├── .idea
    ├── blender-deep-learning.iml
    ├── inspectionProfiles
    │   └── Project_Default.xml
    ├── modules.xml
    ├── vcs.xml
    └── workspace.xml
├── Dockerfile
├── README.md
├── deploy
    ├── config.json
    └── docker-compose.yaml
├── images
    ├── depth_map.png
    └── sphere.png
├── models
    ├── default.blend
    └── default.blend1
└── src
    ├── dataset_creation.py
    ├── entrypoint.sh
    ├── rendering.py
    ├── requirements.txt
    └── utils.py


/.idea/blender-deep-learning.iml:
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/.idea/inspectionProfiles/Project_Default.xml:
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1 | <component name="InspectionProjectProfileManager">
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/.idea/modules.xml:
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1 | <?xml version="1.0" encoding="UTF-8"?>
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/.idea/vcs.xml:
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1 | <?xml version="1.0" encoding="UTF-8"?>
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361 |           <caret line="18" column="0" lean-forward="false" selection-start-line="18" selection-start-column="0" selection-end-line="18" selection-end-column="0" />
362 |           <folding>
363 |             <element signature="e#0#11#0" expanded="true" />
364 |           </folding>
365 |         </state>
366 |       </provider>
367 |     </entry>
368 |     <entry file="file://$PROJECT_DIR$/Dockerfile">
369 |       <provider selected="true" editor-type-id="text-editor">
370 |         <state relative-caret-position="336">
371 |           <caret line="21" column="34" lean-forward="false" selection-start-line="21" selection-start-column="18" selection-end-line="21" selection-end-column="34" />
372 |           <folding />
373 |         </state>
374 |       </provider>
375 |     </entry>
376 |     <entry file="file://$PROJECT_DIR$/images/depth_map.png">
377 |       <provider selected="true" editor-type-id="images">
378 |         <state />
379 |       </provider>
380 |     </entry>
381 |     <entry file="file://$PROJECT_DIR$/images/sphere.png">
382 |       <provider selected="true" editor-type-id="images">
383 |         <state />
384 |       </provider>
385 |     </entry>
386 |     <entry file="file://$PROJECT_DIR$/deploy/config.json">
387 |       <provider selected="true" editor-type-id="text-editor">
388 |         <state relative-caret-position="96">
389 |           <caret line="6" column="9" lean-forward="false" selection-start-line="6" selection-start-column="9" selection-end-line="6" selection-end-column="9" />
390 |           <folding />
391 |         </state>
392 |       </provider>
393 |     </entry>
394 |     <entry file="file://$PROJECT_DIR$/README.md">
395 |       <provider selected="true" editor-type-id="split-provider[text-editor;markdown-preview-editor]">
396 |         <state split_layout="SPLIT">
397 |           <first_editor relative-caret-position="486">
398 |             <caret line="34" column="0" lean-forward="true" selection-start-line="34" selection-start-column="0" selection-end-line="34" selection-end-column="0" />
399 |             <folding />
400 |           </first_editor>
401 |           <second_editor />
402 |         </state>
403 |       </provider>
404 |     </entry>
405 |   </component>
406 | </project>


--------------------------------------------------------------------------------
/Dockerfile:
--------------------------------------------------------------------------------
 1 | FROM python:3.6
 2 | 
 3 | RUN apt-get update && \
 4 |     apt-get install -y \
 5 |         bzip2 \
 6 |         git \
 7 |         git-core \
 8 |         libfontconfig1 \
 9 |         libgconf-2-4 \
10 |         libglu1 \
11 |         libsm6 \
12 |         libxext6 \
13 |         libxrender1 \
14 |         vim \
15 |         wget
16 | 
17 | WORKDIR /root/
18 | RUN wget -c --quiet download.blender.org/release/Blender2.79/blender-2.79a-linux-glibc219-x86_64.tar.bz2 && \
19 |     tar -xf blender-2.79a-linux-glibc219-x86_64.tar.bz2 && \
20 |     rm blender-2.79a-linux-glibc219-x86_64.tar.bz2 && \
21 |     mv blender-2.79a-linux-glibc219-x86_64/ blender/ && \
22 |     cp -r blender /usr/lib/blender && \
23 |     echo "export PATH="/usr/lib/blender:$PATH"" >> /root/.bashrc
24 | 
25 | 
26 | COPY /src/requirements.txt /root
27 | RUN pip3 install -r /root/requirements.txt
28 | 
29 | RUN pip3 install --user git+https://github.com/cocodataset/cocoapi.git#subdirectory=PythonAPI
30 | 
31 | COPY models /root/models/
32 | COPY src /root/
33 | COPY deploy/config.json /root/
34 | 
35 | CMD ["python3", "dataset_creation.py"]
36 | # ENTRYPOINT ["/root/entrypoint.sh"]
37 | #EXPOSE 8889
38 | #CMD ["jupyter notebook", "--ip=0.0.0.0", "--allow-root", "--port=8889"]
39 | 


