def run(self):
self.start()
self.communicate(TDWUtils.create_empty_room(20, 20))
self.communicate(TDWUtils.create_avatar(position={"x": 0, "y": 3, "z": -6},
look_at=TDWUtils.VECTOR3_ZERO))
model_name = "rh10"
z = -3
x = -1.5
print("With the add_object command (complex syntax but you have maximum control):")
record = ModelLibrarian().get_record(model_name)
self.communicate({"$type": "add_object",
"name": model_name,
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": {"x": x, "y": 0, "z": z},
"rotation": TDWUtils.VECTOR3_ZERO,
"category": record.wcategory,
"id": self.get_unique_id()})
x = 0
print("With the wrapper function Controller.add_object() "
"(easy to use, but you can't add additional commands to this frame):")
self.add_object(model_name=model_name,
position={"x": x, "y": 0, "z": z},
rotation=TDWUtils.VECTOR3_ZERO,
library="models_core.json")
x = 1.5
print("With the wrapper function Controller.get_add_object() "
"(harder to use, but you can add commands to this frame):")
self.communicate(self.get_add_object(model_name=model_name,
object_id=self.get_unique_id(),
position={"x": x, "y": 0, "z": 0},
rotation=TDWUtils.VECTOR3_ZERO,
library="models_core.json"))
print("With the add_object command, minus all optional parameters (the model won't scale properly!):")
self.communicate({"$type": "add_object",
"name": model_name,
"url": record.get_url(),
"id": self.get_unique_id()})
print("With the wrapper function Controller.add_object(), minus all optional parameters:")
self.add_object(model_name)
print("With the wrapper function Controller.get_add_object(), minus all optional parameters:")
self.communicate(self.get_add_object(model_name=model_name,
object_id=self.get_unique_id()))
def run(self):
""" Generate room using COCO_TDW dataset """
objects_in_scene = 15
object_ids = []
# Get Category-Object mapping
TDW_COCO_models = TDW_relationships.get_COCO_TDW_mapping()
# print("TDWCOCO:", TDW_COCO_models)
# print("KEYS:", TDW_COCO_models.keys())
# Gets COCO categories co-occurring in a scene
# +5 is for dealing with failed object insertion attempts
COCO_configurations = msCOCO_matrix.get_max_co_occurrence(5, int(objects_in_scene + 5))
configuration_1 = COCO_configurations[0]
print("Config 1:", configuration_1)
# TDW models/objects
objects = []
for COCO_object in configuration_1:
print(COCO_object)
print(COCO_object.split())
if len(COCO_object.split()) > 1:
COCO_object = COCO_object.split()[-1]
print(COCO_object)
# Check if COCO category is a key in the COCO-TDW mapping
if COCO_object in TDW_COCO_models.keys():
# Gets random TDW model (from COCO-to-TDW map) based on COCO category key
print(TDW_COCO_models[COCO_object])
model = TDW_COCO_models[COCO_object][random.randint(0, len(TDW_COCO_models[COCO_object]) - 1)]
objects.append(model)
print("COCO to TDW objects:", objects)
# print(len(objects))
# Stores object categories that other objects can be placed upon (e.g. table, chair, couch, bed)
surface_properties_list = TDW_COCO_models['table'] + TDW_COCO_models['chair'] + \
TDW_COCO_models['bed'] + TDW_COCO_models['couch'] + \
TDW_COCO_models['bench'] + TDW_COCO_models['refrigerator']
surface_categories = []
for surface_properties in surface_properties_list:
surface_categories.append(surface_properties[0])
print("Surface Categories:", surface_categories)
# Stores the actual surface object instances/ids alongside number of objects on the surface
surface_object_ids = {}
self.start()
positions_list = [] # Stores current model locations and radii
scene_dimensions = [] # Store scene/environment dimensions
init_setup_commands = [{"$type": "set_screen_size",
"width": 640,
"height": 481},
{"$type": "set_render_quality",
"render_quality": 1}]
self.communicate(init_setup_commands)
scene_lib = SceneLibrarian()
# Disable physics when adding in new objects (objects float)
self.communicate({"$type": "simulate_physics",
"value": False})
for scene in scenes[1:]:
# Load in scene
# print("Scene", scene[0])
if scene[3] == "interior" and scene[0] == "box_room_2018":
self.start()
scene_record = scene_lib.get_record(scene[0])
self.communicate({"$type": "add_scene",
"name": scene_record.name,
"url": scene_record.get_url()})
# Gets dimensions of environments (e.g. inside, outside) in the scene
# This command returns environment data in the form of a list of serialized byte arrays
scene_bytes = self.communicate({"$type": "send_environments",
"frequency": "once"})
# Iterating through data and parsing byte array
# Ignoring the last element (the frame count)
for b in scene_bytes[:-1]:
e = Environments(b)
for i in range(e.get_num()):
center = e.get_center(i)
bounds = e.get_bounds(i)
env_id = e.get_id(i)
scene_dimensions = [center, bounds, env_id] # Center, bounds are tuples
# Must come before set_pass_masks
avatar_position = TDWUtils.array_to_vector3([0.9 * scene_dimensions[1][0] / 2,
scene_dimensions[1][1] / 2,
0])
# print("Avatar Position:", avatar_position)
self.communicate(TDWUtils.create_avatar(avatar_id="avatar",
position=avatar_position,
look_at={"x": 0,
"y": scene_dimensions[0][1] / 2,
"z": 0}))
# Set collision mode
self.communicate({"$type": "set_avatar_collision_detection_mode",
"mode": "continuous_speculative",
"avatar_id": "avatar"})
