## read configuration file
cfg = ConfigParser("config.yml")
## initialize resting surface
env = cfg.getSurfaceType()
if env == 'table':
surface = Table('surface_models/table/table.obj')
elif env == 'shelf':
surface = Shelf('surface_models/shelf/shelf.obj')
sPose = cfg.getSurfacePose()
surface.setPose(sPose)
## initialize camera
camIntrinsic = cfg.getCamIntrinsic()
camExtrinsic = cfg.getCamExtrinsic()
numViews = cfg.getNumViews()
cam = Camera(camIntrinsic, camExtrinsic, numViews)
## initialize light
pLight = Light()
## initialize objects
objModelList = cfg.getObjModelList()
objectlist = []
for objFileName in objModelList:
bpy.ops.import_scene.obj(filepath="obj_models/" + objFileName + "/" + objFileName + ".obj")
imported = bpy.context.selected_objects[0]
objectlist.append(imported.name)
for item in bpy.data.materials:
print (item)
argv = sys.argv
argv = argv[argv.index("--") + 1:]
num = int(argv[0])
## read configuration file
cfg = ConfigParser("config.yml", "camera_info.yml")
framesIter = cfg.getNumSimulationSteps()
## initial condition
if num == 0:
env = cfg.getSurfaceType()
surface = Bin('3d_models/bin/shelf.obj')
sPose = cfg.getSurfacePose()
surface.setPose(sPose)
camIntrinsic = cfg.getCamIntrinsic()
maxCamViews, camExtrinsic = cfg.getCamExtrinsic(
) # maxCamViews: num of poses
numViews = cfg.getNumViews()
cam = Camera(camIntrinsic, camExtrinsic, numViews)
cam_pose = cam.placeCamera(0)
pLight = Light()
light_range_x = cfg.getLightRangeX()
light_range_y = cfg.getLightRangeY()
light_range_z = cfg.getLightRangeZ()
pLight.placePointLight(light_range_x, light_range_y, light_range_z)
if num > 0:
scene_path = os.path.join(
g_repo_path,
'rendered_images/image_%05i/labels/obj_poses.yml' % num)
numObjectsInScene, o1_poses = cfg.getObjPoses(scene_path, 1)
for i in range(0, numObjectsInScene):