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