# Alter FOV
self.communicate({"$type": "set_field_of_view",
"field_of_view": 80,
"avatar_id": "avatar"})
# # Gets rid of header (Model: Category)
# objects = TDW_COCO_models[1:]
# random.shuffle(objects)
obj_count = 0
obj_overlaps = 0 # Number of failed attempts to place object due to over-dense objects area
while obj_count < objects_in_scene and obj_overlaps < 5:
# Handles if object has been added to a flat surface
added_to_surface = False
print("Object COUNT:", obj_count)
# Need to have random position for Bounds Data to return meaningful info
valid_obj_pos = {"x": random.uniform(-1 * scene_dimensions[1][0] / 2,
0.5 * scene_dimensions[1][0] / 2),
"y": scene_dimensions[1][1] / 4,
"z": random.uniform(-0.9 * scene_dimensions[1][2] / 2,
0.9 * scene_dimensions[1][2] / 2)}
print("First random position")
# Add in the object at random position
# Object will later be removed or updated accordingly after performing collision calculations
record = ModelLibrarian(library="models_full.json").get_record(objects[obj_count][0])
print("Record gotten")
print(objects[obj_count][0])
o_id = self.communicate({"$type": "add_object",
"name": objects[obj_count][0],
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": valid_obj_pos,
"rotation": TDWUtils.VECTOR3_ZERO,
"category": record.wcategory,
"id": obj_count})
print("Random first add")
# Returns bound data for added object
bounds_data = self.communicate({"$type": "send_bounds",
"frequency": "once"})
print("Bounds returned")
# Appends object, with information on position and obj_radius, to positions_list
# Length of buffer array should be 1
# print("Bounds Data:", bounds_data)
for b in bounds_data[:-1]:
# print("Buffer Loop:", b)
b_id = OutputData.get_data_type_id(b)
if b_id == "boun":
# print("BOUNDS")
o = Bounds(b)
# print("# of Objects:", o.get_num())
# print("# of Failed Attempts:", obj_overlaps)
# print("Buffer Array:", b)
# print("Bounds Object:", o)
for i in range(o.get_num()):
print("Object ID:", o.get_id(i))
print("obj_count:", obj_count)
print("Object:", objects[obj_count][0], "Category:", objects[obj_count][1])
# print("Object Center:", o.get_center(i))
# Only want to compute valid_position for object we are about to add
# Skip any computation if this is not the case
if o.get_id(i) != obj_count:
continue
# Useful for detecting if object fits in environment
# print("Calculating if object fits in environment")
width = distance.euclidean(o.get_left(i), o.get_right(i))
depth = distance.euclidean(o.get_front(i), o.get_back(i))
height = distance.euclidean(o.get_top(i), o.get_bottom(i))
# print("Width:", width)
# print("Depth:", depth)
# ("Height:", height)
# Useful for avoiding object overlap
# print("Calculating Object Bounds")
center_to_top = distance.euclidean(o.get_center(i), o.get_top(i))
center_to_bottom = distance.euclidean(o.get_center(i), o.get_bottom(i))
center_to_left = distance.euclidean(o.get_center(i), o.get_left(i))
center_to_right = distance.euclidean(o.get_center(i), o.get_right(i))
center_to_front = distance.euclidean(o.get_center(i), o.get_front(i))
center_to_back = distance.euclidean(o.get_center(i), o.get_back(i))
# Max object radius (center to diagonal of bounding box)
obj_radius = \
max(math.sqrt(center_to_top ** 2 + center_to_left ** 2 + center_to_front ** 2),
math.sqrt(center_to_top ** 2 + center_to_right ** 2 + center_to_front ** 2),
math.sqrt(center_to_top ** 2 + center_to_left ** 2 + center_to_back ** 2),
math.sqrt(center_to_top ** 2 + center_to_right ** 2 + center_to_back ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_left ** 2 + center_to_front ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_right ** 2 + center_to_front ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_left ** 2 + center_to_back ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_right ** 2 + center_to_back ** 2))
# print("Obj_Radius:", obj_radius)
# Set sweeping radius, based on scene plane dimensions
l_radius = random.uniform(0, min(0.5 * scene_dimensions[1][0] / 2,
0.5 * scene_dimensions[1][2] / 2))
# Checking that object fits in scene viewing
if (width > min(0.7 * scene_dimensions[1][0], 0.7 * scene_dimensions[1][2]) or
depth > min(0.7 * scene_dimensions[1][0], 0.7 * scene_dimensions[1][2]) or
height > 0.7 * scene_dimensions[1][1]):
print("Object does not fit in scene")
self.communicate([{"$type": "send_images",
"frequency": "never"},
{"$type": "destroy_object",
"id": obj_count}])
# Ensures next attempt to load in item is not the same item as before
random.shuffle(objects)
break
# Not possible to find valid object position -- too many overlapping objects
elif (not self._get_object_position(scene_dimensions=scene_dimensions,
object_positions=positions_list,
object_to_add_radius=obj_radius,
max_tries=20,
location_radius=l_radius)[0]):
print("Could not calculate valid object location")
self.communicate([{"$type": "send_images",
"frequency": "never"},
{"$type": "destroy_object",
"id": obj_count}])
obj_overlaps += 1
# Ensures next attempt to load in item is not the same item as before
random.shuffle(objects)
break
# Find appropriate, non-overlapping object position
# Reset object position to the valid position
else:
print("Object fits in scene")
