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revision_gen_sample_mscoco.sh

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+#!/bin/bash
+
+### we assume the blender object assets are located in assets/blender_assets/ and assets/blender_assets_non_coco/
+
+( python ./util/py_gen_above_below.py --partition 0 --num_partition 1 --num_variants 2 --num_background 3 --output_folder output/mscoco_above_below ) &
+pid1=$!
+( python ./util/py_gen_left_right.py --partition 0 --num_partition 1 --num_variants 2 --num_background 3 --output_folder output/mscoco_left_right ) &
+pid2=$!
+( python ./util/py_gen_front_behind.py --partition 0 --num_partition 1 --num_variants 2 --num_background 3 --output_folder output/mscoco_front_behind ) &
+pid3=$!
+( python ./util/py_gen_left_right_near.py --partition 0 --num_partition 1 --num_variants 2 --num_background 3 --output_folder output/mscoco_near ) &
+pid4=$!
+### wait for the termination of all 3 programs runs
+wait $pid1 $pid2 $pid3 $pid4
+
+chmod -R 755 output/mscoco_above_below
+chmod -R 755 output/mscoco_left_right
+chmod -R 755 output/mscoco_front_behind 
+chmod -R 755 output/mscoco_front_near
+
+echo "Complete!"

revision_gen_sample_t2i_comp.sh

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+#!/bin/bash
+
+### we assume the blender object assets are located in assets/blender_assets/ and assets/blender_assets_non_coco/
+
+( python ./util/py_gen_t2i_comp_floor.py --partition 0 --num_partition 2 --num_variants 2 --num_background 3 --output_folder output/t2i_comp ) &
+pid1=$!
+( python ./util/py_gen_t2i_comp_floor.py --partition 1 --num_partition 2 --num_variants 2 --num_background 3 --output_folder output/t2i_comp ) &
+pid2=$!
+
+### wait for the termination of all 3 programs runs
+wait $pid1 $pid2 
+
+chmod -R 755 output/t2i_comp
+
+echo "Complete!"

util/blender_above_below_floor.py

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+import blenderproc as bproc
+import argparse
+import numpy as np
+
+from glob import glob
+import random
+from datetime import datetime
+random.seed(datetime.now().timestamp())
+
+import sys
+import math
+
+
+parser = argparse.ArgumentParser()
+parser.add_argument('obj1', default="apple", help="Name of object 1")
+parser.add_argument('obj2', default="banana", help="Name of object 2")
+parser.add_argument('bg_path', default="background/autumn_park_2k.hdr", help="Path to the background hdr image")
+parser.add_argument('output_dir', default="output/above_below/", help="Path to where the final files, will be saved")
+parser.add_argument('pair_index', default=-1, help="Non-Random Pair index")
+parser.add_argument('debug', default=0)
+args = parser.parse_args()
+
+pair_index = int(args.pair_index)
+
+# obj_list = ["apple", "banana", "bed", "bicycle", "book", "car", "chair", "laptop", "person", "tv"]
+
+obj_list = ["apple", "banana",  "bicycle", "book", "chair", "laptop", "person", "tv"]
+big_list = ['bicycle', 'person']
+medium_list = ['chair', 'tv']
+tiny_list = ['apple', 'banana']
+small_list = ['book', 'laptop']
+tall_list = ['person']
+
+coco_objects = ['airplane', 'apple', 'backpack', 'banana', 'baseball_bat', 'baseball_glove', 'bear', 'bed', 'bench', 'bicycle', 'bird', 'boat', 'book', 'bottle', 'bowl', 'broccoli', 'bus', 'cake', 'car', 'carrot', 'cat', 'cell_phone', 'chair', 'clock', 'couch', 'cow', 'cup', 'dining_table', 'dog', 'donut', 'elephant', 'fire_hydrant', 'fork', 'frisbee', 'giraffe', 'hair_drier', 'handbag', 'horse', 'hot_dog', 'keyboard', 'kite', 'knife', 'laptop', 'microwave', 'motorcycle', 'mouse', 'orange', 'oven', 'parking_meter', 'person', 'pizza', 'potted_plant', 'refrigerator', 'remote', 'sandwich', 'scissors', 'sheep', 'sink', 'skateboard', 'skis', 'snowboard', 'spoon', 'sports_ball', 'stop_sign', 'suitcase', 'surfboard', 'teddy_bear', 'tennis_racket', 'tie', 'toaster', 'toilet', 'toothbrush', 'traffic_light', 'train', 'truck', 'tv', 'umbrella', 'vase', 'wine_glass', 'zebra']
+
+tall_objects = ['man', 'person', 'woman']
+
+
+
+def get_obj_scale(obj_name): 
+    return 1.0
+
+def retrieve2obj(obj1="apple", obj2="banana", index=-1, 
+                 asset_path="assets/blender_assets/", 
+                 noncoco_asset_path = "assets/blender_assets_non_coco/"):
+
+    if obj1 in coco_objects:
+        obj1_list = sorted(glob(f'{asset_path}/{obj1}/*.blend'))
+    else:
+        obj1_list = sorted(glob(f'{noncoco_asset_path}/{obj1}/*.blend'))
+    if obj2 in coco_objects:    
+        obj2_list = sorted(glob(f'{asset_path}/{obj2}/*.blend'))
+    else:
+        obj2_list = sorted(glob(f'{noncoco_asset_path}/{obj2}/*.blend'))
+
+    if index == -1:
+        obj1_path = random.choice(obj1_list)
+        obj2_path = random.choice(obj2_list)
+    else:
+        obj1_path = obj1_list[index]
+        obj2_path = obj2_list[index]
+    return obj1_path, obj2_path, f'{obj1}_{obj2}'
+
+def retrieve_floor(bgpath):
+    if 'white' in bgpath:
+        floor_path = "floor/floor_white.blend"
+    elif 'autumn' in bgpath:
+        floor_path = "floor/floor_grass_brass.blend"
+    elif 'studio' in bgpath:
+        floor_path = 'floor/floor_wood.blend'
+    return floor_path
+
+bproc.init()
+
+# activate normal and depth rendering
+# bproc.renderer.enable_normals_output()
+# bproc.renderer.enable_depth_output(activate_antialiasing=False)
+# set realistic background
+# haven_hdri_path = bproc.loader.get_random_world_background_hdr_img_path_from_haven('/home/lawrence/Documents/3dscene/')
+haven_hdri_path = args.bg_path
+
+for i in range(1):
+
+    path1, path2, output_name = retrieve2obj(args.obj1, args.obj2, index=pair_index)
+
+    if args.bg_path != "None":
+        # bproc.world.set_world_background_hdr_img(haven_hdri_path)
+        bproc.world.set_world_background_hdr_img(haven_hdri_path, rotation_euler=[0.0, 0.0, random.uniform(-np.pi, np.pi)])
+
+    
+    print('Generating', output_name)
+
+    r = random.uniform(4.5, 5.5)
+    if args.obj2 in tall_objects :
+        height_offset = random.uniform(-0.75, -0.6)
+    else:
+        height_offset = 0.0
+    #     offset = 1.35  
+    # elif args.obj2 in medium_list:
+    #     offset = 0.5
+    # else:
+    #     offset = 0.5
+
+    # Set the scale of the objects
+    obj1_scale = get_obj_scale(args.obj1)
+    obj2_scale = get_obj_scale(args.obj2)
+
+    # if args.obj1 in small_list and args.obj2 in small_list:
+    #     obj1_scale = random.uniform(4.0, 5.0)
+    #     obj2_scale = obj1_scale
+    # elif args.obj1 in small_list:
+    #     obj1_scale = random.uniform(4.0, 5.0)
+    # elif args.obj2 in small_list:
+    #     obj2_scale = random.uniform(4.0, 5.0)
+    floor_z = height_offset + random.uniform(-0.5, -0.75)
+    floor = bproc.loader.load_blend(retrieve_floor(args.bg_path), obj_types= ['armature','mesh', 'empty', 'hair'] )
+    floor = bproc.object.merge_objects(floor)
+    floor.set_location([0,0,floor_z+random.uniform(-0.25, -0.05)])
+
+    obj1 = bproc.loader.load_blend(path1, obj_types= ['armature','mesh', 'empty', 'hair'] )
+    poi1 = bproc.object.compute_poi(bproc.filter.all_with_type(obj1, bproc.types.MeshObject))
+    obj1 = bproc.object.merge_objects(obj1)
+    obj1.set_location([random.uniform(-0.05, 0.05), random.uniform(-0.05, 0.05), random.uniform(0.5, 0.75)]) # up 
+    # obj1.set_location([0, random.uniform(-1.0, 0.0), 0]) # left
+    obj1.set_scale([obj1_scale, obj1_scale, obj1_scale])
+    obj1.set_rotation_euler([0, 0, random.uniform(-np.pi/16, np.pi/16)])
+
+    obj2 = bproc.loader.load_blend(path2, obj_types= ['armature', 'mesh', 'empty', 'hair'])
+    poi2 = bproc.object.compute_poi(bproc.filter.all_with_type(obj2, bproc.types.MeshObject))
+    obj2 = bproc.object.merge_objects(obj2)
+    
+    obj2.set_location([random.uniform(-0.05, 0.05), random.uniform(-0.05, 0.05), floor_z]) # down
+    # obj2.set_location([0, random.uniform(0.0, 1.0), 0]) # right
+    obj2.set_scale([obj2_scale, obj2_scale, obj2_scale])
+    obj2.set_rotation_euler([0, 0, random.uniform(-np.pi/16, np.pi/16)])
+
+    poi = (poi1 + poi2) / 2.0
+
+
+
+
+    # define a light and set its location and energy level
+    light = bproc.types.Light()
+    light.set_type("POINT")
+    light.set_location([0, random.uniform(-5.0, 5.0), 5])
+    light.set_energy(3000)
+
+    # random camera angle
+    alpha = random.uniform(-np.pi / 8, np.pi / 8) 
+    # r = 3.0
+    cam_x = r * math.cos(alpha)
+    cam_y = r * math.sin(alpha)
+
+    # Set camera pose
+    
+    # Set output resolution to 1024x1024
+    bproc.camera.set_resolution(1024, 1024)
+    # Sample random camera location around the object
+    location = bproc.sampler.part_sphere([cam_x, cam_y, 1.25], radius=0.25, part_sphere_dir_vector=[1, 0, 0], mode="SURFACE")
+    # Compute rotation based on vector going from location towards poi
+    rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location)
+    # Add homog cam pose based on location an rotation
+    cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
+    bproc.camera.add_camera_pose(cam2world_matrix)
+
+
+    # Render the scene
+    bproc.renderer.set_max_amount_of_samples(24)
+    data = bproc.renderer.render()
+
+    # Write the rendering into an hdf5 file
+    bproc.writer.write_hdf5(args.output_dir + output_name, data, append_to_existing_output=True)
+    # bproc.clean_up()
+
+    print('Objects chosen:\n', path1, '\n', path2)
+    print('Background:\n', haven_hdri_path)

