blenderproc.python.modules.loader.BopLoaderModule module¶
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class
blenderproc.python.modules.loader.BopLoaderModule.BopLoaderModule(config)[source]¶ Bases:
blenderproc.python.modules.loader.LoaderInterface.LoaderInterfaceLoads the 3D models of any BOP dataset and allows replicating BOP scenes
- Interfaces with the bob_toolkit, allows loading of train, val and test splits
- Relative camera poses are loaded/computed with respect to a reference model
- Sets real camera intrinsics
Configuration:
Parameter Description Type cam_type Camera type. If not defined, dataset-specific default camera type is used. Default value: “” string source_frame Can be used if the given positions and rotations are specified in frames different from the blender frame. Has to be a list of three strings. Example: [‘X’, ‘-Z’, ‘Y’]: Point (1,2,3) will be transformed to (1, -3, 2). Default: [“X”, “-Y”, “-Z”]. ” Available: [‘X’, ‘Y’, ‘Z’, ‘-X’, ‘-Y’, ‘-Z’]. list sys_paths System paths to append. list bop_dataset_path Full path to a specific bop dataset e.g. /home/user/bop/tless. string mm2m Specify whether to convert poses and models to meters. Optional. Default: False. bool split Optionally, test or val split depending on BOP dataset. Optional. Default: test. string scene_id Optionally, specify BOP dataset scene to synthetically replicate. Default: -1 (no scene is replicated, only BOP Objects are loaded). int sample_objects Toggles object sampling from the specified dataset. Default: False. boolean num_of_objs_to_sample Amount of objects to sample from the specified dataset. If this amount is bigger than the dataset actually contains, then all objects will be loaded. int obj_instances_limit Limits the amount of object copies when sampling. Default: -1 (no limit). int obj_ids List of object ids to load. Default: [] (all objects from the given BOP dataset if scene_id is not specified). list model_type Optionally, specify type of BOP model. Type: string. Default: “”. Available: [reconst, cad or eval]. string move_origin_to_x_y_plane Move center of the object to the lower side of the object, this will not work when used in combination with pose estimation tasks! This is designed for the use-case where BOP objects are used as filler objects in the background. Default: False bool