# Check if object fits on table, chair, couch, etc.
# Add object if it fits, place it somewhere on top of the surface
for surface_id in surface_object_ids.keys():
print("Surface ID:", surface_id)
# Skip placement feasibility if the object is already a surface-type object
# Ex. no chair on top of a table
if objects[obj_count][0] in surface_categories:
print("Object: %s is already a surface object" % objects[obj_count][0])
break
# Check how many objects are on surface
if surface_object_ids[surface_id] >= 3:
print("Too many objects on surface")
print("From surface objects dict:", surface_object_ids[surface_id])
continue
surface_bounds = self.get_bounds_data(surface_id)
surface_area = distance.euclidean(surface_bounds.get_left(0),
surface_bounds.get_right(0)) * \
distance.euclidean(surface_bounds.get_front(0),
surface_bounds.get_back(0))
obj_area = width * height
if obj_area < surface_area:
s_center_to_top = distance.euclidean(surface_bounds.get_center(0),
surface_bounds.get_top(0))
s_center_to_bottom = distance.euclidean(surface_bounds.get_center(0),
surface_bounds.get_bottom(0))
s_center_to_left = distance.euclidean(surface_bounds.get_center(0),
surface_bounds.get_left(0))
s_center_to_right = distance.euclidean(surface_bounds.get_center(0),
surface_bounds.get_right(0))
s_center_to_front = distance.euclidean(surface_bounds.get_center(0),
surface_bounds.get_front(0))
s_center_to_back = distance.euclidean(surface_bounds.get_center(0),
surface_bounds.get_back(0))
surface_radius = \
max(math.sqrt(
s_center_to_top ** 2 + s_center_to_left ** 2 + s_center_to_front ** 2),
math.sqrt(
s_center_to_top ** 2 + s_center_to_right ** 2 + s_center_to_front ** 2),
math.sqrt(
s_center_to_top ** 2 + s_center_to_left ** 2 + s_center_to_back ** 2),
math.sqrt(
s_center_to_top ** 2 + s_center_to_right ** 2 + s_center_to_back ** 2),
math.sqrt(
s_center_to_bottom ** 2 + s_center_to_left ** 2 + s_center_to_front ** 2),
math.sqrt(
s_center_to_bottom ** 2 + s_center_to_right ** 2 + s_center_to_front ** 2),
math.sqrt(
s_center_to_bottom ** 2 + s_center_to_left ** 2 + s_center_to_back ** 2),
math.sqrt(
s_center_to_bottom ** 2 + s_center_to_right ** 2 + s_center_to_back ** 2))
print("Surface-type object")
self.communicate({"$type": "destroy_object",
"id": obj_count})
# Adding the object to the top of the surface
on_pos = surface_bounds.get_top(0)
on_y = on_pos[1]
on_pos = TDWUtils.get_random_point_in_circle(np.array(on_pos),
0.7 * surface_radius)
on_pos[1] = on_y
on_pos = TDWUtils.array_to_vector3(on_pos)
on_rot = {"x": 0, "y": random.uniform(-45, 45), "z": 0}
# Add the object.
print("Model Name on Surface:", objects[obj_count][0])
record = ModelLibrarian(library="models_full.json").get_record(
objects[obj_count][0])
on_id = self.communicate({"$type": "add_object",
"name": objects[obj_count][0],
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": on_pos,
"rotation": on_rot,
"category": record.wcategory,
"id": obj_count})
obj_count += 1
surface_object_ids[surface_id] += 1
object_ids.append(obj_count)
print("Object added on top of surface")
added_to_surface = True
# Breaking out of surface objects loop
break
if added_to_surface:
print("Breaking out of object loop")
# Breaking out of object loop
break
print("Post-surface")
valid_obj_pos = self._get_object_position(scene_dimensions=scene_dimensions,
object_positions=positions_list,
object_to_add_radius=obj_radius,
max_tries=20,
location_radius=l_radius)[1]
print("Position calculated")
positions_list.append(ObjectPosition(valid_obj_pos, obj_radius))
self.communicate([{"$type": "send_images",
"frequency": "never"},
{"$type": "destroy_object",
"id": obj_count}])
added_object_id = self.communicate({"$type": "add_object",
"name": objects[obj_count][0],
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": valid_obj_pos,
"rotation": {"x": 0, "y": 0, "z": 0},
"category": record.wcategory,
"id": obj_count})
# print("Object ID:", added_object_id)
print("Regular object add")
object_ids.append(added_object_id)
# If TDW model belongs to surface categories, store id_information
if objects[obj_count][0] in surface_categories:
surface_object_ids[obj_count] = 0
# Rotate the object randomly
print("Rotating object")
self.communicate({"$type": "rotate_object_by",
"angle": random.uniform(-45, 45),
"axis": "yaw",
"id": obj_count,
"is_world": True})
# Minimal rotating for position differences
# Don't rotate the object if doing so will result in overlap into scene
if not (o.get_bottom(i)[1] < 0 or o.get_top(i)[1] > 0.9 * scene_dimensions[1][1]):
pitch_angle = random.uniform(-45, 45)
self.communicate({"$type": "rotate_object_by",
"angle": pitch_angle,
"axis": "pitch",
"id": obj_count,
"is_world": True})
roll_angle = random.uniform(-45, 45)
self.communicate({"$type": "rotate_object_by",
"angle": roll_angle,
"axis": "roll",
"id": obj_count,
"is_world": True})
# Don't need this for just changing positions
# Setting random materials/textures
# Looping through sub-objects and materials
sub_count = 0
for sub_object in record.substructure:
# Loop through materials in sub-objects
for j in range(len(sub_object)):
# Get random material and load in
material = random.choice(materials[1:])
self.load_material(material)
print("Material loaded")
# Set random material on material of sub-object
self.communicate({"$type": "set_visual_material",
"material_index": j,
"material_name": material[0],
"object_name": sub_object['name'],
"id": obj_count})
print("Material set")
sub_count += 1
if sub_count > 10:
break
break
print("Updating count")
obj_count += 1
print("Breaking out of object_id loop")
break
# Break out of buffer loop
print("Breaking out of buffer loop")
break
# Move onto next iteration of while loop (next object to load in)
print("Object added - next while loop iteration")
continue
# for i in range(200):
# self.communicate({"$type": "simulate_physics",
# "value": False})
# Enable image capture
self.communicate({"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]})
self.communicate({"$type": "send_images",
"frequency": "always"})
# Capture scene
# NOTE: THESE SCENES GET REPLACED IN THE TARGET DIRECTORY
scene_data = self.communicate({"$type": "look_at_position",
"avatar_id": "avatar",
"position": {"x": 0,
"y": scene_dimensions[0][1] / 2,
"z": 0}})
images = Images(scene_data[0])
TDWUtils.save_images(images, TDWUtils.zero_padding(i), output_directory=path)
print("Object ids:", object_ids)
def run(self):
self.start()
init_setup_commands = [{"$type": "set_screen_size",
"width": 640,
"height": 480},
{"$type": "set_render_quality",
"render_quality": 5}]
self.communicate(init_setup_commands)
self.communicate({"$type": "create_empty_environment",
"center": {"x": 0, "y": 0, "z": 0},
"bounds": {"x": 15, "y": 15, "z": 15}})
