mirror of
https://github.com/NixOS/nixpkgs.git
synced 2024-12-22 21:53:32 +00:00
81 lines
2.7 KiB
Python
81 lines
2.7 KiB
Python
# based on https://github.com/DIYer22/bpycv/blob/c576e01622d87eb3534f73bf1a5686bd2463de97/example/ycb_demo.py
|
|
import bpy
|
|
import bpycv
|
|
|
|
import os
|
|
import glob
|
|
import random
|
|
from pathlib import Path
|
|
|
|
example_data_dir = os.environ['BPY_EXAMPLE_DATA']
|
|
out_dir = Path(os.environ['out'])
|
|
out_dir.mkdir(parents=True, exist_ok=True)
|
|
|
|
models = sorted(glob.glob(os.path.join(example_data_dir, "model", "*", "*.obj")))
|
|
cat_id_to_model_path = dict(enumerate(sorted(models), 1))
|
|
|
|
distractors = sorted(glob.glob(os.path.join(example_data_dir, "distractor", "*.obj")))
|
|
|
|
bpycv.clear_all()
|
|
bpy.context.scene.frame_set(1)
|
|
bpy.context.scene.render.engine = "CYCLES"
|
|
bpy.context.scene.cycles.samples = 32
|
|
bpy.context.scene.render.resolution_y = 1024
|
|
bpy.context.scene.render.resolution_x = 1024
|
|
bpy.context.view_layer.cycles.denoising_store_passes = False
|
|
|
|
# A transparency stage for holding rigid body
|
|
stage = bpycv.add_stage(transparency=True)
|
|
|
|
bpycv.set_cam_pose(cam_radius=1, cam_deg=45)
|
|
|
|
hdri_dir = os.path.join(example_data_dir, "background_and_light")
|
|
hdri_manager = bpycv.HdriManager(
|
|
hdri_dir=hdri_dir, download=False
|
|
) # if download is True, will auto download .hdr file from HDRI Haven
|
|
hdri_path = hdri_manager.sample()
|
|
bpycv.load_hdri_world(hdri_path, random_rotate_z=True)
|
|
|
|
# load 5 objects
|
|
for index in range(5):
|
|
cat_id = random.choice(list(cat_id_to_model_path))
|
|
model_path = cat_id_to_model_path[cat_id]
|
|
obj = bpycv.load_obj(model_path)
|
|
obj.location = (
|
|
random.uniform(-0.2, 0.2),
|
|
random.uniform(-0.2, 0.2),
|
|
random.uniform(0.1, 0.3),
|
|
)
|
|
obj.rotation_euler = [random.uniform(-3.1415, 3.1415) for _ in range(3)]
|
|
# set each instance a unique inst_id, which is used to generate instance annotation.
|
|
obj["inst_id"] = cat_id * 1000 + index
|
|
with bpycv.activate_obj(obj):
|
|
bpy.ops.rigidbody.object_add()
|
|
|
|
# load 6 distractors
|
|
for index in range(6):
|
|
distractor_path = random.choice(distractors)
|
|
target_size = random.uniform(0.1, 0.3)
|
|
distractor = bpycv.load_distractor(distractor_path, target_size=target_size)
|
|
distractor.location = (
|
|
random.uniform(-0.2, 0.2),
|
|
random.uniform(-0.2, 0.2),
|
|
random.uniform(0.1, 0.3),
|
|
)
|
|
distractor.rotation_euler = [random.uniform(-3.1415, 3.1415) for _ in range(3)]
|
|
with bpycv.activate_obj(distractor):
|
|
bpy.ops.rigidbody.object_add()
|
|
|
|
# run pyhsic engine for 20 frames
|
|
for i in range(20):
|
|
bpy.context.scene.frame_set(bpy.context.scene.frame_current + 1)
|
|
|
|
# render image, instance annoatation and depth in one line code
|
|
result = bpycv.render_data()
|
|
|
|
|
|
result.save(dataset_dir=str(out_dir.resolve()), fname="0", save_blend=True)
|
|
print(f'Save to "{out_dir}"')
|
|
print(f'Open "{out_dir}/vis/" to see visualize result.')
|
|
|