--------------------------------------------------------------------------------
/README.md:
--------------------------------------------------------------------------------
 1 | # Synthetic data generator using Blender #
 2 | 
 3 | Repo to generate synthetic data using Blender to train object detection, instance segmentation
 4 | and depth mapping algorithms. 
 5 | 
 6 | ![alt text](images/sphere.png "Left image")  
 7 | 
 8 | ![alt text](images/depth_map.png "Depth map")
 9 | 
10 | 
11 | 
12 | ## Getting Started
13 | You will need [Docker](https://docs.docker.com/install/). 
14 | First, clone this repo
15 | ```
16 | git clone https://github.com/thomashossler/synthetic-data-generator.git```
17 | cd synthetic-data-generator
18 | ```
19 | 
20 | Second, build the docker image
21 | ```
22 | docker build -t synthetic-data-generator .
23 | ```
24 | Then run (careful, the dataset will be created at LOCAL on your host machine):
25 | ```
26 | docker run -v /LOCAL/:/data/ -ti synthetic-data-generator  
27 | ```
28 | 
29 | ## Config file
30 | The config file should be modified before running the docker container. 
31 | 
32 | 
33 | ## Download a blender model 
34 | **not ready yet!**
35 | 
36 | You can either create or download a blender file containing the model. A lot of free stuff exist
37 | online (for example [here](https://www.turbosquid.com/Search/3D-Models/free/blend)) but you will have
38 | 
39 | 
40 | 
41 | ## PROGRESS ##
42 | * ~~Write Dockerfile for a blender deep learning environment~~
43 | * Write Python API to generate synthetic data for object detection
44 | * Write Python API to generate synthetic data for object segmentation
45 | * GPU support for faster rendering 
46 | * user able to load any blender model
47 | * Add parameters in the config file
48 | 
49 | ## Authors ##
50 | 
51 | * **Thomas Hossler** - [thomashossler](https://github.com/thomashossler)
52 | 


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/deploy/config.json:
--------------------------------------------------------------------------------
 1 | {
 2 |   "BASE_DIR": "/data/",
 3 |   "RESOLUTION_X": 1024,
 4 |   "RESOLUTION_Y": 512,
 5 |   "DEPTH_MAP_DIR": "/data/depth_maps/",
 6 |   "IMAGES_DIR": "/data/images/",
 7 |   "TILE_SIZE": 256,
 8 |   "N_SAMPLES": 1,
 9 |   "DATASET_NAME": "sphere"
10 | }
11 | 


--------------------------------------------------------------------------------
/deploy/docker-compose.yaml:
--------------------------------------------------------------------------------
 1 | version: '3.1'
 2 | services:
 3 |   synthetic-data-generator:
 4 |     build: ../
 5 |     image: synthetic-data-generator
 6 |     container_name: synthetic-data-generator
 7 |     volumes:
 8 |       - /data/:/root/data/
 9 |     environment:
10 |       - CONFIG_PATH=/root/config.json
11 |     logging:
12 |       driver: journald
13 |       options:
14 |         tag: "synthetic-data-generator"
15 |     restart: always
16 | 


--------------------------------------------------------------------------------
/images/depth_map.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/defqoon/synthetic-data-generator/a1ecffdd555323a89c63d6fd6520575ff625a768/images/depth_map.png


--------------------------------------------------------------------------------
/images/sphere.png:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/defqoon/synthetic-data-generator/a1ecffdd555323a89c63d6fd6520575ff625a768/images/sphere.png


--------------------------------------------------------------------------------
/models/default.blend:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/defqoon/synthetic-data-generator/a1ecffdd555323a89c63d6fd6520575ff625a768/models/default.blend