# Disable physics.
self.communicate({"$type": "set_gravity",
"value": False})
# Add the avatar.
self.communicate(TDWUtils.create_avatar(position={"x": -1.5, "y": 1.4, "z": 0.6},
look_at=TDWUtils.array_to_vector3([3, 0.5, 0.5]),
avatar_id="avatar"))
self.communicate(self.get_add_hdri_skybox("table_mountain_1_4k"))
self.communicate({"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"})
cube_record = ModelLibrarian("models_special.json").get_record("prim_cube")
self.communicate({"$type": "add_object",
"name": "prim_cube",
"url": cube_record.get_url(),
"scale_factor": cube_record.scale_factor,
"position": {"x": 0, "y": 0, "z": 0},
"rotation": {"x": 0, "y": 0, "z": 0},
"category": cube_record.wcategory,
"id": 1})
self.communicate({"$type": "scale_object",
"scale_factor": {"x": 30, "y": 0.0001, "z": 30},
"id": 1})
grass_record = MaterialLibrarian("materials_high.json").get_record("grass_countryside")
self.communicate({"$type": "add_material", "name": "grass_countryside", "url": grass_record.get_url()})
self.communicate(TDWUtils.set_visual_material(c=self, substructure=cube_record.substructure, object_id=1,
material="grass_countryside"))
self.add_object(model_name="b03_horse",
position={"x": 3, "y": 0.0001, "z": 0.5},
rotation={"x": 0, "y": 0, "z": 0},
library="models_full.json")
bird = self.add_object(model_name="polysurface63",
position={"x": 1.2, "y": 0.0001, "z": 1},
rotation={"x": 0, "y": 0, "z": 0},
library="models_full.json")
self.communicate({"$type": "scale_object",
"scale_factor": {"x": 2, "y": 2, "z": 2},
"id": bird})
bird = self.add_object(model_name="b03_realistic_pigeon_max",
position={"x": 1.8, "y": 0.0001, "z": 0.45},
rotation={"x": 0, "y": -95, "z": 0},
library="models_full.json")
self.communicate({"$type": "scale_object",
"scale_factor": {"x": 2, "y": 2, "z": 2},
"id": bird})
bird = self.add_object(model_name="rockdove_polysurface77",
position={"x": 1, "y": 0.0001, "z": 0.7},
rotation={"x": 0, "y": -80, "z": 0},
library="models_full.json")
self.communicate({"$type": "scale_object",
"scale_factor": {"x": 2, "y": 2, "z": 2},
"id": bird})
# Enable image capture
self.communicate({"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]})
self.communicate({"$type": "send_images",
"frequency": "always"})
scene_data = self.communicate({"$type": "look_at_position",
"avatar_id": "avatar",
"position": TDWUtils.array_to_vector3([3, 0.5, 0])})
images = Images(scene_data[0])
TDWUtils.save_images(images, "bird2",
output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior")
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.communicate({
"$type": "create_empty_environment",
"center": {
"x": 0,
"y": 0,
"z": 0
},
"bounds": {
"x": 8,
"y": 8,
"z": 8
}
})
self.communicate({"$type": "set_gravity", "value": False})
cube_record = ModelLibrarian("models_special.json").get_record(
"prim_cube")
self.communicate({
"$type": "add_object",
"name": "prim_cube",
"url": cube_record.get_url(),
"scale_factor": cube_record.scale_factor,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"category": cube_record.wcategory,
"id": 1
})
self.communicate({
"$type": "scale_object",
"scale_factor": {
"x": 30,
"y": 0.0001,
"z": 30
},
"id": 1
})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 0,
"y": 0.6,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[0.5, 0.5, 0]),
avatar_id="avatar"))
self.communicate(self.get_add_hdri_skybox("table_mountain_1_4k"))
self.communicate({"$type": "rotate_hdri_skybox_by", "angle": 90})
lib = MaterialLibrarian(library="materials_med.json")
record = lib.get_record("bricks_chatham_gray_used")
self.communicate({
"$type": "add_material",
"name": "bricks_chatham_gray_used",
"url": record.get_url()
})
self.communicate(
TDWUtils.set_visual_material(c=self,
substructure=cube_record.substructure,
object_id=1,
material="bricks_chatham_gray_used"))
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
bench = self.add_object(model_name="b04_wood_metal_park_bench",
position={
"x": 2,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b04_wood_metal_park_bench",
position={
"x": 5,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
bench_bounds = self.get_bounds_data(bench)
top = bench_bounds.get_top(0)
self.add_object(model_name="cgaxis_models_65_06_vray",
position={
"x": 1.8,
"y": top[1] - 0.42,
"z": 0.35
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0.5, 0.5, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"bench_book",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 600,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty scene (no walls)
self.communicate({
"$type": "create_empty_environment",
"center": {
"x": 0,
"y": 0,
"z": 0
},
"bounds": {
"x": 20,
"y": 20,
"z": 20
}
})
self.communicate(self.get_add_hdri_skybox("kiara_5_noon_4k"))
self.communicate({"$type": "rotate_hdri_skybox_by", "angle": 90})
cube_record = ModelLibrarian("models_special.json").get_record(
"prim_cube")
self.communicate({
"$type": "add_object",
"name": "prim_cube",
"url": cube_record.get_url(),
"scale_factor": cube_record.scale_factor,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"category": cube_record.wcategory,
"id": 1
})
self.communicate({
"$type": "scale_object",