util/blender_depth_high.py

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+import blenderproc as bproc
+import argparse
+import numpy as np
+from mathutils import Vector
+from mathutils.bvhtree import BVHTree
+from glob import glob
+import random
+from datetime import datetime
+random.seed(datetime.now().timestamp())
+
+import sys
+import math
+
+parser = argparse.ArgumentParser()
+parser.add_argument('obj1', default="apple", help="Name of object 1, the one in the front")
+parser.add_argument('obj2', default="banana", help="Name of object 2, the one behind")
+parser.add_argument('bg_path', default="hdris/autumn/autumn_park_2k.hdr", help="Path to the background hdr image")
+parser.add_argument('output_dir', default="output/above_below/", help="Path to where the final files, will be saved")
+parser.add_argument('pair_index', default=-1, help="Non-Random Pair index")
+parser.add_argument('debug', default=0)
+args = parser.parse_args()
+
+pair_index = int(args.pair_index)
+
+# obj_list = ["apple", "banana", "bed", "bicycle", "book", "car", "chair", "laptop", "person", "tv"]
+
+
+coco_objects = ['airplane', 'apple', 'backpack', 'banana', 'baseball_bat', 'baseball_glove', 'bear', 'bed', 'bench', 'bicycle', 'bird', 'boat', 'book', 'bottle', 'bowl', 'broccoli', 'bus', 'cake', 'car', 'carrot', 'cat', 'cell_phone', 'chair', 'clock', 'couch', 'cow', 'cup', 'dining_table', 'dog', 'donut', 'elephant', 'fire_hydrant', 'fork', 'frisbee', 'giraffe', 'hair_drier', 'handbag', 'horse', 'hot_dog', 'keyboard', 'kite', 'knife', 'laptop', 'microwave', 'motorcycle', 'mouse', 'orange', 'oven', 'parking_meter', 'person', 'pizza', 'potted_plant', 'refrigerator', 'remote', 'sandwich', 'scissors', 'sheep', 'sink', 'skateboard', 'skis', 'snowboard', 'spoon', 'sports_ball', 'stop_sign', 'suitcase', 'surfboard', 'teddy_bear', 'tennis_racket', 'tie', 'toaster', 'toilet', 'toothbrush', 'traffic_light', 'train', 'truck', 'tv', 'umbrella', 'vase', 'wine_glass', 'zebra']
+
+big_obj = ['airplane', 'bus', 'car', 'boat', 'train', 'truck']
+
+
+def retrieve_floor(bgpath):
+    if 'white' in bgpath:
+        floor_path = "floor/floor_white.blend"
+    elif 'autumn' in bgpath:
+        floor_path = "floor/floor_grass_brass.blend"
+    elif 'studio' in bgpath:
+        floor_path = 'floor/floor_wood.blend'
+    return floor_path
+
+def get_obj_scale(obj_name, is_front=True): 
+    if is_front:
+        if obj_name in big_obj:
+            return random.uniform(0.5, 0.6)
+        else:
+            return random.uniform(0.8, 0.9)
+    else:
+        if obj_name in big_obj:
+            return random.uniform(1.4, 1.6)
+        else:
+            return random.uniform(1.8, 2.0)
+    # return 1.0
+    
+def retrieve2obj(obj1="apple", obj2="banana", index=-1, 
+                 asset_path="assets/blender_assets/", 
+                 noncoco_asset_path = "assets/blender_assets_non_coco/"):
+
+    if obj1 in coco_objects:
+        obj1_list = sorted(glob(f'{asset_path}/{obj1}/*.blend'))
+    else:
+        obj1_list = sorted(glob(f'{noncoco_asset_path}/{obj1}/*.blend'))
+    if obj2 in coco_objects:    
+        obj2_list = sorted(glob(f'{asset_path}/{obj2}/*.blend'))
+    else:
+        obj2_list = sorted(glob(f'{noncoco_asset_path}/{obj2}/*.blend'))
+
+    if index == -1:
+        obj1_path = random.choice(obj1_list)
+        obj2_path = random.choice(obj2_list)
+    else:
+        obj1_path = obj1_list[index]
+        obj2_path = obj2_list[index]
+    return obj1_path, obj2_path, f'{obj1}_{obj2}'
+
+bproc.init()
+
+# activate normal and depth rendering
+# bproc.renderer.enable_normals_output()
+# bproc.renderer.enable_depth_output(activate_antialiasing=False)
+# set realistic background
+# haven_hdri_path = bproc.loader.get_random_world_background_hdr_img_path_from_haven('/home/lawrence/Documents/3dscene/')
+haven_hdri_path = args.bg_path
+
+for i in range(1):
+
+    path1, path2, output_name = retrieve2obj(args.obj1, args.obj2, index=pair_index)
+
+    if args.bg_path != "None":
+        # bproc.world.set_world_background_hdr_img(haven_hdri_path)
+        bproc.world.set_world_background_hdr_img(haven_hdri_path, rotation_euler=[0.0, 0.0, random.uniform(-np.pi, np.pi)])
+
+    
+    print('Generating', output_name)
+
+    r = random.uniform(4.5, 5.5)
+
+    height_offset = 0.0
+
+    # Set the scale of the objects
+    obj1_scale = get_obj_scale(args.obj1)
+    obj2_scale = get_obj_scale(args.obj2, False)
+
+
+    obj1 = bproc.loader.load_blend(path1, obj_types= ['armature','mesh', 'empty', 'hair'] )
+    poi1 = bproc.object.compute_poi(bproc.filter.all_with_type(obj1, bproc.types.MeshObject))
+    obj1 = bproc.object.merge_objects(obj1)
+    obj1_y = random.uniform(-0.6, 0.6)
+    obj1.set_location([random.uniform(0.5, 0.75), obj1_y, random.uniform(-0.05, 0.05)]) 
+
+    obj1.set_scale([obj1_scale, obj1_scale, obj1_scale])
+    obj1.set_rotation_euler([0, 0, random.uniform(-np.pi/16, np.pi/16)])
+
+    obj2 = bproc.loader.load_blend(path2, obj_types= ['armature', 'mesh', 'empty', 'hair'])
+    poi2 = bproc.object.compute_poi(bproc.filter.all_with_type(obj2, bproc.types.MeshObject))
+    obj2 = bproc.object.merge_objects(obj2)
+    obj2.set_location([random.uniform(-2.5, -2.0), obj1_y*-1, random.uniform(-0.05, 0.05)]) 
+
+    obj2.set_scale([obj2_scale, obj2_scale, obj2_scale])
+    obj2.set_rotation_euler([0, 0, random.uniform(-np.pi/16, np.pi/16)])
+
+    poi = (poi1 + poi2) / 2.0
+    
+    offset_z = random.uniform(0.0, 0.5)
+    offset_2 = random.uniform(-0.5, 0.0)
+    
+    floor = bproc.loader.load_blend(retrieve_floor(args.bg_path), obj_types= ['armature','mesh', 'empty', 'hair'] )
+    floor = bproc.object.merge_objects(floor)
+    floor.set_location([0,0,min(offset_2, offset_z)])
+
+    
+
+    # define a light and set its location and energy level
+    light = bproc.types.Light()
+    light.set_type("POINT")
+    light.set_location([0, random.uniform(-5.0, 5.0), 5])
+    light.set_energy(3000)
+
+    # random camera angle
+    alpha = random.uniform(-np.pi / 8, np.pi / 8) 
+    # r = 3.0
+    cam_x = r * math.cos(alpha)
+    cam_y = r * math.sin(alpha)
+
+    if cam_y * obj1_y < 0:
+        cam_y = -cam_y
+
+    # Set camera pose
+    
+    # Set output resolution to 1024x1024
+    bproc.camera.set_resolution(1024, 1024)
+    # Sample random camera location around the object
+    location = bproc.sampler.part_sphere([cam_x, cam_y, 1.25], radius=0.25, part_sphere_dir_vector=[1, 0, 0], mode="SURFACE")
+    # Compute rotation based on vector going from location towards poi
+    rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location)
+    # Add homog cam pose based on location an rotation
+    cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
+    bproc.camera.add_camera_pose(cam2world_matrix)
+
+
+    # Render the scene
+    bproc.renderer.set_max_amount_of_samples(24)
+    data = bproc.renderer.render()
+
+    # Write the rendering into an hdf5 file
+    bproc.writer.write_hdf5(args.output_dir + output_name, data, append_to_existing_output=True)
+    # bproc.clean_up()
+
+    print('Objects chosen:\n', path1, '\n', path2)
+    print('Background:\n', haven_hdri_path)
+    

