import blenderproc as bproc import argparse import numpy as np from mathutils import Vector from mathutils.bvhtree import BVHTree from glob import glob import random from datetime import datetime random.seed(datetime.now().timestamp()) import sys import math parser = argparse.ArgumentParser() parser.add_argument('obj1', default="apple", help="Name of object 1, the one in the front") parser.add_argument('obj2', default="banana", help="Name of object 2, the one behind") parser.add_argument('bg_path', default="hdris/autumn/autumn_park_2k.hdr", help="Path to the background hdr image") parser.add_argument('output_dir', default="output/above_below/", help="Path to where the final files, will be saved") parser.add_argument('pair_index', default=-1, help="Non-Random Pair index") parser.add_argument('debug', default=0) args = parser.parse_args() pair_index = int(args.pair_index) # obj_list = ["apple", "banana", "bed", "bicycle", "book", "car", "chair", "laptop", "person", "tv"] coco_objects = ['airplane', 'apple', 'backpack', 'banana', 'baseball_bat', 'baseball_glove', 'bear', 'bed', 'bench', 'bicycle', 'bird', 'boat', 'book', 'bottle', 'bowl', 'broccoli', 'bus', 'cake', 'car', 'carrot', 'cat', 'cell_phone', 'chair', 'clock', 'couch', 'cow', 'cup', 'dining_table', 'dog', 'donut', 'elephant', 'fire_hydrant', 'fork', 'frisbee', 'giraffe', 'hair_drier', 'handbag', 'horse', 'hot_dog', 'keyboard', 'kite', 'knife', 'laptop', 'microwave', 'motorcycle', 'mouse', 'orange', 'oven', 'parking_meter', 'person', 'pizza', 'potted_plant', 'refrigerator', 'remote', 'sandwich', 'scissors', 'sheep', 'sink', 'skateboard', 'skis', 'snowboard', 'spoon', 'sports_ball', 'stop_sign', 'suitcase', 'surfboard', 'teddy_bear', 'tennis_racket', 'tie', 'toaster', 'toilet', 'toothbrush', 'traffic_light', 'train', 'truck', 'tv', 'umbrella', 'vase', 'wine_glass', 'zebra'] big_obj = ['airplane', 'bus', 'car', 'boat', 'train', 'truck'] def retrieve_floor(bgpath): if 'white' in bgpath: floor_path = "floor/floor_white.blend" elif 'autumn' in bgpath: floor_path = "floor/floor_grass_brass.blend" elif 'studio' in bgpath: floor_path = 'floor/floor_wood.blend' return floor_path def get_obj_scale(obj_name, is_front=True): if is_front: if obj_name in big_obj: return random.uniform(0.5, 0.6) else: return random.uniform(0.8, 0.9) else: if obj_name in big_obj: return random.uniform(1.4, 1.6) else: return random.uniform(1.8, 2.0) # return 1.0 def retrieve2obj(obj1="apple", obj2="banana", index=-1, asset_path="assets/blender_assets/", noncoco_asset_path = "assets/blender_assets_non_coco/"): if obj1 in coco_objects: obj1_list = sorted(glob(f'{asset_path}/{obj1}/*.blend')) else: obj1_list = sorted(glob(f'{noncoco_asset_path}/{obj1}/*.blend')) if obj2 in coco_objects: obj2_list = sorted(glob(f'{asset_path}/{obj2}/*.blend')) else: obj2_list = sorted(glob(f'{noncoco_asset_path}/{obj2}/*.blend')) if index == -1: obj1_path = random.choice(obj1_list) obj2_path = random.choice(obj2_list) else: obj1_path = obj1_list[index] obj2_path = obj2_list[index] return obj1_path, obj2_path, f'{obj1}_{obj2}' bproc.init() # activate normal and depth rendering # bproc.renderer.enable_normals_output() # bproc.renderer.enable_depth_output(activate_antialiasing=False) # set realistic background # haven_hdri_path = bproc.loader.get_random_world_background_hdr_img_path_from_haven('/home/lawrence/Documents/3dscene/') haven_hdri_path = args.bg_path for i in range(1): path1, path2, output_name = retrieve2obj(args.obj1, args.obj2, index=pair_index) if args.bg_path != "None": # bproc.world.set_world_background_hdr_img(haven_hdri_path) bproc.world.set_world_background_hdr_img(haven_hdri_path, rotation_euler=[0.0, 0.0, random.uniform(-np.pi, np.pi)]) print('Generating', output_name) r = random.uniform(4.5, 5.5) height_offset = 0.0 # Set the scale of the objects obj1_scale = get_obj_scale(args.obj1) obj2_scale = get_obj_scale(args.obj2, False) obj1 = bproc.loader.load_blend(path1, obj_types= ['armature','mesh', 'empty', 'hair'] ) poi1 = bproc.object.compute_poi(bproc.filter.all_with_type(obj1, bproc.types.MeshObject)) obj1 = bproc.object.merge_objects(obj1) obj1_y = random.uniform(-0.6, 0.6) obj1.set_location([random.uniform(0.5, 0.75), obj1_y, random.uniform(-0.05, 0.05)]) obj1.set_scale([obj1_scale, obj1_scale, obj1_scale]) obj1.set_rotation_euler([0, 0, random.uniform(-np.pi/16, np.pi/16)]) obj2 = bproc.loader.load_blend(path2, obj_types= ['armature', 'mesh', 'empty', 'hair']) poi2 = bproc.object.compute_poi(bproc.filter.all_with_type(obj2, bproc.types.MeshObject)) obj2 = bproc.object.merge_objects(obj2) obj2.set_location([random.uniform(-2.5, -2.0), obj1_y*-1, random.uniform(-0.05, 0.05)]) obj2.set_scale([obj2_scale, obj2_scale, obj2_scale]) obj2.set_rotation_euler([0, 0, random.uniform(-np.pi/16, np.pi/16)]) poi = (poi1 + poi2) / 2.0 offset_z = random.uniform(0.0, 0.5) offset_2 = random.uniform(-0.5, 0.0) floor = bproc.loader.load_blend(retrieve_floor(args.bg_path), obj_types= ['armature','mesh', 'empty', 'hair'] ) floor = bproc.object.merge_objects(floor) floor.set_location([0,0,min(offset_2, offset_z)]) # define a light and set its location and energy level light = bproc.types.Light() light.set_type("POINT") light.set_location([0, random.uniform(-5.0, 5.0), 5]) light.set_energy(3000) # random camera angle alpha = random.uniform(-np.pi / 8, np.pi / 8) # r = 3.0 cam_x = r * math.cos(alpha) cam_y = r * math.sin(alpha) if cam_y * obj1_y < 0: cam_y = -cam_y # Set camera pose # Set output resolution to 1024x1024 bproc.camera.set_resolution(1024, 1024) # Sample random camera location around the object location = bproc.sampler.part_sphere([cam_x, cam_y, 1.25], radius=0.25, part_sphere_dir_vector=[1, 0, 0], mode="SURFACE") # Compute rotation based on vector going from location towards poi rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location) # Add homog cam pose based on location an rotation cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix) bproc.camera.add_camera_pose(cam2world_matrix) # Render the scene bproc.renderer.set_max_amount_of_samples(24) data = bproc.renderer.render() # Write the rendering into an hdf5 file bproc.writer.write_hdf5(args.output_dir + output_name, data, append_to_existing_output=True) # bproc.clean_up() print('Objects chosen:\n', path1, '\n', path2) print('Background:\n', haven_hdri_path)