import os
import bpy
import numpy as np
from blenderproc.python.modules.camera.CameraSampler import CameraSampler
from blenderproc.python.types.MeshObjectUtility import MeshObject
from blenderproc.python.utility.Utility import resolve_path, Utility, resolve_resource
from blenderproc.python.sampler.ReplicaPointInRoomSampler import ReplicaPointInRoomSampler
[docs]class ReplicaCameraSampler(CameraSampler):
"""
Samples valid camera poses inside replica rooms.
Works as the standard camera sampler, except the following differences:
- Always sets the x and y coordinate of the camera location to a value uniformly sampled inside of a room's \
bounding box
- The configured z coordinate of the configured camera location is used as relative to the floor
- All sampled camera locations need to lie straight above the room's floor to be valid
- Using the scene coverage/interestingness score in the ReplicaCameraSampler does not make much sense, as the \
3D mesh is not split into individual objects.
See parent class CameraSampler for more details.
**Configuration**:
.. list-table::
:widths: 25 100 10
:header-rows: 1
* - Parameter
- Description
- Type
* - is_replica_object
- Whether it's a Replica object. Default: False.
- bool
* - height_list_path
- Path to height list.
- string
* - data_set_name
- Dataset name in case is_replica_object is set to false.
- string
"""
def __init__(self, config):
CameraSampler.__init__(self, config)
self.point_sampler: Optional[ReplicaPointInRoomSampler] = None
[docs] def run(self):
# Load the height levels of this scene
if not self.config.get_bool('is_replica_object', False):
file_path = self.config.get_string('height_list_path')
else:
folder_path = os.path.join('replica', 'height_levels', self.config.get_string('data_set_name'))
file_path = resolve_resource(os.path.join(folder_path, 'height_list_values.txt'))
if 'mesh' in bpy.data.objects:
mesh = MeshObject(bpy.data.objects['mesh'])
else:
raise Exception("Mesh object is not defined!")
# Find floor object
if 'floor' in bpy.data.objects:
floor_object = MeshObject(bpy.data.objects['floor'])
else:
raise Exception("No floor object is defined!")
room_bounding_box = mesh.get_bound_box()
room_bounding_box = {"min": np.min(room_bounding_box, axis=0), "max": np.max(room_bounding_box, axis=0)}
self.point_sampler = ReplicaPointInRoomSampler(room_bounding_box, floor_object, file_path)
super().run()
[docs] def _sample_pose(self, config):
""" Samples a new camera pose, sets the parameters of the given camera object accordingly and validates it.
:param config: The config object describing how to sample
:return: True, if the sampled pose was valid
"""
cam2world_matrix = super()._sample_pose(config)
cam2world_matrix[:3, 3] = self.point_sampler.sample(height=cam2world_matrix[2, 3])
return cam2world_matrix