examples

Examples

Each folder contains an example, some of those require external datasets.

Contents

• Examples overview

Examples overview

Each example provides a valid configuration file that can be used for getting some sort of output, and a description.

We recommend to start with the basic example. It will give you an idea about how, why and when certain things happen.

• debugging: what happens during the execution of the pipeline and certain modules it is sometimes useful to use blender directly
• camera sampling: Sampling of different camera positions inside of a shape with constraints for the rotation.
• light sampling: Sampling of light positions, this is the same behavior needed for the object and camera sampling.
• semantic_segmentation: Introduction to semantic segmentation
• object pose sampling: Shows a more complex use of a 6D pose sampler.
• physics_positioning: Overview of an easy to use module we provide for using physics in your simulations.
• entity manipulation: Changing various parameters of entities via selecting them through config file.
• material_manipulation: material selecting and manipulation.
• material_randomizer: object's material randomization.
• coco annotations: generating COCO annotations.
• optical_flow: obtaining forward/backward flow values between consecutive key frames.
• stereo_matching: compute distance image using stereo matching.
• on_surface_object_sampling: object pose sampling on a surface.

Benchmark for 6D Object Pose Estimation (BOP)

We provide example configs that interface with the BOP datasets.

• bop_challenge: Configs used to create the official synthetic data for the BOP challenge 2020
• bop_object_physics_positioning: Drop BOP objects on planes and randomize materials
• bop_object_on_surface_sampling: Sample upright poses on plane and randomize materials
• bop_scene_replication: Replicates whole scenes (object poses, camera intrinsics and extrinsics) from BOP
• bop_object_pose_sampling: Loads BOP objects and samples object, camera and light poses

Dataset related examples

We are providing limited dataset support, for example for ShapeNet, SceneNet, 3D-Front, SUNCG, Replica, Rock Essentials and others. These can be found in:

• replica_dataset
• shapenet
• shapenet_with_scenenet
• shapenet_with_suncg
• scenenet
• scenenet_with_cctextures
• front_3d
• front_3d_with_improved_mat
• suncg_basic
• suncg_with_cam_sampling
• suncg_with_improved_mat
• suncg_with_object_replacer
• rock_essentials