Bug/various fixes (#22)

* refactor: Adjust dicing rate and fix displacement parameter handling

* fix: Increase precision of keypoint location rounding

* refactor: Simplify keypoint handling and improve naming conventions in keypoint_script

* feat: Extend bounding box parsing to include rotation data in viewer_utils

* refactor: Rename 'translation' to 'location' in base_schema.yaml for clarity

* bump: Update version to 1.3.10 in pyproject.toml

pyproject.toml

@@ -13,7 +13,7 @@ readme = "README.md"
 requires-python = ">=3.8"
 license = {text = "GPLv3"}
 
-version = "1.3.9"
+version = "1.3.10"
 
 dynamic = ["dependencies"]
 

syclops/blender/plugins/ground.py

@@ -55,7 +55,7 @@ def _setup_modifiers(self, ground):
         bpy.context.object.modifiers["Subdivision"].subdivision_type = "SIMPLE"
         bpy.context.object.modifiers["Subdivision"].levels = 2
         bpy.context.object.cycles.use_adaptive_subdivision = True
-        bpy.context.object.cycles.dicing_rate = 2.0
+        bpy.context.object.cycles.dicing_rate = 1.0
 
     def _setup_ground_material(self):
         """Configure the ground material."""
@@ -69,7 +69,7 @@ def _setup_ground_material(self):
         self._configure_node_mappings(nodes, texture["texture_size"])
         self._import_and_set_images(nodes, root_path, texture)
         self._set_voronoi_scale(nodes)
-        self._set_displacement_scale(nodes, texture)
+        self._set_displacement_params(nodes, texture)
 
     def _configure_node_mappings(self, nodes, texture_size):
         scale = self.config["size"] / texture_size
@@ -101,11 +101,16 @@ def _set_voronoi_scale(self, nodes):
         for node_name in ["Voronoi Texture", "Voronoi Texture.001"]:
             nodes.get(node_name).inputs["Scale"].default_value = scale_value
 
-    def _set_displacement_scale(self, nodes, texture):
+    def _set_displacement_params(self, nodes, texture):
         if "texture_displacement_scale" in texture:
             nodes.get("Displacement").inputs["Scale"].default_value = float(
                 texture["texture_displacement_scale"]
             )
+        if "texture_displacement_midlevel" in texture:
+            nodes.get("Displacement").inputs["Midlevel"].default_value = float(
+                texture["texture_displacement_midlevel"]
+            )
+
 
     def _setup_ground_geometry(self):
         """Create a plane, scale and subdivide according to the ground size."""

syclops/blender/sensor_outputs/keypoints.py

@@ -53,7 +53,7 @@ def generate_output(self, parent_class: object):
                     if class_id is not None:
                         if "keypoints" in object_instance.object:
                             location = object_instance.matrix_world.translation
-                            location = [round(x, 4) for x in location]
+                            location = [round(x, 6) for x in location]
                             instance_id = self._calculate_instance_id(location)
                             for keypoint, pos in object_instance.object["keypoints"].items():
                                 vec = mathutils.Vector((pos['x'], pos['y'], pos['z']))

syclops/schema/base_schema.yaml

@@ -129,7 +129,7 @@ definitions:
       velocities:
         type: object
         properties:
-          translation:
+          location:
             description: Translation velocity in meters per second
             $ref: "#/definitions/vector_evaluation"
           rotation:

syclops/utility/keypoint_script.py

@@ -1,66 +1,45 @@
-"""
-Script to be used inside of Blender to add keypoint information to 3d objects
-"""
-
 import bpy
 import mathutils
 
-
-# Function to get relative position
 def get_relative_position(obj, target):
     return target.matrix_world.inverted() @ obj.matrix_world.translation
 
