def get_all_mesh_objects() -> List["MeshObject"]:
"""
Returns all mesh objects in scene
:return: List of all MeshObjects
"""
return convert_to_meshes(get_all_blender_mesh_objects())
def run(self):
""" Collect all mesh objects and writes their id, name and pose."""
objects = []
for object in get_all_blender_mesh_objects():
objects.append(object)
self.write_attributes_to_file(self.object_writer, objects, "object_states_", "object_states",
["name", "location", "rotation_euler", "matrix_world"])
def _add_rigidbody(self):
""" Adds a rigidbody element to all mesh objects and sets their physics attributes depending on their custom properties """
# Temporary function which returns either the value set in the custom properties (if set) or the fallback value.
def get_physics_attribute(obj, cp_name, default_value):
if cp_name in obj:
return obj[cp_name]
else:
return default_value
# Go over all mesh objects and set their physics attributes based on the custom properties or (if not set) based on the module config
for obj in get_all_blender_mesh_objects():
mesh_obj = MeshObject(obj)
# Skip if the object has already an active rigid body component
if mesh_obj.get_rigidbody() is None:
if "physics" not in obj:
raise Exception(
"The obj: '{}' has no physics attribute, each object needs one."
.format(obj.name))
# Collect physics attributes
collision_shape = get_physics_attribute(
obj, "physics_collision_shape", self.collision_shape)
collision_margin = get_physics_attribute(
obj, "physics_collision_margin", self.collision_margin)
mass = get_physics_attribute(obj, "physics_mass",
None if self.mass_scaling else 1)
collision_mesh_source = get_physics_attribute(
obj, "physics_collision_mesh_source",
self.collision_mesh_source)
friction = get_physics_attribute(obj, "physics_friction",
self.friction)
angular_damping = get_physics_attribute(
obj, "physics_angular_damping", self.angular_damping)
linear_damping = get_physics_attribute(
obj, "physics_linear_damping", self.linear_damping)
# Set physics attributes
mesh_obj.enable_rigidbody(
active=obj["physics"],
collision_shape="COMPOUND" if collision_shape
== "CONVEX_DECOMPOSITION" else collision_shape,
collision_margin=collision_margin,
mass=mass,
mass_factor=self.mass_factor,
collision_mesh_source=collision_mesh_source,
friction=friction,
angular_damping=angular_damping,
linear_damping=linear_damping)
# Check if object needs decomposition
if collision_shape == "CONVEX_DECOMPOSITION":
mesh_obj.build_convex_decomposition_collision_shape(
self.vhacd_path, self._temp_dir,
self.convex_decomposition_cache_path)
def run(self):
"""
:return: Point of interest in the scene. Type: mathutils.Vector.
"""
# For every selected object in the scene
selected_objects = convert_to_meshes(
self.config.get_list("selector", get_all_blender_mesh_objects()))
if len(selected_objects) == 0:
raise Exception("No objects were selected!")
return compute_poi(selected_objects)
def run(self):
""" Collect ShapeNet attributes and write them to a file."""
shapenet_objects = [
obj for obj in get_all_blender_mesh_objects()
if "used_synset_id" in obj
]
self.write_attributes_to_file(self.object_writer, shapenet_objects,
"shapenet_", "shapenet",
["used_synset_id", "used_source_id"])
def run(self):
"""
Samples positions and rotations of selected object inside the sampling volume while performing mesh and
bounding box collision checks in the following steps:
1. While we have objects remaining and have not run out of tries - sample a point.
2. If no collisions are found keep the point.
"""
objects_to_sample = self.config.get_list(
"objects_to_sample", get_all_blender_mesh_objects())
objects_to_check_collisions = self.config.get_list(
"objects_to_check_collisions", get_all_blender_mesh_objects())
max_tries = self.config.get_int("max_iterations", 1000)
def sample_pose(obj: MeshObject):
obj.set_location(self.config.get_vector3d("pos_sampler"))
obj.set_rotation_euler(self.config.get_vector3d("rot_sampler"))
sample_poses(objects_to_sample=convert_to_meshes(objects_to_sample),
sample_pose_func=sample_pose,
objects_to_check_collisions=convert_to_meshes(
objects_to_check_collisions),
max_tries=max_tries)
def render(output_dir: Optional[str] = None, file_prefix: str = "rgb_", output_key: Optional[str] = "colors",
load_keys: Optional[Set[str]] = None, return_data: bool = True,
keys_with_alpha_channel: Optional[Set[str]] = None) -> Dict[str, Union[np.ndarray, List[np.ndarray]]]:
""" Render all frames.
This will go through all frames from scene.frame_start to scene.frame_end and render each of them.