--------------------------------------------------------------------------------
/models/default.blend1:
--------------------------------------------------------------------------------
https://raw.githubusercontent.com/defqoon/synthetic-data-generator/a1ecffdd555323a89c63d6fd6520575ff625a768/models/default.blend1


--------------------------------------------------------------------------------
/src/dataset_creation.py:
--------------------------------------------------------------------------------
 1 | import json
 2 | import os
 3 | 
 4 | from utils import post_processing
 5 | 
 6 | 
 7 | def create_dataset():
 8 |     """read the config file"""
 9 |     with open("/root/config.json", "r") as f:
10 |         config = json.load(f)
11 | 
12 |     # create environmental variables
13 |     for (key, value) in config.items():
14 |         os.environ[key] = str(value)
15 | 
16 |     # run blender
17 |     command = '/usr/lib/blender/blender {} --python {} --background'.\
18 |         format("/root/models/default.blend", "/root/rendering.py")
19 |     os.system(command)
20 | 
21 |     # post processing
22 |     post_processing()
23 | 
24 | 
25 | if __name__ == '__main__':
26 |     create_dataset()


--------------------------------------------------------------------------------
/src/entrypoint.sh:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env bash
2 | python3 -u /root/dataset_creation.py


--------------------------------------------------------------------------------
/src/rendering.py:
--------------------------------------------------------------------------------
 1 | from math import pi
 2 | import os
 3 | import json
 4 | 
 5 | import bmesh
 6 | import bpy
 7 | import numpy as np
 8 | 
 9 | 
10 | # useful shortcut
11 | scene = bpy.context.scene
12 | bpy.data.scenes["Scene"].use_nodes = True
13 | tree = bpy.data.scenes["Scene"].node_tree
14 | links = tree.links
15 | 
16 | # set up couple things
17 | base_folder = os.environ["BASE_DIR"]
18 | bpy.context.scene.render.filepath = base_folder
19 | bpy.context.scene.unit_settings.system ='METRIC'
20 | 
21 | # stereo stuff
22 | bpy.data.scenes["Scene"].render.use_multiview = True
23 | bpy.data.scenes["Scene"].render.views_format = "STEREO_3D"
24 | bpy.data.cameras['cam'].sensor_fit = "HORIZONTAL"
25 | 
26 | # create the nodes
27 | rl = tree.nodes.new(type="CompositorNodeRLayers")
28 | rl.location = 200, 200
29 | rl.select = False
30 | 
31 | dm_output_node = tree.nodes.new(type="CompositorNodeOutputFile")
32 | dm_output_node.select = False
33 | dm_output_node.base_path = os.environ["DEPTH_MAP_DIR"]
34 | dm_output_node.format.file_format = "OPEN_EXR"
35 | dm_output_node.location = 400, 400
36 | 
37 | st_output_node = tree.nodes.new(type="CompositorNodeOutputFile")
38 | st_output_node.select = False
39 | st_output_node.base_path = os.environ["IMAGES_DIR"]
40 | st_output_node.location = 400, 200
41 | st_output_node.format.compression = 0
42 | 
43 | # set the render engine
44 | bpy.data.scenes["Scene"].render.engine = "CYCLES"
45 | bpy.data.scenes["Scene"].cycles.samples = 16  # int(os.environ["SAMPLES"])  # decrease if too slow
46 | bpy.data.scenes["Scene"].cycles.device = "CPU"
47 | bpy.data.scenes["Scene"].render.tile_x = int(os.environ["TILE_SIZE"])
48 | bpy.data.scenes["Scene"].render.tile_y = int(os.environ["TILE_SIZE"])
49 | bpy.data.scenes["Scene"].render.resolution_x = int(os.environ["RESOLUTION_X"])
50 | bpy.data.scenes["Scene"].render.resolution_y = int(os.environ["RESOLUTION_Y"])
51 | bpy.data.scenes["Scene"].render.image_settings.color_mode = "RGB"
52 | bpy.data.scenes["Scene"].render.use_persistent_data = True
53 | 
54 | dataset_name = os.environ["DATASET_NAME"]
55 | n_samples = int(os.environ["N_SAMPLES"])
56 | r_boundaries = [0.5, 2]
57 | x_boundaries = [-10, 10]
58 | y_boundaries = [-3, 5]
59 | z_boundaries = [-1, 7]
60 | 
61 | # create material
62 | mat = bpy.data.materials.new('Sphere')
63 | mat.diffuse_color = (1, 0, 0)
64 | 
65 | for i in range(n_samples):
66 |     # create a random number of sphere
67 |     nsphere = np.random.randint(0, 10)
68 |     for j in range(nsphere):
69 |         r = np.random.uniform(r_boundaries[0], r_boundaries[1])
70 |         x = np.random.uniform(x_boundaries[0], x_boundaries[1])
71 |         y = np.random.uniform(y_boundaries[0], y_boundaries[1])
72 |         z = np.random.uniform(z_boundaries[0], z_boundaries[1])
73 |         bpy.ops.mesh.primitive_ico_sphere_add(size=r, location=(x, y, z))
74 |         bpy.ops.object.material_slot_add()
75 |         bpy.context.object.material_slots[0].material = mat
76 | 
77 |     # deactivate multiview, save depth map
78 |     dm_output_node.file_slots[0].path = '{}_{}_#'.format(dataset_name, i)
79 |     bpy.data.scenes["Scene"].render.use_multiview = False
80 |     l1 = links.new(rl.outputs['Depth'], dm_output_node.inputs['Image'])
81 |     bpy.ops.render.render(write_still=False)
82 |     links.remove(l1)
83 | 
84 |     # activate multiview, save stereo images
85 |     st_output_node.file_slots[0].path = '{}_{}_#'.format(dataset_name, i)
86 |     bpy.data.scenes["Scene"].render.use_multiview = True
87 |     l2 = links.new(rl.outputs['Image'], st_output_node.inputs['Image'])
88 |     bpy.ops.render.render(write_still=False)
89 |     links.remove(l2)
90 | 
91 |     # delete all objects
92 |     for o in bpy.data.objects:
93 |         if o.type == 'MESH' and o.name != "background":
94 |             o.select = True
95 |         else:
96 |             o.select = False
97 |     bpy.ops.object.delete()
98 |     bpy.context.scene.update()


