def _set_cam_intrinsics(self, cam, config): """ Sets camera intrinsics from a source with following priority 1. from config function parameter if defined 2. from custom properties of cam if set in Loader 3. default config resolution_x/y: 512 pixel_aspect_x: 1 clip_start: : 0.1 clip_end : 1000 fov : 0.691111 :param cam: The camera which contains only camera specific attributes. :param config: A configuration object with cam intrinsics. """ if config.is_empty(): return width = config.get_int("resolution_x", bpy.context.scene.render.resolution_x) height = config.get_int("resolution_y", bpy.context.scene.render.resolution_y) # Clipping clip_start = config.get_float("clip_start", cam.clip_start) clip_end = config.get_float("clip_end", cam.clip_end) if config.has_param("cam_K"): if config.has_param("fov"): print( 'WARNING: FOV defined in config is ignored. Mutually exclusive with cam_K' ) if config.has_param("pixel_aspect_x"): print( 'WARNING: pixel_aspect_x defined in config is ignored. Mutually exclusive with cam_K' ) cam_K = np.array(config.get_list("cam_K")).reshape(3, 3).astype( np.float32) CameraUtility.set_intrinsics_from_K_matrix(cam_K, width, height, clip_start, clip_end) else: # Set FOV fov = config.get_float("fov", cam.angle) # Set Pixel Aspect Ratio pixel_aspect_x = config.get_float( "pixel_aspect_x", bpy.context.scene.render.pixel_aspect_x) pixel_aspect_y = config.get_float( "pixel_aspect_y", bpy.context.scene.render.pixel_aspect_y) # Set camera shift shift_x = config.get_float("shift_x", cam.shift_x) shift_y = config.get_float("shift_y", cam.shift_y) CameraUtility.set_intrinsics_from_blender_params(fov, width, height, clip_start, clip_end, pixel_aspect_x, pixel_aspect_y, shift_x, shift_y, lens_unit="FOV") CameraUtility.set_stereo_parameters( config.get_string("stereo_convergence_mode", cam.stereo.convergence_mode), config.get_float("convergence_distance", cam.stereo.convergence_distance), config.get_float("interocular_distance", cam.stereo.interocular_distance))
def _set_cam_intrinsics(self, cam, config): """ Sets camera intrinsics from a source with following priority 1. from config function parameter if defined 2. from custom properties of cam if set in Loader 3. default config: resolution_x/y: 512 pixel_aspect_x: 1 clip_start: : 0.1 clip_end : 1000 fov : 0.691111 :param cam: The camera which contains only camera specific attributes. :param config: A configuration object with cam intrinsics. """ if config.is_empty(): return width = config.get_int("resolution_x", bpy.context.scene.render.resolution_x) height = config.get_int("resolution_y", bpy.context.scene.render.resolution_y) # Clipping clip_start = config.get_float("clip_start", cam.clip_start) clip_end = config.get_float("clip_end", cam.clip_end) if config.has_param("cam_K"): if config.has_param("fov"): print( 'WARNING: FOV defined in config is ignored. Mutually exclusive with cam_K' ) if config.has_param("pixel_aspect_x"): print( 'WARNING: pixel_aspect_x defined in config is ignored. Mutually exclusive with cam_K' ) cam_K = np.array(config.get_list("cam_K")).reshape(3, 3).astype( np.float32) CameraUtility.set_intrinsics_from_K_matrix(cam_K, width, height, clip_start, clip_end) else: # Set FOV fov = config.get_float("fov", cam.angle) # Set Pixel Aspect Ratio pixel_aspect_x = config.get_float( "pixel_aspect_x", bpy.context.scene.render.pixel_aspect_x) pixel_aspect_y = config.get_float( "pixel_aspect_y", bpy.context.scene.render.pixel_aspect_y) # Set camera shift shift_x = config.get_float("shift_x", cam.shift_x) shift_y = config.get_float("shift_y", cam.shift_y) CameraUtility.set_intrinsics_from_blender_params(fov, width, height, clip_start, clip_end, pixel_aspect_x, pixel_aspect_y, shift_x, shift_y, lens_unit="FOV") CameraUtility.set_stereo_parameters( config.get_string("stereo_convergence_mode", cam.stereo.convergence_mode), config.get_float("convergence_distance", cam.stereo.convergence_distance), config.get_float("interocular_distance", cam.stereo.interocular_distance)) if config.has_param("depth_of_field"): depth_of_field_config = Config( config.get_raw_dict("depth_of_field")) fstop_value = depth_of_field_config.get_float("fstop", 2.4) aperture_blades = depth_of_field_config.get_int( "aperture_blades", 0) aperture_ratio = depth_of_field_config.get_float( "aperture_ratio", 1.0) aperture_rotation = depth_of_field_config.get_float( "aperture_rotation_in_rad", 0.0) if depth_of_field_config.has_param( "depth_of_field_dist") and depth_of_field_config.has_param( "focal_object"): raise RuntimeError( "You can only use either depth_of_field_dist or a focal_object but not both!" ) if depth_of_field_config.has_param("depth_of_field_dist"): depth_of_field_dist = depth_of_field_config.get_float( "depth_of_field_dist") CameraUtility.add_depth_of_field(cam, None, fstop_value, aperture_blades, aperture_rotation, aperture_ratio, depth_of_field_dist) elif depth_of_field_config.has_param("focal_object"): focal_object = depth_of_field_config.get_list("focal_object") if len(focal_object) != 1: raise RuntimeError( f"There has to be exactly one focal object, use 'random_samples: 1' or change " f"the selector. Found {len(focal_object)}.") CameraUtility.add_depth_of_field(cam, focal_object[0], fstop_value, aperture_blades, aperture_rotation, aperture_ratio) else: raise RuntimeError( "The depth_of_field dict must contain either a focal_object definition or " "a depth_of_field_dist")
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, move_origin_to_x_y_plane: bool = False, source_frame: list = ["X", "-Y", "-Z"], mm2m: bool = False) -> List[MeshObject]: """ Loads the 3D models of any BOP dataset and allows replicating BOP scenes - Interfaces with the bob_toolkit, allows loading of train, val and test splits - Relative camera poses are loaded/computed with respect to a reference model - Sets real camera intrinsics :param bop_dataset_path: Full path to a specific bop dataset e.g. /home/user/bop/tless. :param temp_dir: A temp directory which is used for writing the temporary .ply file. :param sys_paths: System paths to append. :param model_type: Optionally, specify type of BOP model. Available: [reconst, cad or eval]. :param cam_type: Camera type. If not defined, dataset-specific default camera type is used. :param split: Optionally, test or val split depending on BOP dataset. :param scene_id: Optionally, specify BOP dataset scene to synthetically replicate. Default: -1 (no scene is replicated, only BOP Objects are loaded). :param obj_ids: List of object ids to load. Default: [] (all objects from the given BOP dataset if scene_id is not specified). :param sample_objects: Toggles object sampling from the specified dataset. :param num_of_objs_to_sample: Amount of objects to sample from the specified dataset. If this amount is bigger than the dataset actually contains, then all objects will be loaded. :param obj_instances_limit: Limits the amount of object copies when sampling. Default: -1 (no limit). :param move_origin_to_x_y_plane: Move center of the object to the lower side of the object, this will not work when used in combination with pose estimation tasks! This is designed for the use-case where BOP objects are used as filler objects in the background. :param source_frame: Can be used if the given positions and rotations are specified in frames different from the blender frame. Has to be a list of three strings. Example: ['X', '-Z', 'Y']: Point (1,2,3) will be transformed to (1, -3, 2). Available: ['X', 'Y', 'Z', '-X', '-Y', '-Z']. :param mm2m: Specify whether to convert poses and models to meters. :return: The list of loaded mesh objects. """ for sys_path in sys_paths: if 'bop_toolkit' in sys_path: sys.path.append(sys_path) scale = 0.001 if mm2m else 1 bop_dataset_name = os.path.basename(bop_dataset_path) has_external_texture = bop_dataset_name in ["ycbv", "ruapc"] if obj_ids or sample_objects: allow_duplication = True else: allow_duplication = False datasets_path = os.path.dirname(bop_dataset_path) dataset = os.path.basename(bop_dataset_path) print("bob: {}, dataset_path: {}".format(bop_dataset_path, datasets_path)) print("dataset: {}".format(dataset)) try: from bop_toolkit_lib import dataset_params, inout except ImportError as error: print( 'ERROR: Please download the bop_toolkit package and add it to sys_paths in config!' ) print('https://github.com/thodan/bop_toolkit') raise error model_p = dataset_params.get_model_params( datasets_path, dataset, model_type=model_type if model_type else None) cam_p = dataset_params.get_camera_params( datasets_path, dataset, cam_type=cam_type if cam_type else None) try: split_p = dataset_params.get_split_params(datasets_path, dataset, split=split) except ValueError: raise