUtility import MeshObject
from src.utility.MaterialLoaderUtility import MaterialLoaderUtility
from src.utility.SegMapRendererUtility import SegMapRendererUtility
from src.utility.Utility import Utility
from src.utility.camera.CameraValidation import CameraValidation
from src.utility.loader.SuncgLoader import SuncgLoader
from src.utility.lighting.SuncgLighting import SuncgLighting
from src.utility.WriterUtility import WriterUtility
from src.utility.Initializer import Initializer
from src.utility.RendererUtility import RendererUtility
import numpy as np
import argparse
import os
parser = argparse.ArgumentParser()
parser.add_argument(
'house', help="Path to the house.json file of the SUNCG scene to load")
parser.add_argument('output_dir',
nargs='?',
default="examples/datasets/suncg_with_cam_sampling/output",
from src.utility.MathUtility import MathUtility
from src.utility.SetupUtility import SetupUtility
SetupUtility.setup_pip(
["scikit-image", "pypng==0.0.20", "scipy", "matplotlib", "pytz"])
import os
import sys
from random import choice
from typing import List
import bpy
import numpy as np
from mathutils import Matrix, Vector
from src.utility.CameraUtility import CameraUtility
from src.utility.MeshObjectUtility import MeshObject
from src.utility.Utility import Utility
from src.utility.MathUtility import MathUtility
class BopLoader:
@staticmethod
def load(bop_dataset_path: str,
temp_dir: str,
sys_paths: list,
model_type: str = "",
cam_type: str = "",
split: str = "test",
scene_id: int = -1,
obj_ids: list = [],
sample_objects: bool = False,
