blearn: Add files

.devcontainer/blearn/Dockerfile

@@ -0,0 +1,52 @@
+FROM nvcr.io/nvidia/pytorch:22.12-py3
+
+ARG TZ=Europe/Zurich
+ENV DEBIAN_FRONTEND=noninteractive
+ENV BLENDER_DIR=/home/asl/blender
+ARG VGLUSERS_GID=1004
+
+# Base packages
+COPY devcontainer_all_packages.sh /tmp/devcontainer_all_packages.sh
+RUN /tmp/devcontainer_all_packages.sh && rm -f /tmp/devcontainer_all_packages.sh
+
+ENV LANG="en_US.UTF-8" \
+    LANGUAGE="en_US:en" \
+    LC_ALL="en_US.UTF-8" \
+    BLENDER_USER_SCRIPTS=/home/asl/.config/blender/3.0/scripts/
+
+# Add user "asl" with sudo rights
+RUN groupadd -r asl && \
+    groupadd -g ${VGLUSERS_GID} vglusers && \
+    useradd --create-home --gid asl --groups dialout,plugdev,vglusers --shell /bin/bash asl && \
+    mkdir -p /etc/sudoers.d && \
+    echo 'asl ALL=NOPASSWD: ALL' > /etc/sudoers.d/asl
+
+# Blender: Compile with patch that allows rendering depth in background
+RUN apt-get --assume-yes install xpra subversion cmake libx11-dev libxxf86vm-dev libxcursor-dev libxi-dev libxrandr-dev libxinerama-dev libglew-dev
+RUN mkdir -p $BLENDER_DIR/lib && cd $BLENDER_DIR/lib && svn checkout https://svn.blender.org/svnroot/bf-blender/tags/blender-3.0-release/lib/linux_centos7_x86_64/
+RUN mkdir -p $BLENDER_DIR && cd $BLENDER_DIR && git clone https://github.com/marcojob/blender.git && cd blender && git checkout v3_0_1_background_patch && git submodule update --init --recursive
+RUN cd $BLENDER_DIR/blender && make
+RUN cd $BLENDER_DIR/blender && cmake ../build_linux -D WITH_CYCLES_CUDA_BINARIES=ON && make
+RUN echo "alias blender='$BLENDER_DIR/build_linux/bin/blender'" >> /home/asl/.bash_aliases
+
+# Blender: Install python deps
+RUN $BLENDER_DIR/build_linux/bin/3.0/python/bin/python3.9 -m ensurepip
+RUN $BLENDER_DIR/build_linux/bin/3.0/python/bin/python3.9 -m pip install pyyaml matplotlib scipy
+
+# Blender: Copy user preferences to enable CUDA (ideally this would work with bpy, not figured out)
+COPY userpref.blend /home/asl/.config/blender/3.0/config/
+
+# Blender addon: Download and install BlenderGIS
+RUN wget https://github.com/domlysz/BlenderGIS/archive/refs/tags/2210.zip -O /tmp/BlenderGIS-2210.zip && \
+    unzip /tmp/BlenderGIS-2210.zip -d /tmp/ && \
+    mkdir -p $BLENDER_USER_SCRIPTS/addons && \
+    mv /tmp/BlenderGIS-2210 $BLENDER_USER_SCRIPTS/addons/BlenderGIS && \
+    $BLENDER_DIR/build_linux/bin/blender -b --python-expr "import bpy; bpy.ops.preferences.addon_enable(module='BlenderGIS'); bpy.ops.wm.save_userpref()"
+
+# Git-prompt: Source
+RUN echo 'if [ -f "$HOME/.bash-git-prompt/gitprompt.sh" ]; then GIT_PROMPT_ONLY_IN_REPO=1; source "$HOME/.bash-git-prompt/gitprompt.sh"; fi' >> /home/asl/.bash_aliases
+
+# Clean up
+RUN rm -rf /tmp/* /var/lib/apt/lists/* /var/tmp/* /var/cache/apt/archives/*
+
+ENTRYPOINT ["/bin/bash"]

.devcontainer/blearn/devcontainer.json

@@ -0,0 +1,54 @@
+{
+    "image": "omavteam/radarmeetsvision:blearn-latest",
+    "customizations": {
+        "vscode": {
+            "extensions": [
+                "ms-python.python"
+            ],
+            "settings": {
+                "files.hotExit": "off",
+                "window.restoreWindows": "none",
+                "workbench.startupEditor": "none"
+            }
+        }
+    },
+    "remoteEnv": {
+        "DISPLAY": "${localEnv:DISPLAY}"
+    },
+    "remoteUser": "asl",
+    "initializeCommand": ".devcontainer/devcontainer_optional_mounts.sh",
+    "postStartCommand": "pip install -e .",
+    "mounts": [
+        {
+            "source": "${localEnv:HOME}/.bash-git-prompt",
+            "target": "/home/asl/.bash-git-prompt",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/Downloads",
+            "target": "/home/asl/Downloads",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/Storage",
+            "target": "/home/asl/Storage",
+            "type": "bind"
+        },
+        {
+            "source": "${localEnv:HOME}/.cache",
+            "target": "/home/asl/.cache",
+            "type": "bind"
+        }
+    ],
+    "runArgs": [
+        "--gpus",
+        "all",
+        "--privileged",
+        "--device=/dev/dri:/dev/dri",
+        "-v",
+        "/tmp/.X11-unix:/tmp/.X11-unix",
+        "-v",
+        "/dev/bus/usb:/dev/bus/usb",
+        "--net=host"
+    ]
+}

