Functionality

• Visualization utilities

  • Add / animate camera frustrums
  • Add camera trajectories
  • Animate meshes (reconstruction output) over time
  • Import pointclouds
  • Import surfels
  • Import meshes
  • Heatmap material

• Data generation utilities

  • Simulate 2D features
  • Import / export pinhole camera parameters
  • Export camera and object trajectories
  • Render depth-maps
  • Render object masks
  • Render normal maps

Organization and Examples

This section provides examples and explains which functionality is provided in different python files. It is assumed that the toolkit was imported, see section workflow.

datasets.py

• Functionality for working with existing datasets
• Example:

scene.py

• Functionality for manipulating scenes, such as adding pointclouds, cameras, trajectories, bounding boxes, etc.
• Example:

# Visualize pointcloud (material: heightmap) with bounding-box (material: red)
cloud = utils_scene.add_pointcloud(np.random.randn(500, 3), radius=0.1, material=utils_material.get_material_heightmap())
box = utils_scene.add_axis_aligned_bb_to_object(cloud, border_radius=0.1, material='red')

• Output:

• Example:

# Generate example trajectory (circle)
times = np.linspace(0, 2 * np.pi, 500, endpoint=False)
transforms_wc = [utils_common.matrix_from_lookat((2*np.sin(t), 2*np.cos(t), 1), (0,0,1)) for t in times]

# Add objects
utils_scene.add_trajectory(transforms_wc, frustum_radius=0.03, frustum_scale=0.15,min_distance_cameras=0.3)
utils_scene.add_floor(color0=(0.647, 0.408, 0.165,1))
bpy.ops.mesh.primitive_monkey_add(size=2, enter_editmode=False, location=(0, 0, 1))

• Output:

material.py

• Functionality for using materials
• Example:

import sys, numpy as np 
sys.path.append('/home/martin/devel/dataset-tools-private/blender')
import utils_scene, utils_mesh, utils_material

points =  np.random.randn(500, 3)
cloud = utils_scene.add_pointcloud(points, radius=0.1, material=utils_material.get_material_heightmap())

• Output:

Workflow

From within blender I usually import the modules like this (there are different workflows though, you don't even need to open the GUI for rendering):

• Open scripting view / text editor (Shift + F11) and create new text document that is part of the .blend file
• Import this toolkit by adding (usage of reload ensures changes are applied):

import sys
sys.path.append('<path/to/this/toolkit>')
import utils_mesh, utils_scene, utils_common
from importlib import reload  
utils_scene, utils_mesh, utils_common = reload(utils_scene), reload(utils_mesh), reload(utils_common)

• Add your code and run script in blender with Alt+P

If you don't plan to make changes to the toolkit, for example to run the examples, you can leave the reload part:

import sys, numpy as np
sys.path.append('<path/to/this/toolkit>')
import utils_mesh, utils_scene, utils_common