def __init__(self, **kwargs):
super(WorkstationScenarios, self).__init__()
self.logger = get_logger()
add_file_handler(self.logger)
# we do composition here, not inheritance anymore because it is too
# limiting in its capabilities. Using a render manager is a better way
# to handle compositor nodes
self.renderman = abr_scenes.RenderManager()
# extract configuration, then build and activate a split config
self.config = kwargs.get('config', WorkstationScenariosConfiguration())
if self.config.dataset.scene_type.lower() != 'WorkstationScenarios'.lower():
raise RuntimeError(
f"Invalid configuration of scene type {self.config.dataset.scene_type} for class WorkstationScenarios")
# determine if we are rendering in multiview mode
self.render_mode = kwargs.get('render_mode', 'default')
if self.render_mode not in ['default', 'multiview']:
self.logger.warn(f'render mode "{self.render_mode}" not supported. Falling back to "default"')
self.render_mode = 'default'
# we might have to post-process the configuration
self.postprocess_config()
# setup directory information for each camera
self.setup_dirinfo()
# setup the scene, i.e. load it from file
self.setup_scene()
# setup the renderer. do this _AFTER_ the file was loaded during
# setup_scene(), because otherwise the information will be taken from
# the file, and changes made by setup_renderer ignored
self.renderman.setup_renderer(self.config.render_setup.integrator, self.config.render_setup.denoising,
self.config.render_setup.samples, self.config.render_setup.motion_blur)
# grab environment textures
self.setup_environment_textures()
# setup all camera information according to the configuration
self.setup_cameras()
# setup global render output configuration
self.setup_render_output()
# populate the scene with objects
self.objs = self.setup_objects(self.config.scenario_setup.target_objects,
bpy_collection='TargetObjects',
abc_objects=self.config.scenario_setup.abc_objects,
abc_bpy_collection='ABCObjects')
self.distractors = self.setup_objects(self.config.scenario_setup.distractor_objects,
bpy_collection='DistractorObjects')
# finally, setup the compositor
self.setup_compositor()
def __init__(self, data_dir=None):
"""Dataloader for ABC dataset
Args:
data_dir (str, optional): fullpath to ABC dataset parent directory. Defaults to None.
"""
self._logger = log_utils.get_logger()
log_utils.add_file_handler(self._logger)
self._parent = self._get_abc_parent_dir(data_dir)
self._object_types_map = self._get_object_types_map()
def __init__(self,
material_generator,
units="METERS",
enable_physics=True,
collision_margin=0.0001,
density=8000):
self._logger = log_utils.get_logger()
log_utils.add_file_handler(self._logger)
self._mat_gen = material_generator
self._units = units
self._physhics = enable_physics
self._collision_margin = collision_margin
self._density = density # kg/m^3, Steel ~ 8000
self._mass_top_limit = 1.0 # [kg]
self._mass_bottom_limit = 0.01
def __init__(self,
data_dir=None,
n_materials=3,
collision_margin=0.0001,
density=8000):
"""Configuration
Args:
data_dir (str, optional): fullpath to ABC dataset parent directory. Defaults to None.
n_materials (int, optional): Number of random materials to generate. Defaults to 3.
density (float, optional): density in [kg/m^3]. Default to 8000, for Steel.
collision_margin (float, optional): collision_margin in [m]. Defaults to 0.0001.
Physics simulation params are necessary for randomized object placement.
"""
self._logger = log_utils.get_logger()
log_utils.add_file_handler(self._logger)
self._dataloader = ABCDataLoader(data_dir=data_dir)
material_generator = MetallicMaterialGenerator()
material_generator.make_random_material(n=n_materials)
self._stl_importer = STLImporter(material_generator,
units="METERS",
enable_physics=True,
collision_margin=collision_margin,
density=density)
collision_margin=collision_margin)
if not rescale_success:
bpy.ops.object.select_all(action="DESELECT")
# bpy.context.scene.objects.active = None
obj_handle.select_set(True)
bpy.ops.object.delete()
return None, None
return obj_handle, object_type
if __name__ == "__main__":
logger = log_utils.get_logger()
log_utils.add_file_handler(logger)
logger.info("starting __main__")
n_rand = 7
n_per_type = 4
step = 0.3
out_dir = osp.join(os.environ["HOME"], "Desktop", "stl_import_demo")
try:
shutil.rmtree(out_dir)
except FileNotFoundError:
pass
os.makedirs(out_dir, exist_ok=True)
abc_importer = ABCImporter()
logger.info("instantiated an ABCImporter for STL files")