Exception( "Wrong path or {} split does not exist in {}.".format( split, dataset)) bpy.context.scene.world["category_id"] = 0 bpy.context.scene.render.resolution_x = cam_p['im_size'][0] bpy.context.scene.render.resolution_y = cam_p['im_size'][1] loaded_objects = [] # only load all/selected objects here, use other modules for setting poses # e.g. camera.CameraSampler / object.ObjectPoseSampler if scene_id == -1: # TLESS exception because images are cropped if bop_dataset_name in ['tless']: cam_p['K'][0, 2] = split_p['im_size'][0] / 2 cam_p['K'][1, 2] = split_p['im_size'][1] / 2 # set camera intrinsics CameraUtility.set_intrinsics_from_K_matrix(cam_p['K'], split_p['im_size'][0], split_p['im_size'][1]) obj_ids = obj_ids if obj_ids else model_p['obj_ids'] # if sampling is enabled if sample_objects: loaded_ids = {} loaded_amount = 0 if obj_instances_limit != -1 and len( obj_ids) * obj_instances_limit < num_of_objs_to_sample: raise RuntimeError( "{}'s {} split contains {} objects, {} object where requested to sample with " "an instances limit of {}. Raise the limit amount or decrease the requested " "amount of objects.".format(bop_dataset_path, split, len(obj_ids), num_of_objs_to_sample, obj_instances_limit)) while loaded_amount != num_of_objs_to_sample: random_id = choice(obj_ids) if random_id not in loaded_ids.keys(): loaded_ids.update({random_id: 0}) # if there is no limit or if there is one, but it is not reached for this particular object if obj_instances_limit == -1 or loaded_ids[ random_id] < obj_instances_limit: cur_obj = BopLoader._load_mesh(random_id, model_p, bop_dataset_name, has_external_texture, temp_dir, allow_duplication, scale) loaded_ids[random_id] += 1 loaded_amount += 1 loaded_objects.append(cur_obj) else: print( "ID {} was loaded {} times with limit of {}. Total loaded amount {} while {} are " "being requested".format(random_id, loaded_ids[random_id], obj_instances_limit, loaded_amount, num_of_objs_to_sample)) else: for obj_id in obj_ids: cur_obj = BopLoader._load_mesh(obj_id, model_p, bop_dataset_name, has_external_texture, temp_dir, allow_duplication, scale) loaded_objects.append(cur_obj) # replicate scene: load scene objects, object poses, camera intrinsics and camera poses else: sc_gt = inout.load_scene_gt( split_p['scene_gt_tpath'].format(**{'scene_id': scene_id})) sc_camera = inout.load_json( split_p['scene_camera_tpath'].format(**{'scene_id': scene_id})) for i, (cam_id, insts) in enumerate(sc_gt.items()): cam_K, cam_H_m2c_ref = BopLoader._get_ref_cam_extrinsics_intrinsics( sc_camera, cam_id, insts, scale) if i == 0: # define world = first camera cam_H_m2w_ref = cam_H_m2c_ref.copy() cur_objs = [] # load scene objects and set their poses for inst in insts: cur_objs.append( BopLoader._load_mesh(inst['obj_id'], model_p, bop_dataset_name, has_external_texture, temp_dir, allow_duplication, scale)) BopLoader.set_object_pose(cur_objs[-1], inst, scale) cam_H_c2w = BopLoader._compute_camera_to_world_trafo( cam_H_m2w_ref, cam_H_m2c_ref, source_frame) # set camera intrinsics CameraUtility.set_intrinsics_from_K_matrix( cam_K, split_p['im_size'][0], split_p['im_size'][1]) # set camera extrinsics as next frame frame_id = CameraUtility.add_camera_pose(cam_H_c2w) # Add key frame for camera shift, as it changes from frame to frame in the tless replication cam = bpy.context.scene.camera.data cam.keyframe_insert(data_path='shift_x', frame=frame_id) cam.keyframe_insert(data_path='shift_y', frame=frame_id) # Copy object poses to key frame (to be sure) for cur_obj in cur_objs: BopLoader._insert_key_frames(cur_obj, frame_id) # move the origin of the object to the world origin and on top of the X-Y plane # makes it easier to place them later on, this does not change the `.location` # This is only useful if the BOP objects are not used in a pose estimation scenario. if move_origin_to_x_y_plane: for obj in loaded_objects: obj.move_origin_to_bottom_mean_point() return loaded_objects