:param output_dir: The directory to write files to, if this is None the temporary directory is used. \
The temporary directory is usually in the shared memory (only true for linux).
:param file_prefix: The prefix to use for writing the images.
:param output_key: The key to use for registering the output.
:param load_keys: Set of output keys to load when available
:param return_data: Whether to load and return generated data. Backwards compatibility to config-based pipeline.
:param keys_with_alpha_channel: A set containing all keys whose alpha channels should be loaded.
:return: dict of lists of raw renderer output. Keys can be 'distance', 'colors', 'normals'
"""
if output_dir is None:
output_dir = Utility.get_temporary_directory()
if load_keys is None:
load_keys = {'colors', 'distance', 'depth', 'normals', 'diffuse'}
keys_with_alpha_channel = {'colors'} if bpy.context.scene.render.film_transparent else None
if output_key is not None:
Utility.add_output_entry({
"key": output_key,
"path": os.path.join(output_dir, file_prefix) + "%04d" +
map_file_format_to_file_ending(bpy.context.scene.render.image_settings.file_format),
"version": "2.0.0"
})
load_keys.add(output_key)
bpy.context.scene.render.filepath = os.path.join(output_dir, file_prefix)
# Skip if there is nothing to render
if bpy.context.scene.frame_end != bpy.context.scene.frame_start:
if len(get_all_blender_mesh_objects()) == 0:
raise Exception("There are no mesh-objects to render, "
"please load an object before invoking the renderer.")
# As frame_end is pointing to the next free frame, decrease it by one, as
# blender will render all frames in [frame_start, frame_ned]
bpy.context.scene.frame_end -= 1
bpy.ops.render.render(animation=True, write_still=True)
# Revert changes
bpy.context.scene.frame_end += 1
return WriterUtility.load_registered_outputs(load_keys, keys_with_alpha_channel) if return_data else {}
def run(self):
total_noof_cams = self.config.get_int("total_noof_cams", 10)
noof_cams_per_scene = self.config.get_int("noof_cams_per_scene", 5)
for i in range(total_noof_cams):
if i % noof_cams_per_scene == 0:
# sample new object poses
self._object_pose_sampler.run()
# get current keyframe id
frame_id = bpy.context.scene.frame_end
# TODO: Use Getter for selecting objects
for obj in get_all_blender_mesh_objects():
# insert keyframes for current object poses
self.insert_key_frames(obj, frame_id)
# sample new camera poses
self._camera_pose_sampler.run()
def _get_pose() -> dict:
""" Returns position and rotation values of all objects in the scene with ACTIVE rigid_body type.
:return: Dict of form {obj_name:{'location':[x, y, z], 'rotation':[x_rot, y_rot, z_rot]}}.
"""
objects_poses = {}
objects_with_physics = [
obj for obj in get_all_blender_mesh_objects()
if obj.rigid_body is not None
]
for obj in objects_with_physics:
if obj.rigid_body.type == 'ACTIVE':
location = bpy.context.scene.objects[
obj.name].matrix_world.translation.copy()
rotation = mathutils.Vector(bpy.context.scene.objects[
obj.name].matrix_world.to_euler())
objects_poses.update(
{obj.name: {
'location': location,
'rotation': rotation
}})
return objects_poses
def write_bop(output_dir: str,
depths: Optional[List[np.ndarray]] = None,
colors: Optional[List[np.ndarray]] = None,
color_file_format: str = "PNG",
dataset: str = "",
append_to_existing_output: bool = True,
depth_scale: float = 1.0,
jpg_quality: int = 95,
save_world2cam: bool = True,
ignore_dist_thres: float = 100.,
m2mm: bool = True,
frames_per_chunk: int = 1000):
"""Write the BOP data
:param output_dir: Path to the output directory.
:param depths: List of depth images in m to save
:param colors: List of color images to save
:param color_file_format: File type to save color images. Available: "PNG", "JPEG"
:param jpg_quality: If color_file_format is "JPEG", save with the given quality.
:param dataset: Only save annotations for objects of the specified bop dataset. Saves all object poses if undefined.
:param append_to_existing_output: If true, the new frames will be appended to the existing ones.
:param depth_scale: Multiply the uint16 output depth image with this factor to get depth in mm. Used to trade-off between depth accuracy
and maximum depth value. Default corresponds to 65.54m maximum depth and 1mm accuracy.
:param save_world2cam: If true, camera to world transformations "cam_R_w2c", "cam_t_w2c" are saved in scene_camera.json
:param ignore_dist_thres: Distance between camera and object after which object is ignored. Mostly due to failed physics.