util/blender_left_right_floor.py

@@ -0,0 +1,170 @@
+import blenderproc as bproc
+import argparse
+import numpy as np
+
+from glob import glob
+import random
+from datetime import datetime
+random.seed(datetime.now().timestamp())
+
+import sys
+import math
+
+
+parser = argparse.ArgumentParser()
+parser.add_argument('obj1', default="apple", help="Name of object 1")
+parser.add_argument('obj2', default="banana", help="Name of object 2")
+parser.add_argument('bg_path', default="background/autumn_park_2k.hdr", help="Path to the background hdr image")
+parser.add_argument('output_dir', default="output/above_below/", help="Path to where the final files, will be saved")
+parser.add_argument('pair_index', default=-1, help="Non-Random Pair index")
+parser.add_argument('debug', default=0)
+args = parser.parse_args()
+
+pair_index = int(args.pair_index)
+# obj_list = ["apple", "banana", "bed", "bicycle", "book", "car", "chair", "laptop", "person", "tv"]
+
+
+obj_list = ["apple", "banana",  "bicycle", "book", "chair", "laptop", "person", "tv"]
+big_list = ['bicycle', 'person']
+medium_list = ['chair', 'tv']
+tiny_list = ['apple', 'banana']
+small_list = ['book', 'laptop']
+
+coco_objects = ['airplane', 'apple', 'backpack', 'banana', 'baseball_bat', 'baseball_glove', 'bear', 'bed', 'bench', 'bicycle', 'bird', 'boat', 'book', 'bottle', 'bowl', 'broccoli', 'bus', 'cake', 'car', 'carrot', 'cat', 'cell_phone', 'chair', 'clock', 'couch', 'cow', 'cup', 'dining_table', 'dog', 'donut', 'elephant', 'fire_hydrant', 'fork', 'frisbee', 'giraffe', 'hair_drier', 'handbag', 'horse', 'hot_dog', 'keyboard', 'kite', 'knife', 'laptop', 'microwave', 'motorcycle', 'mouse', 'orange', 'oven', 'parking_meter', 'person', 'pizza', 'potted_plant', 'refrigerator', 'remote', 'sandwich', 'scissors', 'sheep', 'sink', 'skateboard', 'skis', 'snowboard', 'spoon', 'sports_ball', 'stop_sign', 'suitcase', 'surfboard', 'teddy_bear', 'tennis_racket', 'tie', 'toaster', 'toilet', 'toothbrush', 'traffic_light', 'train', 'truck', 'tv', 'umbrella', 'vase', 'wine_glass', 'zebra']
+wide_objects = ['airplane', 'bear', 'bus', 'bicycle','car', 'cat', 'couch', 'cup', 'cow', 'desk', 'dining_table', 'train', 'pig', 'giraffe', 'truck', 'tv', 'suitcase', 'motorcycle', 'horse']
+
+
+def get_obj_scale(obj_name):
+    return 1.0
+
+def retrieve2obj(obj1="apple", obj2="banana", index=-1, 
+                 asset_path="assets/blender_assets/", 
+                 noncoco_asset_path = "assets/blender_assets_non_coco/"):
+
+    if obj1 in coco_objects:
+        obj1_list = sorted(glob(f'{asset_path}/{obj1}/*.blend'))
+    else:
+        obj1_list = sorted(glob(f'{noncoco_asset_path}/{obj1}/*.blend'))
+    if obj2 in coco_objects:    
+        obj2_list = sorted(glob(f'{asset_path}/{obj2}/*.blend'))
+    else:
+        obj2_list = sorted(glob(f'{noncoco_asset_path}/{obj2}/*.blend'))
+
+    if index == -1:
+        obj1_path = random.choice(obj1_list)
+        obj2_path = random.choice(obj2_list)
+    else:
+        obj1_path = obj1_list[index]
+        obj2_path = obj2_list[index]
+    return obj1_path, obj2_path, f'{obj1}_{obj2}'
+
+def retrieve_floor(bgpath):
+    if 'white' in bgpath:
+        floor_path = "floor/floor_white.blend"
+    elif 'autumn' in bgpath:
+        floor_path = "floor/floor_grass_brass.blend"
+    elif 'studio' in bgpath:
+        floor_path = 'floor/floor_wood.blend'
+    return floor_path
+
+def get_obj_cam_coords(left, right, cam):
+    """
+    cam +x, left -y , right +y
+    cam -x, left +y, right -y
+    cam +y, left +x, right -x
+    cam -y, left -x, right +x
+    """
+    positions = list()
+    positions.append((cam, 0, 0, -left, 0, right))
+
+    return random.choice(positions)
+
+bproc.init()
+
+# activate normal and depth rendering
+# bproc.renderer.enable_normals_output()
+# bproc.renderer.enable_depth_output(activate_antialiasing=False)
+# set realistic background
+# haven_hdri_path = bproc.loader.get_random_world_background_hdr_img_path_from_haven('/home/lawrence/Documents/3dscene/')
+haven_hdri_path = args.bg_path
+
+for i in range(1):
+
+    path1, path2, output_name = retrieve2obj(args.obj1, args.obj2, index=pair_index)
+
+    bproc.world.set_world_background_hdr_img(haven_hdri_path, rotation_euler=[0.0, 0.0, random.uniform(-np.pi, np.pi)])
+
+    
+    print('Generating', output_name)
+
+    offset = 0.0
+    if args.obj2 in big_list :
+        offset = 0.5
+
+    offset = random.uniform(0.3, 0.5)
+
+    r = random.uniform(5.25, 6.25)
+
+    cam_x, cam_y, left_x, left_y, right_x, right_y = get_obj_cam_coords(random.uniform(1.0, 1.5), random.uniform(1.0, 1.5), r)
+    if args.obj1 in wide_objects:
+        left_y = left_y - random.uniform(0.15, 0.25)
+    if args.obj2 in wide_objects:
+        right_y = right_y + random.uniform(0.15, 0.25)
+
+    # Set the scale of the objects
+    obj1_scale = get_obj_scale(args.obj1)
+    obj2_scale = get_obj_scale(args.obj2)
+
+    obj1 = bproc.loader.load_blend(path1, obj_types= ['armature','mesh', 'empty', 'hair'] )
+    poi1 = bproc.object.compute_poi(bproc.filter.all_with_type(obj1, bproc.types.MeshObject))
+    obj1 = bproc.object.merge_objects(obj1)
+    obj1.set_scale([obj1_scale, obj1_scale, obj1_scale])
+
+    obj1.set_location([left_x, left_y, 0])
+    obj1.set_rotation_euler([0, 0, random.uniform(-np.pi/8, np.pi/8)])
+
+    obj2 = bproc.loader.load_blend(path2, obj_types= ['armature', 'mesh', 'empty', 'hair'])
+    poi2 = bproc.object.compute_poi(bproc.filter.all_with_type(obj2, bproc.types.MeshObject))
+    obj2 = bproc.object.merge_objects(obj2)
+    obj2.set_scale([obj2_scale, obj2_scale, obj2_scale])
+    obj2.set_location([right_x, right_y, 0])
+
+    floor = bproc.loader.load_blend(retrieve_floor(args.bg_path), obj_types= ['armature','mesh', 'empty', 'hair'] )
+    floor = bproc.object.merge_objects(floor)
+    floor.set_location([0,0,0])
+
+
+    obj2.set_rotation_euler([0, 0, random.uniform(-np.pi/8, np.pi/8)])
+
+    # define a light and set its location and energy level
+    light = bproc.types.Light()
+    light.set_type("POINT")
+    light.set_location([0, random.uniform(-5.0, 5.0), 5])
+    light.set_energy(3000)
+
+    poi = (np.array([left_x, left_y, 0]) +  np.array([right_x, right_y, 0])) / 2
+    poi[2] = poi[2] + offset
+
+
+
+    # Set camera pose
+    
+    # Set output resolution to 1024x1024
+    bproc.camera.set_resolution(1024, 1024)
+    # Sample random camera location around the object
+    location = bproc.sampler.part_sphere([cam_x, cam_y, 1.25], radius=0.25, part_sphere_dir_vector=[1, 0, 0], mode="SURFACE")
+    # Compute rotation based on vector going from location towards poi
+    rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location)
+    # Add homog cam pose based on location an rotation
+    cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
+    bproc.camera.add_camera_pose(cam2world_matrix)
+
+
+    # Render the scene
+    bproc.renderer.set_max_amount_of_samples(24)
+    data = bproc.renderer.render()
+
+    # Write the rendering into an hdf5 file
+    bproc.writer.write_hdf5(args.output_dir + output_name, data, append_to_existing_output=True)
+    print(path1, path2)
+    