"scale_factor": {
"x": 30,
"y": 0.0001,
"z": 30
},
"id": 1
})
grass_record = MaterialLibrarian("materials_high.json").get_record(
"limestone_white")
self.communicate({
"$type": "add_material",
"name": "limestone_white",
"url": grass_record.get_url()
})
self.communicate(
TDWUtils.set_visual_material(c=self,
substructure=cube_record.substructure,
object_id=1,
material="limestone_white"))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": -5,
"y": 1.5,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[0, 1.5, 0]),
avatar_id="avatar"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
self.add_object(model_name="b03_topkicktruck",
position={
"x": 4,
"y": 0,
"z": 0.4
},
rotation={
"x": 0,
"y": -30,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b05_iz-49_3",
position={
"x": -1,
"y": 0,
"z": -1.7
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
self.add_object(model_name="3dscan_man_002",
position={
"x": -1.6,
"y": 0,
"z": -2
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 1.5, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"truck_moto",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
positions_list = [] # Stores current model locations and radii
scene_dimensions = [] # Store scene/environment dimensions
init_setup_commands = [{
"$type": "set_screen_size",
"width": 1280,
"height": 962
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
scene_lib = SceneLibrarian()
# Disable physics when adding in new objects (objects float)
self.communicate({"$type": "simulate_physics", "value": False})
for scene in scenes[1:]:
# Load in scene
print("Scene", scene[0])
if scene[3] == "interior" and scene[0] == "box_room_2018":
self.start()
scene_record = scene_lib.get_record(scene[0])
self.communicate({
"$type": "add_scene",
"name": scene_record.name,
"url": scene_record.get_url()
})
# Gets dimensions of environments (e.g. inside, outside) in the scene
# This command returns environment data in the form of a list of serialized byte arrays
scene_bytes = self.communicate({
"$type": "send_environments",
"frequency": "once"
})
# Iterating through data and parsing byte array
# Ignoring the last element (the frame count)
for b in scene_bytes[:-1]:
e = Environments(b)
for i in range(e.get_num()):
center = e.get_center(i)
bounds = e.get_bounds(i)
env_id = e.get_id(i)
scene_dimensions = [center, bounds,
env_id] # Center, bounds are tuples
# Must come before set_pass_masks
avatar_position = TDWUtils.array_to_vector3([
0.9 * scene_dimensions[1][0] / 2,
scene_dimensions[1][1] / 2, 0
])
print("Avatar Position:", avatar_position)
self.communicate(
TDWUtils.create_avatar(avatar_id="avatar",
position=avatar_position,
look_at={
"x": 0,
"y": scene_dimensions[0][1] / 2,
"z": 0
}))
# Set collision mode
self.communicate({
"$type": "set_avatar_collision_detection_mode",
"mode": "continuous_speculative",
"avatar_id": "avatar"
})
# Alter FOV
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 80,
"avatar_id": "avatar"
})
# Gets rid of header (Model: Category)
objects = models[1:]
random.shuffle(objects)
obj_count = 0
obj_overlaps = 0 # Number of failed attempts to place object due to over-dense objects area
while obj_count < 30 and obj_overlaps < 5:
# Need to have random position for Bounds Data to return meaningful info
valid_obj_pos = {
"x":
random.uniform(-1 * scene_dimensions[1][0] / 2,
0.5 * scene_dimensions[1][0] / 2),
"y":
scene_dimensions[1][1] / 4,
"z":
random.uniform(-0.9 * scene_dimensions[1][2] / 2,
0.9 * scene_dimensions[1][2] / 2)
}
# Add in the object at random position
# Object will later be removed or updated accordingly after performing collision calculations
record = ModelLibrarian(
library="models_full.json").get_record(
objects[obj_count][0])
self.communicate({
"$type": "add_object",
"name": objects[obj_count][0],
"url": record.get_url(),
"scale_factor": record.scale_factor,
"position": valid_obj_pos,
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"category": record.wcategory,
"id": obj_count
})
# Returns bound data for added object
bounds_data = self.communicate({
"$type": "send_bounds",
"frequency": "once"
})
# Appends object, with information on position and obj_radius, to positions_list
# Length of buffer array should be 1
print("Bounds Data:", bounds_data)
for b in bounds_data[:-1]:
print("Buffer Loop:", b)
b_id = OutputData.get_data_type_id(b)
if b_id == "boun":
print("BOUNDS")
o = Bounds(b)
print("# of Objects:", o.get_num())
print("# of Failed Attempts:", obj_overlaps)
print("Buffer Array:", b)
print("Bounds Object:", o)
for i in range(o.get_num()):
print("Object ID:", o.get_id(i))
print("obj_count:", obj_count)
print("Object:", objects[obj_count][0],
"Category:", objects[obj_count][1])
print("Object Center:", o.get_center(i))
# Only want to compute valid_position for object we are about to add
# Skip any computation if this is not the case
if o.get_id(i) != obj_count:
continue
# Useful for detecting if object fits in environment
print(
"Calculating if object fits in environment"
)
width = distance.euclidean(
o.get_left(i), o.get_right(i))
depth = distance.euclidean(
o.get_front(i), o.get_back(i))
height = distance.euclidean(