:param m2mm: Original bop annotations and models are in mm. If true, we convert the gt annotations to mm here. This
is needed if BopLoader option mm2m is used.
:param frames_per_chunk: Number of frames saved in each chunk (called scene in BOP)
"""
if depths is None:
depths = []
if colors is None:
colors = []
# Output paths.
dataset_dir = os.path.join(output_dir, dataset)
chunks_dir = os.path.join(dataset_dir, 'train_pbr')
camera_path = os.path.join(dataset_dir, 'camera.json')
# Create the output directory structure.
if not os.path.exists(dataset_dir):
os.makedirs(dataset_dir)
os.makedirs(chunks_dir)
elif not append_to_existing_output:
raise Exception(
"The output folder already exists: {}.".format(dataset_dir))
all_mesh_objects = get_all_blender_mesh_objects()
# Select objects from the specified dataset.
if dataset:
dataset_objects = []
for obj in all_mesh_objects:
if "bop_dataset_name" in obj:
if obj["bop_dataset_name"] == dataset:
dataset_objects.append(obj)
else:
dataset_objects = all_mesh_objects
# Check if there is any object from the specified dataset.
if not dataset_objects:
raise Exception(
"The scene does not contain any object from the "
"specified dataset: {}. Either remove the dataset parameter "
"or assign custom property 'bop_dataset_name' to selected objects".
format(dataset))
# Save the data.
BopWriterUtility._write_camera(camera_path, depth_scale=depth_scale)
BopWriterUtility._write_frames(chunks_dir,
dataset_objects=dataset_objects,
depths=depths,
colors=colors,
color_file_format=color_file_format,
frames_per_chunk=frames_per_chunk,
m2mm=m2mm,
ignore_dist_thres=ignore_dist_thres,
save_world2cam=save_world2cam,
depth_scale=depth_scale,
jpg_quality=jpg_quality)
def _sample_cam_poses(self, config):
""" Samples camera poses according to the given config
:param config: The config object
"""
cam_ob = bpy.context.scene.camera
cam = cam_ob.data
# Set global parameters
self.sqrt_number_of_rays = config.get_int("sqrt_number_of_rays", 10)
self.max_tries = config.get_int("max_tries", 10000)
self.proximity_checks = config.get_raw_dict("proximity_checks", {})
self.excluded_objects_in_proximity_check = config.get_list(
"excluded_objs_in_proximity_check", [])
self.min_interest_score = config.get_float("min_interest_score", 0.0)
self.interest_score_range = config.get_float("interest_score_range",
self.min_interest_score)
self.interest_score_step = config.get_float("interest_score_step", 0.1)
self.special_objects = config.get_list("special_objects", [])
self.special_objects_weight = config.get_float(
"special_objects_weight", 2)
self._above_objects = convert_to_meshes(
config.get_list("check_if_pose_above_object_list", []))
self.check_visible_objects = convert_to_meshes(
config.get_list("check_if_objects_visible", []))
# Set camera intrinsics
self._set_cam_intrinsics(
cam, Config(self.config.get_raw_dict("intrinsics", {})))
if self.proximity_checks:
# needs to build an bvh tree
mesh_objects = [
MeshObject(obj) for obj in get_all_blender_mesh_objects()
if obj not in self.excluded_objects_in_proximity_check
]
self.bvh_tree = create_bvh_tree_multi_objects(mesh_objects)
if self.interest_score_step <= 0.0:
raise Exception(
"Must have an interest score step size bigger than 0")
# Determine the number of camera poses to sample
number_of_poses = config.get_int("number_of_samples", 1)
print("Sampling " + str(number_of_poses) + " cam poses")
# Start with max interest score
self.interest_score = self.interest_score_range
# Init
all_tries = 0
tries = 0
existing_poses = []
for i in range(number_of_poses):
# Do until a valid pose has been found or the max number of tries has been reached
while tries < self.max_tries:
tries += 1
all_tries += 1
# Sample a new cam pose and check if its valid
if self.sample_and_validate_cam_pose(config, existing_poses):
break
# If max tries has been reached
if tries >= self.max_tries:
# Decrease interest score and try again, if we have not yet reached minimum
continue_trying, self.interest_score = CameraValidation.decrease_interest_score(
self.interest_score, self.min_interest_score,
self.interest_score_step)
if continue_trying:
tries = 0
print(str(all_tries) + " tries were necessary")
def render_segmap(output_dir: Optional[str] = None, temp_dir: Optional[str] = None,
map_by: Union[str, List[str]] = "class",
default_values: Optional[Dict[str, int]] = None, file_prefix: str = "segmap_",
output_key: str = "segmap", segcolormap_output_file_prefix: str = "instance_attribute_map_",
segcolormap_output_key: str = "segcolormap", use_alpha_channel: bool = False,
render_colorspace_size_per_dimension: int = 2048) -> \
Dict[str, Union[np.ndarray, List[np.ndarray]]]:
""" Renders segmentation maps for all frames
:param output_dir: The directory to write images to.