util/blender_left_right_near_floor.py

@@ -0,0 +1,186 @@
+import blenderproc as bproc
+import argparse
+import numpy as np
+from glob import glob
+import random
+from datetime import datetime
+random.seed(datetime.now().timestamp())
+
+import sys
+import math
+
+
+
+parser = argparse.ArgumentParser()
+parser.add_argument('obj1', default="apple", help="Name of object 1")
+parser.add_argument('obj2', default="banana", help="Name of object 2")
+parser.add_argument('bg_path', default="background/autumn_park_2k.hdr", help="Path to the background hdr image")
+parser.add_argument('output_dir', default="output/above_below/", help="Path to where the final files, will be saved")
+parser.add_argument('pair_index', default=-1, help="Non-Random Pair index")
+parser.add_argument('debug', default=0)
+args = parser.parse_args()
+
+pair_index = int(args.pair_index)
+# obj_list = ["apple", "banana", "bed", "bicycle", "book", "car", "chair", "laptop", "person", "tv"]
+
+
+obj_list = ["apple", "banana",  "bicycle", "book", "chair", "laptop", "person", "tv"]
+big_list = ['bicycle', 'person']
+medium_list = ['chair', 'tv']
+tiny_list = ['apple', 'banana']
+small_list = ['book', 'laptop']
+
+coco_objects = ['airplane', 'apple', 'backpack', 'banana', 'baseball_bat', 'baseball_glove', 'bear', 'bed', 'bench', 'bicycle', 'bird', 'boat', 'book', 'bottle', 'bowl', 'broccoli', 'bus', 'cake', 'car', 'carrot', 'cat', 'cell_phone', 'chair', 'clock', 'couch', 'cow', 'cup', 'dining_table', 'dog', 'donut', 'elephant', 'fire_hydrant', 'fork', 'frisbee', 'giraffe', 'hair_drier', 'handbag', 'horse', 'hot_dog', 'keyboard', 'kite', 'knife', 'laptop', 'microwave', 'motorcycle', 'mouse', 'orange', 'oven', 'parking_meter', 'person', 'pizza', 'potted_plant', 'refrigerator', 'remote', 'sandwich', 'scissors', 'sheep', 'sink', 'skateboard', 'skis', 'snowboard', 'spoon', 'sports_ball', 'stop_sign', 'suitcase', 'surfboard', 'teddy_bear', 'tennis_racket', 'tie', 'toaster', 'toilet', 'toothbrush', 'traffic_light', 'train', 'truck', 'tv', 'umbrella', 'vase', 'wine_glass', 'zebra']
+wide_objects = ['airplane', 'bear', 'bus', 'bicycle','car', 'cat', 'couch', 'cup', 'cow', 'desk', 'dining_table', 'train', 'pig', 'giraffe', 'truck', 'tv', 'suitcase', 'motorcycle', 'horse']
+
+def get_obj_scale(obj_name):
+    """
+    if obj_name in small_list:
+        return random.uniform(1.75, 2.25)
+    elif obj_name in tiny_list:
+        return random.uniform(3.75, 4.25)
+    else:  
+        return 1.0
+    """
+    return 1.0
+
+def retrieve_floor(bgpath):
+    if 'white' in bgpath:
+        floor_path = "floor/floor_white.blend"
+    elif 'autumn' in bgpath:
+        floor_path = "floor/floor_grass_brass.blend"
+    elif 'studio' in bgpath:
+        floor_path = 'floor/floor_wood.blend'
+    return floor_path
+
+def retrieve2obj(obj1="apple", obj2="banana", index=-1, 
+                 asset_path="assets/blender_assets/", 
+                 noncoco_asset_path = "assets/blender_assets_non_coco/"):
+
+    if obj1 in coco_objects:
+        obj1_list = sorted(glob(f'{asset_path}/{obj1}/*.blend'))
+    else:
+        obj1_list = sorted(glob(f'{noncoco_asset_path}/{obj1}/*.blend'))
+    if obj2 in coco_objects:    
+        obj2_list = sorted(glob(f'{asset_path}/{obj2}/*.blend'))
+    else:
+        obj2_list = sorted(glob(f'{noncoco_asset_path}/{obj2}/*.blend'))
+
+    if index == -1:
+        obj1_path = random.choice(obj1_list)
+        obj2_path = random.choice(obj2_list)
+    else:
+        obj1_path = obj1_list[index]
+        obj2_path = obj2_list[index]
+    return obj1_path, obj2_path, f'{obj1}_{obj2}'
+
+def get_obj_cam_coords(left, right, cam):
+    """
+    cam +x, left -y , right +y
+    cam -x, left +y, right -y
+    cam +y, left +x, right -x
+    cam -y, left -x, right +x
+    """
+    positions = list()
+    positions.append((cam, 0, random.uniform(-0.5, 0.5), -left, random.uniform(-0.5, 0.5), right))
+    # positions.append((-cam, 0, 0, left, 0, -right))
+    # positions.append((0, cam, left, 0, -right, 0))
+    # positions.append((0, -cam, -left, 0, right, 0))
+
+    return random.choice(positions)
+
+bproc.init()
+
+# activate normal and depth rendering
+# bproc.renderer.enable_normals_output()
+# bproc.renderer.enable_depth_output(activate_antialiasing=False)
+# set realistic background
+# haven_hdri_path = bproc.loader.get_random_world_background_hdr_img_path_from_haven('/home/lawrence/Documents/3dscene/')
+haven_hdri_path = args.bg_path
+
+for i in range(1):
+
+    path1, path2, output_name = retrieve2obj(args.obj1, args.obj2, index=pair_index)
+    
+    swap = random.uniform(-1.0, 1.0)
+    if swap < 0:
+        path1, path2 = path2, path1
+
+    bproc.world.set_world_background_hdr_img(haven_hdri_path, rotation_euler=[0.0, 0.0, random.uniform(-np.pi, np.pi)])
+
+    offset = 0.0
+    if args.obj2 in big_list :
+        offset = 0.5
+
+    offset_z = random.uniform(0.0, 0.0)
+    offset_2 = random.uniform(-0.0, 0.0)
+
+    r = random.uniform(5.25, 6.25)
+
+    cam_x, cam_y, left_x, left_y, right_x, right_y = get_obj_cam_coords(random.uniform(0.4, 0.6), random.uniform(0.4, 0.6), r)
+    
+    right_y = left_y + random.uniform(0.7, 1.0)
+    
+    if args.obj1 in wide_objects:
+        left_y = left_y - random.uniform(0.15, 0.25)
+    if args.obj2 in wide_objects:
+        right_y = right_y + random.uniform(0.15, 0.25)
+
+    # Set the scale of the objects
+    obj1_scale = get_obj_scale(args.obj1)
+    obj2_scale = get_obj_scale(args.obj2)
+
+    obj1 = bproc.loader.load_blend(path1, obj_types= ['armature','mesh', 'empty', 'hair'] )
+    poi1 = bproc.object.compute_poi(bproc.filter.all_with_type(obj1, bproc.types.MeshObject))
+    obj1 = bproc.object.merge_objects(obj1, 'merged_obj1')
+    obj1.set_scale([obj1_scale, obj1_scale, obj1_scale])
+    obj1.set_location([left_x, left_y, offset_z])
+    obj1.set_rotation_euler([0, 0, random.uniform(-np.pi/8, np.pi/8)])
+
+
+    obj2 = bproc.loader.load_blend(path2, obj_types= ['armature', 'mesh', 'empty', 'hair'])
+    poi2 = bproc.object.compute_poi(bproc.filter.all_with_type(obj2, bproc.types.MeshObject))
+    obj2 = bproc.object.merge_objects(obj2, 'merged_obj2')
+    obj2.set_scale([obj2_scale, obj2_scale, obj2_scale])
+    obj2.set_location([right_x, right_y, offset_z + offset_2])
+
+    
+
+    obj2.set_rotation_euler([0, 0, random.uniform(-np.pi/8, np.pi/8)])
+
+    floor = bproc.loader.load_blend(retrieve_floor(args.bg_path), obj_types= ['armature','mesh', 'empty', 'hair'] )
+    floor = bproc.object.merge_objects(floor)
+    floor.set_location([0,0,min(offset_2, offset_z)])
+
+    # define a light and set its location and energy level
+    light = bproc.types.Light()
+    light.set_type("POINT")
+    light.set_location([0, random.uniform(-5.0, 5.0), 5])
+    light.set_energy(3000)
+
+    poi = (np.array([left_x, left_y, 0]) +  np.array([right_x, right_y, 0])) / 2
+    poi[2] = poi[2] + offset
+
+    
+
+    # Set camera pose
+    
+    # Set output resolution to 1024x1024
+    bproc.camera.set_resolution(1024, 1024)
+    # Sample random camera location around the object
+    location = bproc.sampler.part_sphere([cam_x, cam_y, 1.25], radius=0.25, part_sphere_dir_vector=[1, 0, 0], mode="SURFACE")
+    # Compute rotation based on vector going from location towards poi
+    rotation_matrix = bproc.camera.rotation_from_forward_vec(poi - location)
+    # Add homog cam pose based on location an rotation
+    cam2world_matrix = bproc.math.build_transformation_mat(location, rotation_matrix)
+    bproc.camera.add_camera_pose(cam2world_matrix)
+
+
+    # Render the scene
+    bproc.renderer.set_max_amount_of_samples(24)
+    data = bproc.renderer.render()
+
+    # Write the rendering into an hdf5 file
+    bproc.writer.write_hdf5(args.output_dir + output_name, data, append_to_existing_output=True)
+    print(path1, path2)
+    

