- Add support for all YCB objects (not just BOP)
- Add support for more object datasets (ideas are welcomed, just open an issue with a dataset you want to see integrated)
- Add support for BlenderKit (download is done, easy using is still missing)
- Improve the documentation
- fixed bbox computation in the Coco Annotations
- fixed visualization of Coco Annotations
- add set properties fct. to BlenderLoader
- adds a script to download all materials from BlenderKit (not used yet)
- added an
TextureLoader, which can load images and store them as blender textures - added a provider to access these loaded textures
- removed the
MaterialRandomizer - moved the whole functionality from the
MaterialRandomizerto theEntityManipulator - fixed a bug in the SUNCG material loading, where for a few objects the diffuse material was confused with an alpha material
- add set_properties for
Front3DLoader - fixed the
min_interest_scorethat it works with more than just SUNCG - fix a bug in the visHdf5 scripts with distance maps which had several channels
- improved documentation for
min_interest_scoreandcheck_pose_novelty_translation
- adding support for 3D-Front: https://tianchi.aliyun.com/specials/promotion/alibaba-3d-scene-dataset
- added to example on how to use 3D-Front
- fixed visualization of newly generated SegMapRenderer results
- fixed combining several coco annotations
- added option for the "class" key for default values in the SegMapRenderer
- fixed a bug in the SegMapRenderer when used in debug mode
- rename depth to distance (this is the difference between taking at each pixel the Z coordinate (in the camera coordinate system) or the distance from the optical center, as sensors usually produce depth and not distance, we changed this)
- create postprocessing module to calculate the depth out of the distance image
- rewriting of the SegMapRenderer, it now supports the mapping of any attribute or custom property of an object to an image or a csv file
- reworking of the used coco examples to better work with this new SegMapRenderer
- adapting CocoAnnotationsWriter to write category_ids which must be defined in a Loader or in a .blend file
- adding support for a supercategory inside of the coco annotations tool (useful for bop dataset names)
- add texture provider, which can generate random textures, which can be used in a displacement modifier
- added to the EntityManipulator:
- option to automatically generate a UV mapping for an object
- added option for displacement modifier adding to objects
- added an example for the entity_displacement_modifier usage
- the sampler.Value now supports gaussian sampling
- reworked some parts of the Hdf5Writer, to better work with depth and distance
- added a check to the CocoUtility to avoid that the bounding box has a area of zero
- remove the provider.ContentGetter as it was confusing, now it works directly without it
- add an Interface in the naming of some modules, if they are not supposed to be run by the pipeline directly
- change the sample amount for the FlowRenderer to 1 as a higher sampling density integrates over several objects in one pixel
- added a step function in the alpha mode of the renderer to avoid artifacts, when rendering semantic segmentations
- support for setting different fx/fy values in the camera module
- remove the pixel_aspect_x/pixel_aspect_y/resolution_x/resolution_y from the renderer is now in Camera
- fixed a bug when the unknown texture folder in the scenenet dataset was not created before
- improved the loading of camera parameters from files
- added a feature for supporting changes of the "category_id" for the WorldManipulator
- improved the visHdf5/saveHdf5/generate_nice_vis scripts
- switches to blender 2.83.2
- switches to blender 2.83
- adds support for adaptive sampling (Renderer/use_adaptive_sampling) -> can decrease rendering time for complex scenes if used
- add random_samples option for entity getter
- add friction/damping for physics positioning
- add JPG save option for RgbRenderer
- add uniform elevation sampling in Shell Sampler
- add in plane rotation option for look_at/direction camera rotations
- add postprocessing.Dist2Depth to convert Blender distance images to depth images
- UpperRegionSamlper can sample in relative area on selected face
- improve physics by using convex hull and box collision shapes
- obj.rigid_body.use_margin = True, to actually use margin
- add a Smooth Shader cf to entityManipulator
- BopWriter improvements, outputs chunks of 1000 images
- exclude objects like planes from proximity checks
- fix transparency bounces
- add custom property cp_bop_dataset_name
- add bop_challenge example with all configs used to render the provided synthetic data
- add bop_object_on_surface_sampling for sampling upright objects
- docu improvements and step by step explanations of config files
- added the NormalRenderer functions to the RGBRenderer saves a render call, when generating normal images
- added a script to automatically download all PBR assest from https://cc0textures.com/
- add CCMaterialLoader, which can load all downloaded materials from cc0textures, to randomly replace them later
- add support for ShapeNet
- add support for SceneNet, including the lighting, which is modeled after the SUNCG lighting module.