def run(self): """ Load BOP data """ datasets_path = os.path.dirname(self.bop_dataset_path) dataset = os.path.basename(self.bop_dataset_path) print("bob: {}, dataset_path: {}".format(self.bop_dataset_path, datasets_path)) print("dataset: {}".format(dataset)) try: from bop_toolkit_lib import dataset_params, inout except ImportError as error: print( 'ERROR: Please download the bop_toolkit package and add it to sys_paths in config!' ) print('https://github.com/thodan/bop_toolkit') raise error model_p = dataset_params.get_model_params( datasets_path, dataset, model_type=self.model_type if self.model_type else None) cam_p = dataset_params.get_camera_params( datasets_path, dataset, cam_type=self.cam_type if self.cam_type else None) try: split_p = dataset_params.get_split_params(datasets_path, dataset, split=self.split) except ValueError: raise Exception( "Wrong path or {} split does not exist in {}.".format( self.split, dataset)) bpy.context.scene.world["category_id"] = 0 bpy.context.scene.render.resolution_x = cam_p['im_size'][0] bpy.context.scene.render.resolution_y = cam_p['im_size'][1] loaded_objects = [] # only load all/selected objects here, use other modules for setting poses # e.g. camera.CameraSampler / object.ObjectPoseSampler if self.scene_id == -1: # TLESS exception because images are cropped if self.bop_dataset_name in ['tless']: cam_p['K'][0, 2] = split_p['im_size'][0] / 2 cam_p['K'][1, 2] = split_p['im_size'][1] / 2 # set camera intrinsics CameraUtility.set_intrinsics_from_K_matrix(cam_p['K'], split_p['im_size'][0], split_p['im_size'][1]) obj_ids = self.obj_ids if self.obj_ids else model_p['obj_ids'] # if sampling is enabled if self.sample_objects: loaded_ids = {} loaded_amount = 0 if self.obj_instances_limit != -1 and len( obj_ids ) * self.obj_instances_limit < self.num_of_objs_to_sample: raise RuntimeError( "{}'s {} split contains {} objects, {} object where requested to sample with " "an instances limit of {}. Raise the limit amount or decrease the requested " "amount of objects.".format(self.bop_dataset_path, self.split, len(obj_ids), self.num_of_objs_to_sample, self.obj_instances_limit)) while loaded_amount != self.num_of_objs_to_sample: random_id = choice(obj_ids) if random_id not in loaded_ids.keys(): loaded_ids.update({random_id: 0}) # if there is no limit or if there is one, but it is not reached for this particular object if self.obj_instances_limit == -1 or loaded_ids[ random_id] < self.obj_instances_limit: cur_obj = self._load_mesh(random_id, model_p, scale=self.scale) loaded_ids[random_id] += 1 loaded_amount += 1 loaded_objects.append(cur_obj) else: print( "ID {} was loaded {} times with limit of {}. Total loaded amount {} while {} are " "being requested".format( random_id, loaded_ids[random_id], self.obj_instances_limit, loaded_amount, self.num_of_objs_to_sample)) else: for obj_id in obj_ids: cur_obj = self._load_mesh(obj_id, model_p, scale=self.scale) loaded_objects.append(cur_obj) self._set_properties(loaded_objects) # replicate scene: load scene objects, object poses, camera intrinsics and camera poses else: sc_gt = inout.load_scene_gt(split_p['scene_gt_tpath'].format( **{'scene_id': self.scene_id})) sc_camera = inout.load_json(split_p['scene_camera_tpath'].format( **{'scene_id': self.scene_id})) for i, (cam_id, insts) in enumerate(sc_gt.items()): cam_K, cam_H_m2c_ref = self._get_ref_cam_extrinsics_intrinsics( sc_camera, cam_id, insts, self.scale) if i == 0: # define world = first camera cam_H_m2w_ref = cam_H_m2c_ref.copy() cur_objs = [] # load scene objects and set their poses for inst in insts: cur_objs.append( self._load_mesh(inst['obj_id'], model_p, scale=self.scale)) self.set_object_pose(cur_objs[-1], inst, self.scale) cam_H_c2w = self._compute_camera_to_world_trafo( cam_H_m2w_ref, cam_H_m2c_ref) # set camera intrinsics CameraUtility.set_intrinsics_from_K_matrix( cam_K, split_p['im_size'][0], split_p['im_size'][1]) # set camera extrinsics as next frame frame_id = CameraUtility.add_camera_pose(cam_H_c2w) # Add key frame for camera shift, as it changes from frame to frame in the tless replication cam = bpy.context.scene.camera.data cam.keyframe_insert(data_path='shift_x', frame=frame_id) cam.keyframe_insert(data_path='shift_y', frame=frame_id) # Copy object poses to key frame (to be sure) for cur_obj in cur_objs: self._insert_key_frames(cur_obj, frame_id) # move the origin of the object to the world origin and on top of the X-Y plane # makes it easier to place them later on, this does not change the `.location` # This is only useful if the BOP objects are not used in a pose estimation scenario. move_to_origin = self.config.get_bool("move_origin_to_x_y_plane", False) if move_to_origin: LoaderInterface.move_obj_origin_to_bottom_mean_point( loaded_objects)