util/py_gen_above_below.py

@@ -0,0 +1,71 @@
+import subprocess
+import os
+from tqdm import tqdm
+import argparse
+from datetime import datetime
+
+relation = "above_below"
+
+def divide_list_into_partitions(lst, num_partitions):
+    partition_size = len(lst) // num_partitions
+    partitions = [lst[i:i + partition_size] for i in range(0, len(lst), partition_size)]
+    return partitions
+
+parser = argparse.ArgumentParser()
+parser.add_argument('--partition', default=0, type=int, help="Partition 0 - 7")
+parser.add_argument('--num_partition', default=8, type=int, help="Total number of parallel jobs")
+parser.add_argument('--num_variants', default=5, type=int, help="Number of variants per 2-object scene")
+parser.add_argument('--num_background', default=3, type=int, help="Number of variants of backgrounds")
+parser.add_argument('--obj1_asset_folder', default="assets/blender_assets/", help="Object1 Asset Location")
+parser.add_argument('--obj2_asset_folder', default="assets/blender_assets/", help="Object2 Asset Location")
+parser.add_argument('--output_folder', default="/scratch/yluo97/3dscene_output_ver3_debug/", help="hdf5 files output location")
+parser.add_argument('--non_random', action='store_true', help='Description for flag1')
+parser.add_argument('--dry_run', action='store_true', help='Perform dry run only')
+args = parser.parse_args()
+
+asset_folder = args.obj1_asset_folder
+output_folder = args.output_folder
+background_info = [("background/white-background.hdr", "bg_white"),
+                   ("background/autumn_park_2k.hdr", "bg_real_outdoors"),
+                   ("background/photo_studio_loft_hall_2k.hdr", "bg_real_indoors"),
+                   ("background/black-background.hdr", "bg_black")]
+background_info = background_info[:args.num_background] 
+num_variants = args.num_variants 
+
+object_names = sorted([name for name in os.listdir(args.obj1_asset_folder) if os.path.isdir(os.path.join(args.obj1_asset_folder, name))])
+object2_names = sorted([name for name in os.listdir(args.obj2_asset_folder) if os.path.isdir(os.path.join(args.obj2_asset_folder, name))])
+# Command and arguments
+command = ["blenderproc", "run", f'./util/blender_{relation}_floor.py']
+
+obj2_partition = divide_list_into_partitions(object_names, args.num_partition)[args.partition]
+print('Generating partition of ', obj2_partition)
+
+if args.dry_run:
+    print('List of obj1 is', object_names)
+    os.exit(0)
+
+for obj1 in object_names:
+    for obj2 in obj2_partition:
+        if obj1 != obj2:
+            for background_path, background_name in background_info:
+                success = 0
+                if args.non_random:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                else:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+                
+                while success < args.num_variants :
+
+                    # Run the command
+                    try:
+                        completed_process = subprocess.run(command + arguments, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False, check=True)
+                        success += 1
+                        if args.non_random:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                        else:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+                    except subprocess.CalledProcessError as e:
+                        print("Error:", e)
+
+            print(f'Templates of {obj1}+{obj2} is complete!', f'{datetime.now():%Y-%m-%d %H:%M:%S%z}')

util/py_gen_front_behind.py

@@ -0,0 +1,75 @@
+import subprocess
+import os
+import sys
+from tqdm import tqdm
+import argparse
+from datetime import datetime
+
+relation = "depth" 
+
+def divide_list_into_partitions(lst, num_partitions):
+    partition_size = len(lst) // num_partitions
+    partitions = [lst[i:i + partition_size] for i in range(0, len(lst), partition_size)]
+    return partitions
+
+parser = argparse.ArgumentParser()
+parser.add_argument('--partition', default=0, type=int, help="Partition 0 - 7")
+parser.add_argument('--num_partition', default=8, type=int, help="Total number of parallel jobs")
+parser.add_argument('--num_variants', default=5, type=int, help="Number of variants per 2-object scene")
+parser.add_argument('--num_background', default=3, type=int, help="Number of variants of backgrounds")
+parser.add_argument('--obj1_asset_folder', default="assets/blender_assets/", help="Object1 Asset Location")
+parser.add_argument('--obj2_asset_folder', default="assets/blender_assets/", help="Object2 Asset Location")
+parser.add_argument('--output_folder', default="/scratch/yluo97/3dscene_output_depth_coco/", help="hdf5 files output location")
+parser.add_argument('--non_random', action='store_true', help='Description for flag1')
+parser.add_argument('--dry_run', action='store_true', help='Perform dry run only')
+args = parser.parse_args()
+
+
+asset_folder = args.obj1_asset_folder
+output_folder = args.output_folder
+background_info = [("background/white-background.hdr", "bg_white"),
+                   ("background/autumn_park_2k.hdr", "bg_real_outdoors"),
+                   ("background/photo_studio_loft_hall_2k.hdr", "bg_real_indoors"),
+                   ("background/black-background.hdr", "bg_black")]
+background_info = background_info[:args.num_background]                
+num_variants = args.num_variants 
+
+object_names = sorted([name for name in os.listdir(args.obj1_asset_folder) if os.path.isdir(os.path.join(args.obj1_asset_folder, name))])
+object2_names = sorted([name for name in os.listdir(args.obj2_asset_folder) if os.path.isdir(os.path.join(args.obj2_asset_folder, name))])
+# Command and arguments
+command = ["blenderproc", "run", f'./util/blender_depth_high.py']
+
+obj2_partition = divide_list_into_partitions(object2_names, args.num_partition)[args.partition]
+print('Generating partition of ', obj2_partition)
+
+if args.dry_run:
+    print('List of obj1 is', object_names)
+    sys.exit(0)
+
+for obj1 in object_names:
+    for obj2 in obj2_partition:
+        if obj1 != obj2:
+            for background_path, background_name in background_info:
+                success = 0
+                if args.non_random:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                else:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+
+                
+                while success < args.num_variants :
+
+                    # Run the command
+                    try:
+                        completed_process = subprocess.run(command + arguments, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False, check=True)
+                        success += 1
+                        if args.non_random:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                        else:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+                    except subprocess.CalledProcessError as e:
+                        print("Error:", e)
+
+            print(f'Templates of {obj1}+{obj2} is complete!', f'{datetime.now():%Y-%m-%d %H:%M:%S%z}')

