README.md

Object pose sampling

The focus of this example is introducing the object.ObjectPoseSampler which allows one to sample object poses inside a sampling volume with collision checks.

Usage

Execute in the BlenderProc main directory:

python run.py examples/advanced/object_pose_sampling/config.yaml examples/resources/camera_positions examples/resources/scene.obj examples/advanced/object_pose_sampling/output

• examples/advanced/object_pose_sampling/config.yaml: path to the configuration file with pipeline configuration.
• examples/resources/camera_positions: text file with parameters of camera positions.
• examples/resources/scene.obj: path to the object file with the basic scene.
• examples/advanced/object_pose_sampling/output: path to the output directory.

Visualization

Visualize the generated data:

python scripts/visHdf5Files.py examples/advanced/object_pose_sampling/output/0.hdf5

Steps

• Loads scene.obj: loader.ObjectLoader module.
• Creates a point light : lighting.LightLoader module.
• Loads camera positions from camera_positions: camera.CameraLoader module.
• Sample object poses: object.ObjectPoseSampler module.
• Renders rgb: renderer.RgbRenderer module plus normals.
• Writes the output to .hdf5 containers: writer.Hdf5Writer module.

Config file

Object pose Sampling

{
  "module": "object.ObjectPoseSampler",
  "config":{
    "max_iterations": 1000,
    "objects_to_sample": {
      "provider": "getter.Entity",
      "condition": {
        "cp_sample_pose": True 
      }
    },
    "pos_sampler":{
      "provider": "sampler.Uniform3d",
      "max": [5,5,5],
      "min": [-5,-5,-5]
    },
    "rot_sampler": {
      "provider": "sampler.Uniform3d",
      "max": [0,0,0],
      "min": [6.28,6.28,6.28]
    }
  }
}

object.ObjectPoseSampler for each passive object in the scene places the object outside the sampling volume until there are objects remaining and max_iterations have not been reached, point is sampled. Then the object is placed at the sampled point with collision checks against all objects specified by objects_to_check_collisions (default=all objects). If there is a collision - the position is reset and module tries to sample a new one. Here we are sampling location and rotation using sampler.Uniform3d provider.