rope-rendering

Dependencies

All in Python3:

• Blender (beta version 2.8) (Download here: https://www.blender.org/download/Blender2.80/blender-2.80-macOS.dmg/)
• cv2
• argparse
• scipy
• sklearn
• numpy

Description

• This repo hosts rendering scripts for the dense descriptors for deformable objects project.
  • rope-blender.py: renders images of deformable rope into directory rope-rendering/images and dumps a JSON file with vertex pixel info into the same folder. The rope model is based directly off https://www.youtube.com/watch?v=xYhIoiOnPj4
  • vis.py: loads a set of images and a JSON file from rope-rending/images and highlights all the vertex pixels in the JSON file on each image. Dumps annotated images into rope-rendering/annotated
  • mask.py: renders a visible mask (255's and 0's) and non-visible mask (1's and 0's) of each image and dumps them to rope-rendering/image_masks. This is used to generate non-matches both on and off the rope during training.
  • process-sim.py: hacks the sim images to make them look like real_images

Setup

• After downloading Blender version 2.8, do the following steps:
• Add the following line to your .bashrc:
  • alias blender="/Users/priyasundaresan/Downloads/blender-2.80.0-git20190620.d30f72dfd8ac-x86_64/blender.app/Contents/MacOS/blender" replacing the path to blender.app with your downloaded version (Note, your downloaded path to Blender might also look something like /Applications/Blender.app/Contents/Resources/2.8/python/bin)
• Blender actually comes bundled with its own version of Python, separate from your system Python, so you need to install dependencies for Blender using its own Python.
  • To do this: cd into the following directory: /path/to/blender.app/Contents/Resources/2.80/python/bin (replace with your path to blender.app/Blender.app). From here, you might see pip or pip3 listed, or if you don't see that you should see a python3.7m. Once in this directory, to install a Python dependency for Blender, just do ./python3.7 -m pip install [package] or ./pip install [package] if you see pip listed.
• To install dependencies for scripts that will not be run through Blender (like post-processing renderings, for example), optionally make a python3 virtualenv, navigate into rope-rendering and run pip3 install -r requirements.txt

Rendering Usage

• Off-screen rendering: run blender -b -P rope-blender.py (-b signals --background, -P signals --python)
• On-screen rendering: run blender -P rope-blender.py
• For debugging purposes, you can also open a scripting window in Blender (on the top nav-bar menu, look for Scripting), click +New, copy the contents of rope-blender.py and hit Run Script
  • To manually deform the rope, select the spline in 'EDIT' mode (by pressing Tab), press 'G', and grab any of the spline nodes with a mouse to move the rope. You can select groups of nodes at a time by pressing 'Ctrl' while grabbing nodes.

Example Workflow

• Run blender -b -P rope-blender.py
• Run python3 vis.py to visualize the vertex correspondences
• Run python3 mask.py to produce masks of images
• Run python3 process_sim.py to add noise to the sim images (can compare to images in real_images to see the result)