.devcontainer/build_and_push_images.sh

@@ -1 +1,2 @@
+docker buildx build -t omavteam/radarmeetsvision:blearn-latest -f blearn/Dockerfile --push .
 docker buildx build -t omavteam/radarmeetsvision:latest -f desktop/Dockerfile --push .

.devcontainer/desktop/Dockerfile

@@ -8,8 +8,8 @@ ENV LD_LIBRARY_PATH="${LD_LIBRARY_PATH}:/opt/hpcx/ompi/lib"
 ENV PATH="${PATH}:/opt/hpcx/ompi/bin"
 
 # All apt packages
-COPY devcontainer-all-packages.sh /tmp/devcontainer-all-packages.sh
-RUN /tmp/devcontainer-all-packages.sh && rm -f /tmp/devcontainer-all-packages.sh
+COPY devcontainer_all_packages.sh /tmp/devcontainer_all_packages.sh
+RUN /tmp/devcontainer_all_packages.sh && rm -f /tmp/devcontainer_all_packages.sh
 
 ENV LANG="en_US.UTF-8" \
     LANGUAGE="en_US:en" \

.devcontainer/desktop/devcontainer.json

@@ -16,7 +16,7 @@
         "DISPLAY": "${localEnv:DISPLAY}"
     },
     "remoteUser": "asl",
-    "initializeCommand": ".devcontainer/devcontainer-optional-mounts.sh",
+    "initializeCommand": ".devcontainer/devcontainer_optional_mounts.sh",
     "postStartCommand": "pip install -e .",
     "mounts": [
         {

blearn/README.md

@@ -0,0 +1,26 @@
+<p align="center">
+  <img src="docs/banner.png?raw=true" width="750" height="375">
+</p>
+**blearn** is a tool that allows you to generate an image-based dataset in Blender. Together with a mesh and texture obtained from photogrammetry, realistic synthetic datasets can be generated. The script is executed with Blender built-in python interpreter, which has the advantage that `bpy` is already loaded correctly
+
+### Requirements
+Install all requirements with:
+```bash
+pip3 install -r requirements.txt
+```
+
+### Example
+```bash
+blender -b <path_to_blend_file>.blend --python blearn.py
+```
+
+### Running tests
+```bash
+python -m pytest
+```
+
+### Offload to GPU with Nvidia prime on-demand
+When using Nvidia prime with the on-demand setting, the use of the GPU must be force using the following env definitions:
+```bash
+__NV_PRIME_RENDER_OFFLOAD=1 __GLX_VENDOR_LIBRARY_NAME=nvidia blender <path_to_blend_file>.blend --python blearn.py
+```

blearn/blearn.py

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+
+""" Main script to run blearn, generating a learning dataset in Blender"""
+
+
+__author__ = "Marco Job"
+
+import sys
+import os
+import bpy
+
+# Setup the path to find modules
+dn = os.path.dirname(__file__)
+
+if dn not in sys.path:
+    sys.path.append(dn)
+
+# Import own code now
+from src.blender import Blender  # NOQA
+
+
+def main():
+    b = Blender(config_file="config/config_road_corridor_demo.yml")
+    b.start()
+
+
+if __name__ == "__main__":
+    main()

blearn/config/config.yml

@@ -0,0 +1,51 @@
+camera:
+  f: 3.5
+  sx: 4.96
+  sy: 3.72
+sun:
+  energy_min: 10.0
+  energy_max: 10.0
+  local_time_min: 10.0
+  local_time_max: 16.0
+output:
+  dir: output
+  resolution_x: 640
+  resolution_y: 480
+  format: JPEG
+  render: CYCLES
+  use_second_view: True
+paths:
+  number_of_samples: 10000
+  x_min: 0.0
+  x_max: 600.0
+  y_min: 0.0
+  y_max: 250.0
+  z_min: 1.0
+  z_max: 51.0
+  euler_x_min: -0.1745
+  euler_x_max: 0.1745
+  euler_y_min: -0.1745
+  euler_y_max: 0.1745
+  euler_z_min: -3.141
+  euler_z_max: 3.141
+  seed: 1
+demo:
+  radius: 20.0
+  x: 200.0
+  y: 100.0
+  z: 30.0
+landing:
+  x: 351.1
+  y: 102.9
+  z_start: 51.0
+  z_end: 0.0
+  down_vel: 0.5
+  side_acc: 1.0
+  fps: 20
+  euler_x_min: -0.1745
+  euler_x_max: 0.1745
+  euler_y_min: -0.1745
+  euler_y_max: 0.1745
+  euler_z_min: -0.087
+  euler_z_max: 0.087
+  poses_file: /media/scratch2/mjob/poses.txt