util/py_gen_left_right.py

@@ -0,0 +1,82 @@
+import subprocess
+import os
+from tqdm import tqdm
+import argparse
+from datetime import datetime
+
+relation = "left_right"
+
+def divide_list_into_partitions(lst, num_partitions):
+    partition_size = len(lst) // num_partitions
+    partitions = [lst[i:i + partition_size] for i in range(0, len(lst), partition_size)]
+    return partitions
+
+parser = argparse.ArgumentParser()
+parser.add_argument('--partition', default=0, type=int, help="Partition 0 - 7")
+parser.add_argument('--num_partition', default=8, type=int, help="Total number of parallel jobs")
+parser.add_argument('--num_variants', default=5, type=int, help="Number of variants per 2-object scene")
+parser.add_argument('--num_background', default=3, type=int, help="Number of variants of backgrounds")
+pparser.add_argument('--obj1_asset_folder', default="assets/blender_assets/", help="Object1 Asset Location")
+parser.add_argument('--obj2_asset_folder', default="assets/blender_assets/", help="Object2 Asset Location")
+parser.add_argument('--output_folder', default="/scratch/yluo97/3dscene_output_ver3_debug/", help="hdf5 files output location")
+parser.add_argument('--non_random', action='store_true', help='Description for flag1')
+parser.add_argument('--dry_run', action='store_true', help='Perform dry run only')
+args = parser.parse_args()
+
+
+asset_folder = args.obj1_asset_folder
+output_folder = args.output_folder
+background_info = [("background/white-background.hdr", "bg_white"),
+                   ("background/autumn_park_2k.hdr", "bg_real_outdoors"),
+                   ("background/photo_studio_loft_hall_2k.hdr", "bg_real_indoors"),
+                   ("background/black-background.hdr", "bg_black")]
+background_info = background_info[:args.num_background]                
+num_variants = args.num_variants 
+
+object_names = sorted([name for name in os.listdir(args.obj1_asset_folder) if os.path.isdir(os.path.join(args.obj1_asset_folder, name))])
+object2_names = sorted([name for name in os.listdir(args.obj2_asset_folder) if os.path.isdir(os.path.join(args.obj2_asset_folder, name))])
+# Command and arguments
+command = ["blenderproc", "run", f'./util/blender_{relation}_floor.py']
+
+obj2_partition = divide_list_into_partitions(object2_names, args.num_partition)[args.partition]
+print('Generating partition of ', obj2_partition)
+
+if args.dry_run:
+    print('List of obj1 is', object_names)
+    os.exit(0)
+
+for obj1 in object_names:
+    for obj2 in obj2_partition:
+        if obj1 != obj2:
+            for background_path, background_name in background_info:
+                success = 0
+                if args.non_random:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                else:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+
+                
+                while success < args.num_variants :
+
+                    # Run the command
+                    try:
+                        completed_process = subprocess.run(command + arguments, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False, check=True)
+                        success += 1
+                        if args.non_random:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                        else:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+                        # Print the standard output
+                        # print("Standard Output:")
+                        # print(completed_process.stdout)
+
+                        # Print the standard error
+                        # print("Standard Error:")
+                        # print(completed_process.stderr)
+
+                    except subprocess.CalledProcessError as e:
+                        print("Error:", e)
+
+            print(f'Templates of {obj1}+{obj2} is complete!', f'{datetime.now():%Y-%m-%d %H:%M:%S%z}')

util/py_gen_left_right_near.py

@@ -0,0 +1,82 @@
+import subprocess
+import os
+from tqdm import tqdm
+import argparse
+from datetime import datetime
+
+relation = "left_right"
+
+def divide_list_into_partitions(lst, num_partitions):
+    partition_size = len(lst) // num_partitions
+    partitions = [lst[i:i + partition_size] for i in range(0, len(lst), partition_size)]
+    return partitions
+
+parser = argparse.ArgumentParser()
+parser.add_argument('--partition', default=0, type=int, help="Partition 0 - 7")
+parser.add_argument('--num_partition', default=8, type=int, help="Total number of parallel jobs")
+parser.add_argument('--num_variants', default=5, type=int, help="Number of variants per 2-object scene")
+parser.add_argument('--num_background', default=3, type=int, help="Number of variants of backgrounds")
+pparser.add_argument('--obj1_asset_folder', default="assets/blender_assets/", help="Object1 Asset Location")
+parser.add_argument('--obj2_asset_folder', default="assets/blender_assets/", help="Object2 Asset Location")
+parser.add_argument('--output_folder', default="/scratch/yluo97/3dscene_output_ver3_debug/", help="hdf5 files output location")
+parser.add_argument('--non_random', action='store_true', help='Description for flag1')
+parser.add_argument('--dry_run', action='store_true', help='Perform dry run only')
+args = parser.parse_args()
+
+
+asset_folder = args.obj1_asset_folder
+output_folder = args.output_folder
+background_info = [("background/white-background.hdr", "bg_white"),
+                   ("background/autumn_park_2k.hdr", "bg_real_outdoors"),
+                   ("background/photo_studio_loft_hall_2k.hdr", "bg_real_indoors"),
+                   ("background/black-background.hdr", "bg_black")]
+background_info = background_info[:args.num_background]                
+num_variants = args.num_variants 
+
+object_names = sorted([name for name in os.listdir(args.obj1_asset_folder) if os.path.isdir(os.path.join(args.obj1_asset_folder, name))])
+object2_names = sorted([name for name in os.listdir(args.obj2_asset_folder) if os.path.isdir(os.path.join(args.obj2_asset_folder, name))])
+# Command and arguments
+command = ["blenderproc", "run", f'./util/blender_{relation}_near_floor.py']
+
+obj2_partition = divide_list_into_partitions(object2_names, args.num_partition)[args.partition]
+print('Generating partition of ', obj2_partition)
+
+if args.dry_run:
+    print('List of obj1 is', object_names)
+    os.exit(0)
+
+for obj1 in object_names:
+    for obj2 in obj2_partition:
+        if obj1 != obj2:
+            for background_path, background_name in background_info:
+                success = 0
+                if args.non_random:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                else:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+
+                
+                while success < args.num_variants :
+
+                    # Run the command
+                    try:
+                        completed_process = subprocess.run(command + arguments, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False, check=True)
+                        success += 1
+                        if args.non_random:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', str(success), '0']
+                        else:
+                            arguments = [obj1, obj2, background_path, f'{output_folder}/{relation}_{background_name}/', '-1', '0']
+
+                        # Print the standard output
+                        # print("Standard Output:")
+                        # print(completed_process.stdout)
+
+                        # Print the standard error
+                        # print("Standard Error:")
+                        # print(completed_process.stderr)
+
+                    except subprocess.CalledProcessError as e:
+                        print("Error:", e)
+
+            print(f'Templates of {obj1}+{obj2} is complete!', f'{datetime.now():%Y-%m-%d %H:%M:%S%z}')