- massive docu improvements, added a type to all config values and a default value if one is there
- added examples for:
- bop_object_physics_positioning
- bop_object_pose_sampling
- bop_scene_replication
- on_surface_object_sampling
- scenenet
- scenenet_with_cctextures
- shapenet
- shapenet_with_scenenet
- shapenet_with_suncg
- suncg_with_improved_mat
- added object OnSurfaceSampler (similiar to the phyiscs but faster and places object only on the bb)
- added WorldManipulator (can change custom properties of the world, like the category_id)
- switched to config version 3.0
- global initialized values are now in the main.Initializer
- added a GlobalStorage to save variables over module boundaries
- add VisNormalImage for debugging mode, which visualizes a depth & normal image in blender
- material selectors now also support AND and OR conditions
- add automatic detection of optix graphics cards
- added a min interest score for the CameraSampler
- added a novelty pose checker for the CameraSampler, to avoid clustering of camera poses
- global config values are now not longer added to the modules config, only in the event that there is no module found the global config is checked
- rename SUNCG materials to the textures they load, makes selecting them easier
- SUNCG materials are now shared over objects, if they share the same properties, also true for lights
- rewrite of MaterialRandomizer to make use of the new cc0textures
- added a Bop Writer to write out the current scene config in the BOP format
- add the solidify modifier to the options of the EntityManipulator
- add a PartSphere sampler to e.g. only sample in the upper half of a sphere
- add a script to download scenenet to make the use of it even easier
- add easy option to change specular values for materials with the MaterialManipulator
- added the option to make runs deterministic by introducing a env variable:
BLENDER_PROC_RANDOM_SEED - added a Basic Color Sampler
- improved the capabilities of the DiscSampler
- now all custom properties should be accessed in the config via: "cp_..." for custom functions: "cf_"
- add texture support for ycbv objects in the BopLoader
- change the default results of the SegMapRenderer to NYU ids instead of the row-index in the .csv file.
- added Optical Flow Renderer
- added Stereo Global Matching Renderer (SGM) -> which takes two color images and produces "non-perfect" depth images
- added option for SGM to also write disparities
- added a new material manipulator
- added a material getter to select materials based on certain conditions
- combined BOP with this repo -> now the only difference is the readme
- added contribution guidelines -> which include commit message guidelines and branch name guidelines and much more
- matrices can now be read via the config file
- added a cached options to the import objects
- added request custom property for the entity getter (to ensure that a custom property is changed)
- added ReplaceObject
- added option that in debugging the RgbRenderer get executed except for the actual rendering part all others are executed and then undon
- added collision mesh source to the physics module
- added option to coco annotations to append the output to an existing coco file
- added bounding box selection to getter.Entity and also just axis aligned hyper plane checks
- added a 1D sampler for float/int/bool
- added postprocessing to the example to reduce the amount of channels in the depth image
- added visualization for stereo and optical flow
- added an oil filter for the SGM result
- added a path sampler
- added a blender collection loader
- added the RockEssentialLoader based on the RockEssential dataset
- added index to getter.Entity to request only a certain element of the selection
- fix three bugs in the physics module, where the mass_scaling was always used and the location not properly updated
- fixed a bug where color images where wrongly saved in float now back to uint8
- fixed a bug in the coco annotations writer + adapting of the example
- fixed bug in load_image, where the dimensions where switched
- fixed a bug when "home_local" is not available than "home" is used
- fixed bug where run.py can only be run from the main folder
- fixed pypng version in bop example
- fixed bug where the volume calculation for bounding boxes did not work as expected
- refactored the disc sampler
- cleaned up all readmes
- added more detailed examples to most of the important modules
- adapt CoCo annotation tools to newer Version of SegMapRenderer
- background class is now zero when doing instance segmentation
- renamed getter.Object to getter.Entity, same for ObjectManipulator is now named EntityManipulator
- entity conditions do now work with AND and OR connections
- strings are now matched with fullmatch instead of search in entity conditions
- conditions now support bool custom properties
- material randomizer now supports getter.entity providers
- added UpperRegionSampler, which can sample on the up surface of the bounding box of an object
- scripts now support execution with python3.x
- physics are now saved with bool instead of active and passive
- physics options for simulator added
- remove version number -> only blender version 2.81 supported
- the ObjectLoader can now load several objects at once and set their properties with
"add_properties" - moved more functionality in the camera sampler instead of having in specific sampler to make writing a new one easier
- added a SO3 Sampler for rotation sampling
- change the "name" of modules in the config to "module" and "provider" depending on the case
- added MacOS support (but only for CPUs, GPU support on MacOS is not available)
- added this changelog
- fixes:
- fixed a problem that the check_bb_intersection did not work right in all cases (Bounding box check)
- fixed a problem with the check_intersection fct., where the reference coordinate system was not always right.
- fixed a bug with the SUNCG lighting in RGB images
- Added provider, which can be executed inside of different modules, examples:
- Samplers of values
- Getters of objects, specified on one condition (for example the name)
- Added object manipulators, these can change selected objects attributes and custom properties
- Added physics positioning, objects can be either "active" or "passive" and then interact with each other
- Added ObjectPoseSampler sampled collision free poses of all objects
- Added one ObjectLoader, which deals with all kinds of objects
- Added a camera object sampler to sample cameras and objects at the same time
- Redone the SegMapRenderer to fix bug in instance and class segmentation
- Added coco annotations writer
- Added version number to config files
- Added more documentation
- Added more examples
- Added Pipeline, Modules and Config
- Added CameraModules, with different sampler for SUNCG and replica
- Added LightModules, with different samplers also for SUNCG
- Added Loader for objects
- Added Loader for replica and SUNCG
- Added Hdf5 Writer
- Added camera-, light-, object state writer
- Added MaterialRandomizer
- Added Shell-, Sphere- and Uniform3DSampler
- Added debug script