:param temp_dir: The directory to write intermediate data to.
:param map_by: The attributes to be used for color mapping.
:param default_values: The default values used for the keys used in attributes, if None is {"class": 0}.
:param file_prefix: The prefix to use for writing the images.
:param output_key: The key to use for registering the output.
:param segcolormap_output_file_prefix: The prefix to use for writing the segmentation-color map csv.
:param segcolormap_output_key: The key to use for registering the segmentation-color map output.
:param use_alpha_channel: If true, the alpha channel stored in .png textures is used.
:param render_colorspace_size_per_dimension: As we use float16 for storing the rendering, the interval of \
integers which can be precisely stored is [-2048, 2048]. As \
blender does not allow negative values for colors, we use \
[0, 2048] ** 3 as our color space which allows ~8 billion \
different colors/objects. This should be enough.
:return: dict of lists of segmaps and (for instance segmentation) segcolormaps
"""
if output_dir is None:
output_dir = Utility.get_temporary_directory()
if temp_dir is None:
temp_dir = Utility.get_temporary_directory()
if default_values is None:
default_values = {"class": 0}
with Utility.UndoAfterExecution():
RendererUtility._render_init()
RendererUtility.set_samples(1)
RendererUtility.set_adaptive_sampling(0)
RendererUtility.set_denoiser(None)
RendererUtility.set_light_bounces(1, 0, 0, 1, 0, 8, 0)
attributes = map_by
if 'class' in default_values:
default_values['cp_category_id'] = default_values['class']
# Get objects with meshes (i.e. not lights or cameras)
objs_with_mats = get_all_blender_mesh_objects()
colors, num_splits_per_dimension, objects = _colorize_objects_for_instance_segmentation(
objs_with_mats, use_alpha_channel,
render_colorspace_size_per_dimension)
bpy.context.scene.cycles.filter_width = 0.0
if use_alpha_channel:
MaterialLoaderUtility.add_alpha_channel_to_textures(
blurry_edges=False)
# Determine path for temporary and for final output
temporary_segmentation_file_path = os.path.join(temp_dir, "seg_")
final_segmentation_file_path = os.path.join(output_dir, file_prefix)
RendererUtility.set_output_format("OPEN_EXR", 16)
RendererUtility.render(temp_dir, "seg_", None, return_data=False)
# Find optimal dtype of output based on max index
for dtype in [np.uint8, np.uint16, np.uint32]:
optimal_dtype = dtype
if np.iinfo(optimal_dtype).max >= len(colors) - 1:
break
if isinstance(attributes, str):
# only one result is requested
result_channels = 1
attributes = [attributes]
elif isinstance(attributes, list):
result_channels = len(attributes)
else:
raise Exception(
"The type of this is not supported here: {}".format(
attributes))
# define them for the avoid rendering case
there_was_an_instance_rendering = False
list_of_attributes: List[str] = []
# Check if stereo is enabled
if bpy.context.scene.render.use_multiview:
suffixes = ["_L", "_R"]
else:
suffixes = [""]
return_dict: Dict[str, Union[np.ndarray, List[np.ndarray]]] = {}
save_in_csv_attributes: Dict[int, Dict[str, Any]] = {}
# After rendering
for frame in range(
bpy.context.scene.frame_start,
bpy.context.scene.frame_end): # for each rendered frame
save_in_csv_attributes: Dict[int, Dict[str, Any]] = {}
for suffix in suffixes:
file_path = temporary_segmentation_file_path + (
"%04d" % frame) + suffix + ".exr"
segmentation = load_image(file_path)
print(file_path, segmentation.shape)
segmap = Utility.map_back_from_equally_spaced_equidistant_values(
segmentation, num_splits_per_dimension,
render_colorspace_size_per_dimension)
segmap = segmap.astype(optimal_dtype)
object_ids = np.unique(segmap)
max_id = np.max(object_ids)
if max_id >= len(objects):
raise Exception(
"There are more object colors than there are objects")
combined_result_map = []
there_was_an_instance_rendering = False
list_of_attributes = []
channels = []
for channel_id in range(result_channels):
num_default_values = 0
resulting_map = np.zeros(
(segmap.shape[0], segmap.shape[1]),
dtype=optimal_dtype)
was_used = False
current_attribute = attributes[channel_id]
org_attribute = current_attribute
# if the class is used the category_id attribute is evaluated
if current_attribute == "class":
current_attribute = "cp_category_id"
# in the instance case the resulting ids are directly used
if current_attribute == "instance":
there_was_an_instance_rendering = True
resulting_map = segmap
was_used = True