o.get_top(i), o.get_bottom(i))
print("Width:", width)
print("Depth:", depth)
print("Height:", height)
# Useful for avoiding object overlap
print("Calculating Object Bounds")
center_to_top = distance.euclidean(
o.get_center(i), o.get_top(i))
center_to_bottom = distance.euclidean(
o.get_center(i), o.get_bottom(i))
center_to_left = distance.euclidean(
o.get_center(i), o.get_left(i))
center_to_right = distance.euclidean(
o.get_center(i), o.get_right(i))
center_to_front = distance.euclidean(
o.get_center(i), o.get_front(i))
center_to_back = distance.euclidean(
o.get_center(i), o.get_back(i))
# Max object radius (center to diagonal of bounding box)
obj_radius = \
max(math.sqrt(center_to_top ** 2 + center_to_left ** 2 + center_to_front ** 2),
math.sqrt(center_to_top ** 2 + center_to_right ** 2 + center_to_front ** 2),
math.sqrt(center_to_top ** 2 + center_to_left ** 2 + center_to_back ** 2),
math.sqrt(center_to_top ** 2 + center_to_right ** 2 + center_to_back ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_left ** 2 + center_to_front ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_right ** 2 + center_to_front ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_left ** 2 + center_to_back ** 2),
math.sqrt(center_to_bottom ** 2 + center_to_right ** 2 + center_to_back ** 2))
print("Obj_Radius:", obj_radius)
# Set sweeping radius, based on scene plane dimensions
l_radius = random.uniform(
0,
min(0.9 * scene_dimensions[1][0] / 2,
0.9 * scene_dimensions[1][2] / 2))
# Checking that object fits in scene viewing
if (width > min(0.7 * scene_dimensions[1][0],
0.7 * scene_dimensions[1][2])
or depth > min(
0.7 * scene_dimensions[1][0],
0.7 * scene_dimensions[1][2]) or
height > 0.7 * scene_dimensions[1][1]):
print("Object does not fit in scene")
self.communicate([{
"$type": "send_images",
"frequency": "never"
}, {
"$type": "destroy_object",
"id": obj_count
}])
# Ensures next attempt to load in item is not the same item as before
random.shuffle(objects)
break
# Not possible to find valid object position -- too many overlapping objects
elif (not self._get_object_position(
scene_dimensions=scene_dimensions,
object_positions=positions_list,
object_to_add_radius=obj_radius,
max_tries=20,
location_radius=l_radius)[0]):
print(
"Could not calculate valid object location"
)
self.communicate([{
"$type": "send_images",
"frequency": "never"
}, {
"$type": "destroy_object",
"id": obj_count
}])
obj_overlaps += 1
# Ensures next attempt to load in item is not the same item as before
random.shuffle(objects)
break
# Find appropriate, non-overlapping object position
# Reset object position to the valid position
else:
print("Object fits in scene")
valid_obj_pos = self._get_object_position(
scene_dimensions=scene_dimensions,
object_positions=positions_list,
object_to_add_radius=obj_radius,
max_tries=20,
location_radius=l_radius)[1]
print("Position calculated")
positions_list.append(
ObjectPosition(valid_obj_pos,
obj_radius))
self.communicate([{
"$type": "send_images",
"frequency": "never"
}, {
"$type": "destroy_object",
"id": obj_count
}])
print("Object ready to reset")
self.communicate([{
"$type": "send_images",
"frequency": "never"
}, {
"$type":
"add_object",
"name":
objects[obj_count][0],
"url":
record.get_url(),
"scale_factor":
record.scale_factor,
"position":
valid_obj_pos,
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"category":
record.wcategory,
"id":
obj_count
}])
print("Object reset")
# Rotate the object randomly
print("Rotating object")
self.communicate({
"$type":
"rotate_object_by",
"angle":
random.uniform(-45, 45),
"axis":
"yaw",
"id":
obj_count,
"is_world":
True
})
# Don't rotate the object if doing so will result in overlap into scene
if not (o.get_bottom(i)[1] < 0
or o.get_top(i)[1] >
0.9 * scene_dimensions[1][1]):
pitch_angle = random.uniform(-45, 45)
self.communicate({
"$type": "rotate_object_by",
"angle": pitch_angle,
"axis": "pitch",
"id": obj_count,
"is_world": True
})
roll_angle = random.uniform(-45, 45)
self.communicate({
"$type": "rotate_object_by",
"angle": roll_angle,
"axis": "roll",
"id": obj_count,
"is_world": True
})
# Setting random materials/textures
# Looping through sub-objects and materials
sub_count = 0
for sub_object in record.substructure:
# Loop through materials in sub-objects
for j in range(len(sub_object)):
# Get random material and load in
material = random.choice(
materials[1:])
self.load_material(material)
print("Material loaded")
# Set random material on material of sub-object
self.communicate({
"$type":
"set_visual_material",
"material_index":
j,
"material_name":
material[0],
"object_name":
sub_object['name'],
"id":
obj_count
})
print("Material set")
sub_count += 1
if sub_count > 10:
break
break
print("Updating count")
obj_count += 1
print("Breaking out of object_id loop")
break
# Break out of buffer loop
print("Breaking out of buffer loop")
break
# Move onto next iteration of while loop (next object to load in)
print("Object added - next while loop iteration")
continue
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({
"$type": "send_images",
"frequency": "always"
})
# Capture scene
scene_data = self.communicate({
"$type": "look_at_position",