util/py_gen_t2i_comp_floor.py

@@ -0,0 +1,113 @@
+import subprocess
+import os
+from tqdm import tqdm
+import argparse
+from datetime import datetime
+
+rel_list_above = ['on the top of', 'on the bottom of']
+rel_list_left = ['on the left of', 'on the right of']
+rel_list_near = ['on side of', 'next to', 'near']
+
+swap_table = {
+    'bag': 'handbag',
+    'sofa': 'couch',
+    'television': 'tv',
+    'table': 'dining_table',
+    'phone': 'cell_phone'
+}
+
+with open('util/t2i_prompt_spatial_all.txt', 'r') as f:
+    texts = f.read().splitlines()
+    # texts = list(set(texts))
+# texts = ['a book on the left of a bird', 'a man on the bottom of a sofa','a painting on the right of a pig','a pig on the bottom of a wallet']
+
+def get_obj_t2i(prompt):
+    first_obj = prompt.split(' ')[1]
+    second_obj = prompt.split(' ')[-1]
+    
+    if first_obj in swap_table:
+        first_obj = swap_table[first_obj]
+    if second_obj in swap_table:
+        second_obj = swap_table[second_obj]
+    return first_obj, second_obj
+
+def get_blender_command(prompt):
+    relation = ''
+    script = ''
+    obj1, obj2 = get_obj_t2i(prompt)
+    if 'right' in prompt or 'bottom' in prompt:
+        obj1, obj2 = obj2, obj1        
+    for rel in rel_list_above:
+        if rel in prompt:
+            script = './util/blender_above_below_floor.py'
+    for rel in rel_list_left:
+        if rel in prompt:
+            script = './util/blender_left_right_floor.py'
+    if len(script) == 0:
+        script = './util/blender_left_right_near_floor.py'
+        
+    return obj1, obj2, prompt, script
+
+def divide_list_into_partitions(lst, num_partitions):
+    partition_size = len(lst) // num_partitions
+    partitions = [lst[i:i + partition_size] for i in range(0, len(lst), partition_size)]
+    return partitions
+
+parser = argparse.ArgumentParser()
+parser.add_argument('--partition', default=0, type=int, help="Partition 0 - 7")
+parser.add_argument('--num_partition', default=7, type=int, help="Total number of parallel jobs")
+parser.add_argument('--num_variants', default=5, type=int, help="Number of variants per 2-object scene")
+parser.add_argument('--num_background', default=3, type=int, help="Number of variants of backgrounds")
+parser.add_argument('--obj1_asset_folder', default="assets/blender_assets/", help="Object1 Asset Location")
+parser.add_argument('--obj2_asset_folder', default="assets/blender_assets/", help="Object2 Asset Location")
+parser.add_argument('--output_folder', default="/scratch/yluo97/3dscene_output_ver3_debug/", help="hdf5 files output location")
+parser.add_argument('--non_random', action='store_true', help='Description for flag1')
+parser.add_argument('--dry_run', action='store_true', help='Perform dry run only')
+args = parser.parse_args()
+
+asset_folder = args.obj1_asset_folder
+output_folder = args.output_folder
+background_info = [("background/white-background.hdr", "bg_white"),
+                   ("background/autumn_park_2k.hdr", "bg_real_outdoors"),
+                   ("background/photo_studio_loft_hall_2k.hdr", "bg_real_indoors"),
+                   ("background/black-background.hdr", "bg_black")]
+background_info = background_info[:args.num_background] 
+num_variants = args.num_variants 
+
+# object_names = sorted([name for name in os.listdir(args.obj1_asset_folder) if os.path.isdir(os.path.join(args.obj1_asset_folder, name))])
+# object2_names = sorted([name for name in os.listdir(args.obj2_asset_folder) if os.path.isdir(os.path.join(args.obj2_asset_folder, name))])
+# Command and arguments
+# command = ["blenderproc", "run", f'blender_{relation}_small.py']
+
+texts_partition = divide_list_into_partitions(texts, args.num_partition)[args.partition]
+# print('Generating partition of ', texts_partition)
+
+for prompt in texts_partition:
+    obj1, obj2, text, script = get_blender_command(prompt)
+    command = ["blenderproc", "run", script]
+    text = '_'.join(text.split())
+    for background_path, background_name in background_info:
+        success = 0
+        if args.non_random:
+            arguments = [obj1, obj2, background_path, f'{output_folder}/{background_name}/{text}/', str(success), '0']
+        else:
+            arguments = [obj1, obj2, background_path, f'{output_folder}/{background_name}/{text}/', '-1', '0']
+
+        while success < args.num_variants :
+
+            # Run the command
+            try:
+                if args.dry_run:
+                    print(command + arguments)
+                else:
+                    completed_process = subprocess.run(command + arguments, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=False, check=True)
+                success += 1
+                if args.non_random:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{background_name}/{text}/', str(success), '0']
+                else:
+                    arguments = [obj1, obj2, background_path, f'{output_folder}/{background_name}/{text}/', '-1', '0']
+
+            except subprocess.CalledProcessError as e:
+                print("Error:", e)
+
+    print(f'Templates of {text} is complete!', f'{datetime.now():%Y-%m-%d %H:%M:%S%z}')

