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Planned Features

  • Merge BlenderProc and BlenderProc4Bop, except README
  • Add optical flow estimation
  • Add depth corruption (making the perfect depth images more realistic)
  • Add support for YCB objects (not just Bob)
  • Add support for single object datasets

Version History

Version 1.3.0: 25th March 2020

  • 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

Version 1.2.0: 31th January 2020

  • 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

Version 1.1.0: 16th January 2020

  • 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

Version 1.0.0: 25th October 2019

  • 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