"avatar_id": "avatar",
"position": {
"x": 0,
"y": scene_dimensions[0][1] / 2,
"z": 0
}
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
TDWUtils.zero_padding(i),
output_directory=path)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 640,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
self.communicate({
"$type": "create_empty_environment",
"center": {
"x": 0,
"y": 0,
"z": 0
},
"bounds": {
"x": 15,
"y": 15,
"z": 15
}
})
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 5,
"y": 1.4,
"z": 0.6
},
look_at=TDWUtils.array_to_vector3(
[0, 0.5, 0.5]),
avatar_id="avatar"))
self.communicate(self.get_add_hdri_skybox("sky_white"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
cube_record = ModelLibrarian("models_special.json").get_record(
"prim_cube")
self.communicate({
"$type": "add_object",
"name": "prim_cube",
"url": cube_record.get_url(),
"scale_factor": cube_record.scale_factor,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
},
"category": cube_record.wcategory,
"id": 1
})
self.communicate({
"$type": "scale_object",
"scale_factor": {
"x": 30,
"y": 0.0001,
"z": 30
},
"id": 1
})
grass_record = MaterialLibrarian("materials_high.json").get_record(
"iceland_mossy_meadow")
self.communicate({
"$type": "add_material",
"name": "iceland_mossy_meadow",
"url": grass_record.get_url()
})
self.communicate(
TDWUtils.set_visual_material(c=self,
substructure=cube_record.substructure,
object_id=1,
material="iceland_mossy_meadow"))
bench = self.add_object(model_name="b04_wood_metal_park_bench",
position={
"x": 3,
"y": 0,
"z": 0.5
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
bench_bounds = self.get_bounds_data(bench)
top = bench_bounds.get_top(0)
self.add_object(model_name="3dscan_man_004",
position={
"x": 2.5,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
hummingbird = self.add_object(model_name="b04_pigeon",
position={
"x": 3,
"y": top[1] - 0.05,
"z": 0.75
},
rotation={
"x": 0,
"y": 0,
"z": 0
},
library="models_full.json")
self.add_object(model_name="b03_realistic_pigeon_max",
position={
"x": 3,
"y": top[1] - 0.05,
"z": 0.35
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.5, 0.5])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"bird1",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior"
)
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 640,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 0,
"y": 1.4,
"z": 3
},
look_at=TDWUtils.array_to_vector3(
[0, 0.5, 0]),
avatar_id="avatar"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
table_record = ModelLibrarian(library="models_full.json").get_record(
"restoration_hardware_salvaged_tables")
table = self.add_object(
model_name="restoration_hardware_salvaged_tables",
position={
"x": 0,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
table_bounds = self.get_bounds_data(table)
left = table_bounds.get_left(0)
self.add_object(model_name="3dscan_man_002",
position={
"x": 1.6,
"y": 0,
"z": left[2]
},
rotation={
"x": 0,
"y": 124,
"z": 0
},
library="models_full.json")
top = table_bounds.get_top(0)
cup_record = ModelLibrarian(
library="models_full.json").get_record("cup")
self.communicate({
"$type": "add_object",
"name": "cup",
"url": cup_record.get_url(),
"scale_factor": cup_record.scale_factor,
"position": {
"x": 0,
"y": top[1],
"z": -0.07
},
"rotation": {
"x": 0,
"y": -90,
"z": 0
},
"category": cup_record.wcategory,
"id": 1
})
# record = MaterialLibrarian(library='materials_high.json').get_record("polystyrene_foam")
self.communicate({
"$type":
"add_material",
"name":
"polystyrene_foam",
"url":
"http://s3.amazonaws.com/tdw_test_dev/materials/osx/high/polystyrene_foam"
})
for sub_object in cup_record.substructure:
for j in range(len(sub_object)):
self.communicate({
"$type": "set_visual_material",
"material_index": j,
"material_name": "polystyrene_foam",
"object_name": sub_object["name"],
"id": 1
})
self.communicate({
"$type": "add_object",
"name": "cup",
"url": cup_record.get_url(),
"scale_factor": cup_record.scale_factor,
"position": {
"x": -0.3,
"y": top[1],
"z": 0.1
},
"rotation": {
"x": 0,
"y": -90,
"z": 0
},
"category": cup_record.wcategory,
"id": 2
})
for sub_object in cup_record.substructure:
for j in range(len(sub_object)):
self.communicate({
"$type": "set_visual_material",
"material_index": j,
"material_name": "polystyrene_foam",
"object_name": sub_object["name"],
"id": 2
})
self.add_object(model_name='neopolitan_pizza',
position={
"x": 0.7,
"y": top[1],
"z": 0
},
rotation={
"x": 0,
"y": -22,
"z": 0
},
library="models_full.json")
self.add_object(model_name='stua_onda_stool_max2012',
position={
"x": -1.4,
"y": 0,
"z": 0
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.5, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"pizza2",
output_directory=
"/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior"
)
def run(self):
self.start()
init_setup_commands = [{"$type": "set_screen_size",
"width": 1280,
"height": 962},
{"$type": "set_render_quality",
"render_quality": 5}]
self.communicate(init_setup_commands)
# Create an empty room.
self.load_streamed_scene(scene="tdw_room_2018")
# Disable physics.
self.communicate({"$type": "set_gravity",
"value": False})