util/t2i_prompt_spatial_all.txt

@@ -0,0 +1,1000 @@
+a balloon on the top of a giraffe
+a suitcase on the top of a frog
+a horse on the right of a man
+a rabbit next to a balloon
+a rabbit on the top of a bicycle
+a bee on the left of a girl
+a mouse on the bottom of a painting
+a fish on side of a painting
+a chicken on the bottom of a desk
+a chicken near a desk
+a chicken on the top of a balloon
+a horse near a lamp
+a cow next to a train
+a vase on the left of a pig
+a sheep on the top of a airplane
+a cow on the bottom of a man
+a painting on the right of a bee
+a woman on the left of a sheep
+a phone on the left of a boy
+a giraffe on the right of a girl
+a plate on the right of a bee
+a train on the left of a boy
+a bicycle on the left of a bird
+a computer on the top of a sheep
+a rabbit on the top of a book
+a couch on the right of a turtle
+a girl on the left of a frog
+a bowl on the right of a chicken
+a airplane on the left of a turtle
+a chicken on the top of a bicycle
+a cup on the left of a fish
+a boy on the top of a bag
+a sheep near a car
+a computer on the bottom of a horse
+a girl on the left of a bee
+a bag on the bottom of a chicken
+a backpack on the right of a bird
+a giraffe on the top of a man
+a wallet on the right of a bee
+a fish on the left of a microwave
+a dog on the top of a suitcase
+a turtle on the left of a painting
+a fish on the top of a bowl
+a bee on the top of a airplane
+a television on the right of a cow
+a giraffe on the left of a lamp
+a bag on the right of a butterfly
+a bicycle on the top of a chicken
+a cow near a balloon
+a computer on the left of a pig
+a cat on the bottom of a car
+a giraffe on the right of a phone
+a person on the left of a microwave
+a microwave on the bottom of a rabbit
+a cat near a table
+a wallet on the right of a dog
+a sheep on the top of a backpack
+a vase on the bottom of a chicken
+a man on the right of a plate
+a pig on side of a wallet
+a sofa on the top of a boy
+a key on the top of a frog
+a bird on the bottom of a suitcase
+a train on the top of a woman
+a pig on the right of a computer
+a painting on the right of a woman
+a bicycle on the left of a girl
+a refrigerator on the bottom of a dog
+a television on the left of a cow
+a giraffe near a key
+a television on the left of a fish
+a man on side of a clock
+a painting on the left of a horse
+a wallet on the top of a person
+a bee on the left of a phone
+a car on the top of a turtle
+a person next to a airplane
+a rabbit next to a microwave
+a bowl on the left of a man
+a boy on the bottom of a lamp
+a cat on side of a vase
+a sheep on the left of a wallet
+a pig on the left of a couch
+a pig on the left of a sofa
+a train on the right of a boy
+a couch on the left of a bird
+a lamp on the bottom of a bee
+a woman next to a computer
+a frog on side of a cup
+a giraffe on the left of a candle
+a sheep next to a desk
+a man on the top of a candle
+a suitcase on the top of a sheep
+a man on the bottom of a car
+a woman on the left of a television
+a key on the top of a horse
+a fish near a sofa
+a microwave on the top of a sheep
+a man on the right of a book
+a computer on the bottom of a butterfly
+a phone on the bottom of a person
+a pig on the top of a backpack
+a butterfly on the bottom of a candle
+a person on the right of a refrigerator
+a bird on side of a lamp
+a plate on the left of a bee
+a dog next to a phone
+a sheep next to a bicycle
+a turtle on side of a phone
+a backpack on the bottom of a giraffe
+a pig on the right of a table
+a car on the bottom of a cow
+a desk on the right of a cow
+a pig on the bottom of a candle
+a bee near a airplane
+a frog on the bottom of a person
+a bee on the top of a table
+a bird on side of a plate
+a pig on the top of a wallet
+a frog on the right of a microwave
+a boy on side of a key
+a wallet on the bottom of a bee
+a woman on the bottom of a lamp
+a bee on the top of a backpack
+a pig on side of a painting
+a wallet on the bottom of a dog
+a clock on the left of a giraffe
+a cup on the bottom of a woman
+a woman near a airplane
+a man next to a backpack
+a dog on side of a car
+a man near a table
+a wallet on the top of a sheep
+a book on the top of a mouse
+a woman on the top of a television
+a mouse near a book
+a turtle on the top of a car
+a boy on the bottom of a book
+a sheep on side of a phone
+a key on the top of a fish
+a computer on the bottom of a man
+a car on the right of a rabbit
+a chicken on the top of a woman
+a book on the bottom of a cat
+a wallet on the right of a mouse
+a fish on the bottom of a cup
+a bowl on the left of a person
+a microwave on the top of a boy
+a cat on the bottom of a table
+a man on the top of a butterfly
+a dog on the left of a lamp
+a giraffe on side of a bicycle
+a person near a clock
+a turtle on the right of a train
+a woman on side of a turtle
+a horse on the left of a lamp
+a chicken on the left of a car
+a girl on the top of a bicycle
+a mouse on the top of a book
+a wallet on the left of a turtle
+a suitcase on the bottom of a butterfly
+a sofa on the top of a woman
+a bee on the left of a boy
+a table on the right of a cow
+a person next to a dog
+a woman on the bottom of a bowl
+a microwave on the bottom of a cat
+a person on the left of a horse
+a clock on the left of a chicken
+a bird on the right of a bowl
+a cat on the left of a man
+a cow on side of a lamp
+a candle on the bottom of a butterfly
+a person on the right of a cup
+a cow on the left of a boy
+a bicycle on the right of a butterfly
+a person on the left of a cow
+a refrigerator on the bottom of a turtle
+a giraffe next to a book
+a cat on the bottom of a microwave
+a couch on the bottom of a giraffe
+a bicycle on the right of a person
+a candle on the right of a girl
+a man on the right of a key
+a pig on the bottom of a backpack
+a boy on the bottom of a computer
+a cup on the right of a turtle
+a wallet on the left of a dog
+a bicycle on the left of a turtle
+a girl on the top of a phone
+a bee on the right of a book
+a train on the bottom of a sheep
+a desk on the right of a fish
+a sofa on the bottom of a dog
+a bee on the top of a woman
+a table on the right of a giraffe
+a phone on the left of a horse
+a cat on the top of a lamp
+a phone on the left of a fish
+a rabbit on the right of a lamp
+a man on side of a cat
+a chicken near a book
+a cup on the left of a cat
+a giraffe near a vase
+a balloon on the top of a frog
+a bee on the bottom of a man
+a sofa on the bottom of a horse
+a horse on the left of a microwave
+a turtle on the left of a key
+a horse on the left of a table
+a chicken on side of a television
+a table on the top of a mouse
+a boy on side of a clock
+a frog on the bottom of a train
+a train on the right of a dog
+a rabbit on the top of a vase
+a bee next to a sofa
+a wallet on the right of a cat
+a bicycle on the right of a girl
+a rabbit on the left of a plate
+a man next to a plate
+a cat next to a cup
+a plate on the left of a sheep
+a phone on the right of a cow
+a phone on the right of a frog
+a fish on the left of a computer
+a bee on the right of a woman
+a girl on the bottom of a bird
+a girl on the bottom of a painting
+a cow on the left of a microwave
+a butterfly on the left of a phone
+a mouse next to a vase
+a microwave on the bottom of a cow
+a phone on the bottom of a rabbit
+a person near a bird
+a boy on side of a fish
+a fish on the bottom of a train
+a horse next to a train
+a girl near a car
+a girl on the top of a desk
+a pig on the right of a microwave
+a man on side of a television
+a girl on the left of a giraffe
+a dog near a refrigerator
+a balloon on the top of a sheep
+a man on the bottom of a clock
+a girl on the bottom of a turtle
+a cat on the right of a phone
+a horse on the bottom of a television
+a woman on the top of a wallet
+a mouse on the bottom of a train
+a turtle on the right of a candle
+a television on the right of a chicken
+a boy on side of a cat
+a giraffe on the left of a backpack
+a chicken on the bottom of a balloon
+a person on side of a bird
+a boy on the bottom of a wallet
+a person on the top of a microwave
+a bird near a desk
+a book on the right of a boy
+a turtle on the bottom of a backpack
+a frog on the right of a girl
+a dog on the bottom of a microwave
+a refrigerator on the left of a turtle
+a television on the right of a girl
+a bicycle on the left of a dog
+a microwave on the left of a cow
+a man next to a clock
+a dog on the left of a sofa
+a fish near a television
+a mouse on side of a refrigerator
+a mouse on side of a train
+a chair on the bottom of a cat
+a computer on the top of a giraffe
+a frog next to a clock
+a bee on side of a backpack
+a horse on side of a desk
+a bag on the bottom of a turtle
+a person near a key
+a man on the top of a plate
+a couch on the bottom of a boy
+a train on the right of a pig
+a man on the right of a cat
+a bee on the right of a painting
+a suitcase on the top of a man
+a painting on the left of a giraffe
+a sheep on side of a table
+a computer on the bottom of a chicken
+a frog on the left of a computer
+a plate on the bottom of a giraffe
+a car on the left of a cat
+a sheep on the bottom of a suitcase
+a microwave on the top of a woman
+a bowl on the bottom of a dog
+a bee on side of a suitcase
+a frog on the right of a woman
+a bird near a train
+a sofa on the left of a turtle
+a person near a cup
+a person on side of a bowl
+a woman on the right of a train
+a bird on the left of a girl
+a book on the top of a man
+a couch on the bottom of a cat
+a cat next to a chair
+a frog on the right of a car
+a bicycle on the bottom of a rabbit
+a refrigerator on the bottom of a man
+a cat on the left of a bicycle
+a bee on the bottom of a plate
+a suitcase on the right of a dog
+a frog near a car
+a lamp on the bottom of a giraffe
+a fish near a table
+a bee on the top of a refrigerator
+a woman on the bottom of a bag
+a key on the right of a bee
+a computer on the left of a person
+a dog on side of a balloon
+a giraffe on the left of a bowl
+a bee on the bottom of a lamp
+a cat on the right of a suitcase
+a bird on the top of a lamp
+a mouse on the bottom of a man
+a butterfly on the left of a person
+a girl near a desk
+a giraffe next to a plate
+a cow on the right of a wallet
+a bird on side of a computer
+a man near a butterfly
+a phone on the bottom of a mouse
+a mouse on the left of a desk
+a fish near a bag
+a sheep near a painting
+a rabbit on the right of a airplane
+a painting on the top of a cow
+a mouse on the left of a wallet
+a candle on the right of a giraffe
+a woman near a microwave
+a boy on side of a vase
+a woman on side of a bag
+a candle on the left of a person
+a girl on the top of a train
+a horse next to a key
+a dog near a couch
+a candle on the bottom of a cow
+a dog on the bottom of a car
+a woman on the left of a table
+a fish on side of a bowl
+a dog on the left of a backpack
+a cat on the right of a key
+a cat next to a microwave
+a key on the left of a frog
+a mouse on the left of a person
+a cow on the bottom of a suitcase
+a cat on the left of a bowl
+a table on the top of a frog
+a boy next to a cup
+a lamp on the top of a sheep
+a fish on side of a car
+a train on the bottom of a cat
+a cow on side of a chair
+a bag on the bottom of a person
+a cow on side of a candle
+a girl next to a butterfly
+a microwave on the right of a bee
+a person on the right of a mouse
+a boy on the top of a wallet
+a bowl on the left of a bee
+a bird on the top of a bicycle
+a giraffe near a sofa
+a sheep on the bottom of a chair
+a pig near a phone
+a butterfly near a wallet
+a desk on the left of a dog
+a bowl on the right of a mouse
+a rabbit near a television
+a candle on the top of a cat
+a person next to a horse
+a woman on the bottom of a bird
+a train on the top of a man
+a cup on the right of a horse
+a boy near a computer
+a rabbit on the top of a wallet
+a fish on the bottom of a candle
+a dog on the top of a vase
+a woman near a cat
+a person on the right of a chicken
+a car on the right of a bee
+a couch on the top of a girl
+a girl on the right of a lamp
+a plate on the top of a cat
+a woman on the left of a bee
+a rabbit on the right of a chair
+a bicycle on the top of a cat
+a giraffe on the right of a wallet
+a vase on the left of a cow
+a phone on the right of a sheep
+a dog near a key
+a book on the right of a cow
+a painting on the left of a frog
+a sheep on the left of a boy
+a wallet on the top of a chicken
+a vase on the right of a woman
+a man near a car
+a person on the top of a giraffe
+a television on the left of a cat
+a butterfly on the top of a phone
+a book on the left of a bee
+a horse on the right of a couch
+a sheep on the bottom of a backpack
+a man on the left of a chair
+a television on the left of a chicken
+a boy near a giraffe
+a wallet on the bottom of a chicken
+a airplane on the top of a fish
+a candle on the top of a butterfly
+a table on the bottom of a woman
+a wallet on the bottom of a horse
+a woman on the top of a fish
+a boy near a key
+a rabbit next to a phone
+a cow on the left of a car
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