-
-# Function to create empties at keypoint positions relative to the mesh object
 def create_empties_from_keypoints(mesh_object):
     keypoints = mesh_object["keypoints"]
     for key, pos in keypoints.items():
-        # Calculate the world position from the relative position
-        world_position = mesh_object.matrix_world @ mathutils.Vector(
-            (pos["x"], pos["y"], pos["z"])
-        )
-        # Create an empty and set its world position
+        world_position = mesh_object.matrix_world @ mathutils.Vector((pos["x"], pos["y"], pos["z"]))
         bpy.ops.object.empty_add(location=world_position)
         empty = bpy.context.active_object
-        empty.name = f"Keypoint_{key}"
-
+        empty.name = f"Keypoint_{mesh_object.name}_{key}"
+
+def add_keypoints_to_mesh(mesh_object, empty_objects):
+    mesh_object["keypoints"] = {}
+    for index, empty in enumerate(empty_objects):
+        relative_pos = get_relative_position(empty, mesh_object)
+        mesh_object["keypoints"][str(index)] = {
+            "x": relative_pos.x,
+            "y": relative_pos.y,
+            "z": relative_pos.z,
+        }
 
 # Main script
 selected_objects = bpy.context.selected_objects
-active_object = bpy.context.active_object
-
-# Case 1: Multiple objects selected, last is a mesh
-if len(selected_objects) > 1 and active_object.type == "MESH":
-    selected_objects.remove(active_object)
-    selected_objects.sort(key=lambda x: x.name)
-
-    keypoints = {}
-
-    for index, obj in enumerate(selected_objects):
-        if obj.type == "EMPTY":
-            relative_pos = get_relative_position(obj, active_object)
-            keypoints[str(index)] = {
-                "x": relative_pos.x,
-                "y": relative_pos.y,
-                "z": relative_pos.z,
-            }
-
-    if "keypoints" in active_object:
-        del active_object["keypoints"]
-
-    active_object["keypoints"] = keypoints
-    print("Key points added to", active_object.name)
-
-# Case 2: Single mesh object with keypoints attribute
+mesh_objects = [obj for obj in selected_objects if obj.type == "MESH"]
+empty_objects = [obj for obj in selected_objects if obj.type == "EMPTY"]
+
+if mesh_objects and empty_objects:
+    # Sort empty objects by name
+    empty_objects.sort(key=lambda x: x.name)
+
+    for mesh in mesh_objects:
+        add_keypoints_to_mesh(mesh, empty_objects)
+        print(f"Key points added to {mesh.name}")
 elif len(selected_objects) == 1 and selected_objects[0].type == "MESH":
     active_object = selected_objects[0]
     if "keypoints" in active_object:
         create_empties_from_keypoints(active_object)
-        print("Empties created from key points in", active_object.name)
+        print(f"Empties created from key points in {active_object.name}")
     else:
-        print("No keypoints attribute found in", active_object.name)
-
+        print(f"No keypoints attribute found in {active_object.name}")
 else:
-    print(
-        "Please select either multiple objects with a mesh as the active object, or a single mesh with a keypoints attribute."
-    )
+    print("Please select either multiple mesh objects and at least one empty, or a single mesh with a keypoints attribute.")

syclops/utility/viewer_utils.py

@@ -25,7 +25,7 @@ def read_and_draw_bounding_boxes(img, bb_path):
 
     bb_img = img.copy()
     for line in lines:
-        _, x_center, y_center, width, height = map(float, line.split())
+        _, x_center, y_center, width, height, *_ = map(float, line.split())
         x = int(x_center * img.shape[1] - width * img.shape[1] / 2)
         y = int(y_center * img.shape[0] - height * img.shape[0] / 2)
         w = int(width * img.shape[1])
@@ -127,6 +127,7 @@ def dataset_viewer(args):
                 object_positions_dict = json.load(f)
             for _, poses in object_positions_dict.items():
                 location_list = [element["loc"] for element in poses]
+                rotation_list = [element["rot"] for element in poses]
                 positions_array = np.array(location_list, dtype=np.float32).reshape(
                     (-1, 3)
                 )