# Add the avatar.
self.communicate(TDWUtils.create_avatar(position={"x": 2, "y": 1.5, "z": 0},
look_at=TDWUtils.array_to_vector3([2, 0.8, -4]),
avatar_id="avatar"))
self.communicate({"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"})
self.add_object(model_name="kenmore_refr_74049",
position={"x": 3, "y": 0, "z": -4},
rotation={"x": 0, "y": 90, "z": 0},
library="models_full.json")
record = ModelLibrarian(library='models_full.json').get_record("b03_bosch_cbg675bs1b_2013__vray_composite")
self.communicate({"$type": "add_object",
"name": "b03_bosch_cbg675bs1b_2013__vray_composite",
"url": record.get_url(),
"scale_factor": 1.5,
"position": {"x": 2, "y": 0, "z": -4},
"category": record.wcategory,
"id": self.get_unique_id()})
table_id = self.add_object(model_name="b03_restoration_hardware_pedestal_salvaged_round_tables",
position={"x": 1, "y": 0, "z": -4},
library="models_full.json")
table_bounds = self.get_bounds_data(table_id)
top = table_bounds.get_top(0)
self.add_object(model_name="cgaxis_models_65_06_vray",
position={"x": 1.2, "y": top[1], "z": -4.2},
library="models_full.json")
self.add_object(model_name="b04_heineken_beer_vray",
position={"x": 0.77, "y": top[1], "z": -3.9},
library="models_full.json")
self.add_object(model_name="b03_backpack",
position={"x": 1.3, "y": 0, "z": -3.7},
rotation={"x": 0, "y": 20, "z": 0},
library="models_full.json")
# Enable image capture
self.communicate({"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]})
self.communicate({"$type": "send_images",
"frequency": "always"})
scene_data = self.communicate({"$type": "look_at_position",
"avatar_id": "avatar",
"position": TDWUtils.array_to_vector3([2, 0.8, -4])})
images = Images(scene_data[0])
TDWUtils.save_images(images, "fridge", output_directory="replicated_images")
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 1280,
"height": 962
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
# Create an empty room.
self.load_streamed_scene(scene="tdw_room_2018")
# Disable physics.
self.communicate({"$type": "simulate_physics", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 0,
"y": 1.5,
"z": -2
},
look_at=TDWUtils.array_to_vector3(
[0, 0.8, 4]),
avatar_id="avatar"))
self.communicate({
"$type": "set_field_of_view",
"field_of_view": 68.0,
"avatar_id": "avatar"
})
# Enable image capture
scene_data = self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
chair_id = self.add_object(model_name="ligne_roset_armchair",
position={
"x": -1.5,
"y": 0,
"z": 4
},
library="models_full.json")
self.communicate({
"$type": "rotate_object_by",
"angle": 180,
"axis": "yaw",
"id": chair_id,
"is_world": True
})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.8, 4])
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
"armchair_1",
output_directory="replicated_images")
record = ModelLibrarian(
library='models_full.json').get_record("b05_tv1970")
self.communicate({
"$type": "add_object",
"name": "b05_tv1970",
"url": record.get_url(),
"scale_factor": 30,
"position": {
"x": 0,
"y": 0,
"z": 3.5
},
"category": record.wcategory,
"id": self.get_unique_id()
})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.8, 4])
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
"armchair_2",
output_directory="replicated_images")
self.add_object(model_name="side_table_wood",
position={
"x": -2.5,
"y": 0,
"z": 4
},
library="models_full.json")
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.8, 4])
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
"armchair_3",
output_directory="replicated_images")
side_table = self.add_object(model_name="side_table_wood",
position={
"x": 1.5,
"y": 0,
"z": 4
},
library="models_full.json")
side_table_bounds = self.get_bounds_data(side_table)
top = side_table_bounds.get_top(0)
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.8, 4])
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
"armchair_4",
output_directory="replicated_images")
self.add_object(model_name="acacia_table_lamp_jamie_young",
position={
"x": 1.5,
"y": top[1],
"z": 4
},
library="models_full.json")
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.8, 4])
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
"armchair_5",
output_directory="replicated_images")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img"]
})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([0, 0.8, 4])
})
images = Images(scene_data[0])
TDWUtils.save_images(
images,
"armchair",
output_directory="../replicated_images/segmentation")
def run(self):
self.start()
init_setup_commands = [{
"$type": "set_screen_size",
"width": 640,
"height": 480
}, {
"$type": "set_render_quality",
"render_quality": 5
}]
self.communicate(init_setup_commands)
self.communicate(TDWUtils.create_empty_room(8, 8))
# Disable physics.
self.communicate({"$type": "set_gravity", "value": False})
# Add the avatar.
self.communicate(
TDWUtils.create_avatar(position={
"x": 0.75,
"y": 1,
"z": 0
},
look_at=TDWUtils.array_to_vector3(
[3, 0.7, 0]),
avatar_id="avatar"))
# self.communicate({"$type": "set_field_of_view",
# "field_of_view": 68.0,
# "avatar_id": "avatar"})
self.add_object(model_name="12_01_001",
position={
"x": 3,
"y": 0,
"z": -0.35
},
rotation={
"x": 0,
"y": 90,
"z": 0
},
library="models_full.json")
sink = self.add_object(model_name="cgaxis_models_22_33_vray",
position={
"x": 3,
"y": 0,
"z": 0.35
},
rotation={
"x": 0,
"y": -90,
"z": 0
},
library="models_full.json")
record = ModelLibrarian(library='models_full.json').get_record(
"b03_simpsons_london_-_round_hudson_mirror")
self.communicate({
"$type": "add_object",
"name": "b05_tv1970",
"url": record.get_url(),
"scale_factor": 0.5,
"position": {
"x": 3,
"y": 0.6,
"z": 0.35
},
"rotation": {
"x": 0,
"y": -90,
"z": 0
},
"category": record.wcategory,
"id": self.get_unique_id()
})
sink_bounds = self.get_bounds_data(sink)
top = sink_bounds.get_top(0)
self.add_object(model_name="808409_toothbrush",
position={
"x": 3,
"y": top[1] - 0.217,
"z": 0.7
},
rotation={
"x": -20,
"y": -40,
"z": 90
},
library="models_full.json")
# Enable image capture
self.communicate({
"$type": "set_pass_masks",
"avatar_id": "avatar",
"pass_masks": ["_img", "_id"]
})
self.communicate({"$type": "send_images", "frequency": "always"})
scene_data = self.communicate({
"$type":
"look_at_position",
"avatar_id":
"avatar",
"position":
TDWUtils.array_to_vector3([3, 0.7, 0])
})
images = Images(scene_data[0])
TDWUtils.save_images(images,
"bathroom1",
output_directory="replicated_images")