--------------------------------------------------------------------------------
/src/requirements.txt:
--------------------------------------------------------------------------------
1 | boto==2.48.0
2 | Cython==0.28.1
3 | Keras==2.1.5
4 | opencv-python==3.4.0.12
5 | OpenEXR==1.3.2
6 | scikit-image==0.13.1
7 | SQLAlchemy==1.2.5


--------------------------------------------------------------------------------
/src/utils.py:
--------------------------------------------------------------------------------
 1 | import array
 2 | import glob
 3 | import Imath
 4 | import os
 5 | 
 6 | import OpenEXR
 7 | import numpy as np
 8 | 
 9 | 
10 | def post_processing():
11 |     """couple postprocessing steps
12 |     - clean images name
13 |     - change depth to npy file format"""
14 |     # rename images
15 |     paths = glob.glob(os.environ["IMAGES_DIR"] + "*.png")
16 |     for p in paths:
17 |         new_name = os.path.basename(p).replace("_28", "")
18 |         destination = os.path.join(os.path.dirname(p), new_name)
19 |         os.rename(p, destination)
20 | 
21 |     # changing depth map to npy format
22 |     # from https://www.excamera.com/sphinx/articles-openexr.html
23 |     paths = glob.glob(os.environ["DEPTH_MAP_DIR"] + "*.exr")
24 |     for p in paths:
25 |         file = OpenEXR.InputFile(p)
26 | 
27 |         # get the size
28 |         dw = file.header()['dataWindow']
29 |         sz = (dw.max.x - dw.min.x + 1, dw.max.y - dw.min.y + 1)
30 | 
31 |         # only need one channel, they are all equal
32 |         float = Imath.PixelType(Imath.PixelType.FLOAT)
33 |         R = array.array('f', file.channel("R", float)).tolist()
34 |         R = np.array(R)
35 |         R = R.reshape(sz, order="F")
36 | 
37 |         output_file = os.path.join(os.environ["DEPTH_MAP_DIR"],
38 |                                    'depth_map_' + os.path.basename(p).replace("_28.exr", ""))
39 |         np.save(output_file, R)
40 |         os.remove(p)
41 | 


--------------------------------------------------------------------------------