else:
if current_attribute != "cp_category_id":
list_of_attributes.append(current_attribute)
# for the current attribute remove cp_ and _csv, if present
attribute = current_attribute
if attribute.startswith("cp_"):
attribute = attribute[len("cp_"):]
# check if a default value was specified
default_value_set = False
if current_attribute in default_values or attribute in default_values:
default_value_set = True
if current_attribute in default_values:
default_value = default_values[
current_attribute]
elif attribute in default_values:
default_value = default_values[attribute]
# iterate over all object ids
for object_id in object_ids:
# Convert np.uint8 to int, such that the save_in_csv_attributes dict can later be serialized
object_id = int(object_id)
# get the corresponding object via the id
current_obj = objects[object_id]
# if the current obj has a attribute with that name -> get it
if hasattr(current_obj, attribute):
value = getattr(current_obj, attribute)
# if the current object has a custom property with that name -> get it
elif current_attribute.startswith(
"cp_") and attribute in current_obj:
value = current_obj[attribute]
elif current_attribute.startswith("cf_"):
if current_attribute == "cf_basename":
value = current_obj.name
if "." in value:
value = value[:value.rfind(".")]
elif default_value_set:
# if none of the above applies use the default value
value = default_value
num_default_values += 1
else:
# if the requested current_attribute is not a custom property or a attribute
# or there is a default value stored
# it throws an exception
raise Exception(
"The obj: {} does not have the "
"attribute: {}, striped: {}. Maybe try a default "
"value.".format(current_obj.name,
current_attribute,
attribute))
# save everything which is not instance also in the .csv
if isinstance(
value,
(int, float, np.integer, np.floating)):
was_used = True
resulting_map[segmap == object_id] = value
if object_id in save_in_csv_attributes:
save_in_csv_attributes[object_id][
attribute] = value
else:
save_in_csv_attributes[object_id] = {
attribute: value
}
if was_used and num_default_values < len(object_ids):
channels.append(org_attribute)
combined_result_map.append(resulting_map)
return_dict.setdefault(
"{}_segmaps{}".format(org_attribute, suffix),
[]).append(resulting_map)
fname = final_segmentation_file_path + ("%04d" %
frame) + suffix
# combine all resulting images to one image
resulting_map = np.stack(combined_result_map, axis=2)
# remove the unneeded third dimension
if resulting_map.shape[2] == 1:
resulting_map = resulting_map[:, :, 0]
# TODO: Remove unnecessary save when we give up backwards compatibility
np.save(fname, resulting_map)
if there_was_an_instance_rendering:
mappings = []
for object_id, attribute_dict in save_in_csv_attributes.items(
):
mappings.append({"idx": object_id, **attribute_dict})
return_dict.setdefault("instance_attribute_maps",
[]).append(mappings)
# write color mappings to file
# TODO: Remove unnecessary csv file when we give up backwards compatibility
csv_file_path = os.path.join(
output_dir,
segcolormap_output_file_prefix + ("%04d.csv" % frame))
with open(csv_file_path, 'w', newline='') as csvfile:
# get from the first element the used field names
fieldnames = ["idx"]
# get all used object element keys
for object_element in save_in_csv_attributes.values():
fieldnames.extend(list(object_element.keys()))
break
for channel_name in channels:
fieldnames.append("channel_{}".format(channel_name))
writer = csv.DictWriter(csvfile, fieldnames=fieldnames)
writer.writeheader()
# save for each object all values in one row
for obj_idx, object_element in save_in_csv_attributes.items(
):
object_element["idx"] = obj_idx
for i, channel_name in enumerate(channels):
object_element["channel_{}".format(
channel_name)] = i
writer.writerow(object_element)
else:
if len(list_of_attributes) > 0:
raise Exception(
"There were attributes specified in the may_by, which could not be saved as "
"there was no \"instance\" may_by key used. This is true for this/these "
"keys: {}".format(", ".join(list_of_attributes)))
# if there was no instance rendering no .csv file is generated!
# delete all saved infos about .csv
save_in_csv_attributes = {}
Utility.register_output(output_dir, file_prefix, output_key, ".npy",
"2.0.0")
if save_in_csv_attributes:
Utility.register_output(output_dir, segcolormap_output_file_prefix,
segcolormap_output_key, ".csv", "2.0.0")
return return_dict
