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Replica dataset

This example introduces new tools for using replica dataset with BlenderProc.

Usage

Execute in the BlenderProc main directory:

python run.py examples/replica_dataset/config.yaml <path_to_the_replica_data_folder>  examples/replica_dataset/output
  • examples/replica_dataset/config.yaml: path to the configuration file with pipeline configuration.
  • <path_to_the_replica_data_folder>: Path to the replica dataset directory.
  • examples/replica_dataset/output: path to the output directory.

Visualization

Visualize the generated data:

python scripts/visHdf5Files.py example/replica_dataset/0.hdf5

Steps

  • Load replica room: loader.ReplicaLoader module.
  • Extracts a floor in the room: object.FloorExtractor module.
  • Samples multiples cameras in the room: camera.ReplicaCameraSampler module.
  • Renders rgb and normals: renderer.RgbRenderer module.
  • Writes output to .hdf5 container: writer.Hdf5Writer module.

Config file

Global

"module": "main.Initializer",
"config": {
  "global": {
    "output_dir": "<args:1>",
    "data_set_name": "office_1",
    "data_path": "<args:0>",
    "pixel_aspect_x": 1.333333333
  }
},

Note that "data_set_name": "office_1" is a replica room you want to render. This line can be replace with: "data_set_name": "<args:X>>", i.e. with an appropriate placeholder where X is a number of a placeholder.

As before all these values are stored in the GlobalStorage and are only used if no value is defined in the module itself.

Replica loader

{
  "module": "loader.ReplicaLoader",
  "config": {
    "use_smooth_shading": "True",
    "use_ambient_occlusion": "True"
  }
},

loader.ReplicaLoader handles importing objects from a given path. here we are using ambient occlusion to lighten up the scene, and enabling smooth shading on all surfaces, instead of flat shading.

Floor extractor

{
  "module": "object.FloorExtractor",
  "config": {
    "is_replica_object": "True",
    "obj_name": "mesh",
    "compare_angle_degrees" : 7.5, # max angle difference to up facing polygons
    "compare_height": 0.15  # height, which is allowed for polygons to be away from the height level in up and down dir.
  }
},

object.FloorExtractor searches for the specified object and splits the surfaces which point upwards at a specified level away.

Replica camera sampler

{
  "module": "camera.ReplicaCameraSampler",
  "config": {
    "default_cam_param": {
      "pixel_aspect_x": 1.333333333
    },
    "is_replica_object": True,
    "cam_poses": [{
      "number_of_samples": 15,
      "clip_start": 0.01,
      "proximity_checks": {
        "min": 1.0,
        "avg": {
          "min": 2.0,
          "max": 4.0
        }
      },
      "location": [0, 0, 1.55],
      "rotation": {
        "value": {
          "provider":"sampler.Uniform3d",
          "max":[1.373401334, 0, 6.283185307],
          "min":[1.373401334, 0, 0]
        }
      },
    }]
  }
},

camera.ReplicaCameraSampler samples multiple camera poses per every imported room with camera-object collision check and obstacle check.

Material Manipulator

{
  "module": "manipulators.MaterialManipulator",
  "config": {
    "selector": {
      "provider": "getter.Material",
      "conditions": {
        "name": "ReplicaMaterial"
      }
    },
    "cf_change_to_vertex_color": "Col"
  }
},

The materials.Manipulator changes the material of the Replica objects so that the vertex color is renderer, this makes it possible to render colors on Replica scenes.

Important: This does not mean that we load the complex texture files, we only use the low res vertex color for color rendering.

If you are in need of high-res color images, do we propose that you, yourself can try to implement the texture importer for the replica dataset.

More examples