blearn/config/config_aeschhandheld2.yml

@@ -0,0 +1,36 @@
+mode: "validation"
+camera:
+  f: 4.143903289
+  sx: 4.968
+  sy: 3.726
+sun:
+  energy_min: 10.0
+  energy_max: 10.0
+  local_time_min: 10.0
+  local_time_max: 16.0
+output:
+  dir: output
+  resolution_x: 1280
+  resolution_y: 960
+  format: JPEG
+  render: CYCLES
+  use_second_view: False
+paths:
+  number_of_samples: 10000
+  x_min: 0.0
+  x_max: 1400.0
+  y_min: 0.0
+  y_max: 1000.0
+  z_min: 1.0
+  z_max: 51.0
+  euler_x_min: -0.1745
+  euler_x_max: 0.1745
+  euler_y_min: -0.1745
+  euler_y_max: 0.1745
+  euler_z_min: -3.141
+  euler_z_max: 3.141
+  seed: 1
+  pix4d_trajectory: '/home/don/Storage/02_Pix4D_datasets/AeschHandheld2/aesch_handheld2_exif/aesch_handheld2_exif/1_initial/params/aesch_handheld2_exif_calibrated_external_camera_parameters.txt'
+  offset_x: 456612.000
+  offset_y: 5243305.000
+  offset_z: 557.000

blearn/config/config_maschinenhalle0.yml

@@ -0,0 +1,36 @@
+mode: "validation"
+camera:
+  f: 4.143903289
+  sx: 4.968
+  sy: 3.726
+sun:
+  energy_min: 10.0
+  energy_max: 10.0
+  local_time_min: 10.0
+  local_time_max: 16.0
+output:
+  dir: output
+  resolution_x: 1280
+  resolution_y: 960
+  format: JPEG
+  render: CYCLES
+  use_second_view: False
+paths:
+  number_of_samples: 10000
+  x_min: 0.0
+  x_max: 1400.0
+  y_min: 0.0
+  y_max: 1000.0
+  z_min: 1.0
+  z_max: 51.0
+  euler_x_min: -0.1745
+  euler_x_max: 0.1745
+  euler_y_min: -0.1745
+  euler_y_max: 0.1745
+  euler_z_min: -3.141
+  euler_z_max: 3.141
+  seed: 1
+  pix4d_trajectory: '/home/don/Storage/05_Blender_Projects/Maschinenhalle/maschinenhalle0_minimal_calibrated_external_camera_parameters.txt'
+  offset_x: 465843.000
+  offset_y: 5247237.000
+  offset_z: 456.000

blearn/config/config_mountain_area.yml

@@ -0,0 +1,31 @@
+mode: "training"
+camera:
+  f: 4.143903289
+  sx: 4.968
+  sy: 3.726
+sun:
+  energy_min: 10.0
+  energy_max: 10.0
+  local_time_min: 10.0
+  local_time_max: 16.0
+output:
+  dir: output
+  resolution_x: 640
+  resolution_y: 480
+  format: JPEG
+  render: CYCLES
+paths:
+  number_of_samples: 10000
+  x_min: 0.0
+  x_max: 1400.0
+  y_min: 0.0
+  y_max: 1000.0
+  z_min: 1.0
+  z_max: 51.0
+  euler_x_min: -0.3926991
+  euler_x_max: 0.3926991
+  euler_y_min: -0.3926991
+  euler_y_max: 0.3926991
+  euler_z_min: -3.141
+  euler_z_max: 3.141
+  seed: 1

blearn/config/config_mountain_area_demo.yml

@@ -0,0 +1,35 @@
+mode: "demo"
+camera:
+  f: 4.143903289
+  sx: 4.968
+  sy: 3.726
+sun:
+  energy_min: 10.0
+  energy_max: 10.0
+  local_time_min: 10.0
+  local_time_max: 16.0
+output:
+  dir: output
+  resolution_x: 640
+  resolution_y: 480
+  format: JPEG
+  render: CYCLES
+paths:
+  number_of_samples: 100
+  x_min: 0.0
+  x_max: 1400.0
+  y_min: 0.0
+  y_max: 1000.0
+  z_min: 1.0
+  z_max: 51.0
+  euler_x_min: -0.3926991
+  euler_x_max: 0.3926991
+  euler_y_min: -0.3926991
+  euler_y_max: 0.3926991
+  euler_z_min: -3.141
+  euler_z_max: 3.141
+  seed: 1
+  demo_x: 700.0
+  demo_y: 450.0
+  demo_z: 50.0
+  demo_radius: 50.0