Feature/additional scatter plugins

docs/docs/usage/job_description/config_descriptions/crop.md

@@ -0,0 +1,49 @@
+# Crop Plugin Documentation
+
+The Crop Plugin scatters 3D models on a floor object in a grid pattern to simulate crop rows. 
+
+## Configuration Parameters
+
+The following table describes each configuration parameter for the Crop Plugin:
+
+| Parameter | Type | Description | Requirement |
+|-----------|------|-------------|-------------|
+| `name` | string | Unique identifier of the plugin | **Required** |
+| `models` | array or single item | 3D assets to scatter. | **Required** | 
+| `floor_object` | string | Name of the floor object to scatter on. | **Required** |
+| `max_texture_size` | integer | Maximum texture size in pixel. Will reduce the texture to save GPU RAM. | Optional |
+| `density_map` | image/texture evaluation | Texture that alters the density. It is normalized to 0-1. | Optional |
+| `decimate_mesh_factor` | number (0-1) | Factor between 0-1 that decimates the number of vertices of the mesh. Lower means less vertices. | Optional |
+| `scale_standard_deviation` | number evaluation | Scale variance of the scattered objects. | **Required** |
+| `class_id` | integer | Class ID for ground truth output. | **Required** |
+| `crop_angle` | number evaluation | Global orientation of the row direction in degrees. | **Required** |
+| `row_distance` | number evaluation | Distance between rows in meters. | **Required** |
+| `row_standard_deviation` | number evaluation | Standard deviation of the row distance in meters. | **Required** |
+| `plant_distance` | number evaluation | Intra row distance between plants in meters. | **Required** |
+| `plant_standard_deviation` | number evaluation | Standard deviation of the intra row distance in meters. | **Required** |
+
+### Dynamic Evaluators
+
+Most parameters, like `scale_standard_deviation`, `crop_angle` etc., can be dynamically evaluated. This means that their values can be altered for each new frame. For more insights on dynamic evaluators and how to use them, kindly refer to [Dynamic Evaluators](../dynamic_evaluators.md).
+
+## Example Configuration
+
+```yaml
+scene:  
+  syclops_plugin_crop:
+    - name: "Corn Crop"
+      models: Example Assets/Corn
+      floor_object: "Ground"
+      max_texture_size: 2048
+      scale_standard_deviation: 0.1
+      class_id: 2
+      crop_angle: 45
+      row_distance: 1
+      row_standard_deviation: 0.1
+      plant_distance: 0.3  
+      plant_standard_deviation: 0.05
+```
+
+The above configuration will scatter corn models across the ground surface in a grid pattern resembling crop rows. The rows will be oriented at a 45 degree angle, with 1 meter spacing between rows and 30 cm spacing between plants. The row and plant spacings will vary according to the specified standard deviations.
+
+

docs/docs/usage/job_description/config_descriptions/simulated_scatter.md

@@ -0,0 +1,41 @@
+# Simulated Scatter Plugin Documentation
+
+The Simulated Scatter Plugin scatters 3D assets on a floor object and simulates physics to drop them realistically on the surface.
+
+## Configuration Parameters  
+
+The following table describes each configuration parameter for the Simulated Scatter Plugin:
+
+| Parameter | Type | Description | Requirement |
+|-----------|------|-------------|-------------|
+| `name` | string | Unique identifier of the plugin | **Required** |
+| `models` | array or single item | 3D assets to scatter. | **Required** |
+| `floor_object` | string | Name of the floor object to scatter on. | **Required** |
+| `max_texture_size` | integer | Maximum texture size in pixels. Will reduce the texture to save GPU RAM. | Optional |  
+| `decimate_mesh_factor` | number (0-1) | Factor between 0-1 that decimates the number of vertices of the mesh. Lower means less vertices. | Optional |
+| `density` | number | Density of objects per square meter. | **Required** |
+| `density_texture` | image/texture evaluation | Texture that alters the density per pixel. Needs to be a single channel image that is normalized to 0-1. | Optional |
+| `scale_std` | number | Standard deviation of the scale randomization. | **Required** | 
+| `convex_decomposition_quality` | integer (1-100) | Quality setting for the convex decomposition. Higher means more accurate but slower. | **Required** |
+| `simulation_steps` | integer | Number of simulation steps to run. | **Required** |
+
+### Dynamic Evaluators
+
+Parameters like `density_texture` and `scale_std` can be dynamically evaluated. This means that their values can be altered for each new frame. For more insights on dynamic evaluators and how to use them, kindly refer to [Dynamic Evaluators](../dynamic_evaluators.md).
+
+## Example Configuration
+
+```yaml
+scene:
+  syclops_plugin_simulated_scatter:  
+    - name: "Rock Scatter"
+      models: Example Assets/Rocks
+      floor_object: "Ground" 
+      max_texture_size: 2048
+      density: 5
+      scale_std: 0.3
+      convex_decomposition_quality: 90
+      simulation_steps: 100
+```
+
+The above configuration will scatter rock models across the ground surface. The rocks will be dropped from above and settle into physically realistic positions using a convex decomposition simulation. The simulation will run for 100 steps to allow the rocks to come to rest.

docs/mkdocs.yml

@@ -58,6 +58,8 @@ nav:
       - Environment: usage/job_description/config_descriptions/environment.md
       - Object: usage/job_description/config_descriptions/object.md
       - Scatter: usage/job_description/config_descriptions/scatter.md
+      - Crop: usage/job_description/config_descriptions/crop.md  
+      - Simulated Scatter: usage/job_description/config_descriptions/simulated_scatter.md
     - Sensor Configuration:
       - Camera: usage/job_description/config_descriptions/camera.md
     - Output Configuration:

pyproject.toml

@@ -24,6 +24,8 @@ syclops_plugin_ground = "syclops.blender.plugins.ground:Ground"
 syclops_plugin_environment = "syclops.blender.plugins.environment:Environment"
 syclops_plugin_scatter = "syclops.blender.plugins.scatter:Scatter"
 syclops_plugin_object = "syclops.blender.plugins.object:Object"
+syclops_plugin_simulated_scatter = "syclops.blender.plugins.simulated_scatter:SimulatedScatter"
+syclops_plugin_crop = "syclops.blender.plugins.crop:Crop"
 [project.entry-points."syclops.sensors"]
 syclops_sensor_camera = "syclops.blender.sensors.camera:Camera"
 [project.entry-points."syclops.outputs"]

syclops/__example_assets__/example_job.syclops.yaml

@@ -51,18 +51,22 @@ scene:
       environment_image: 
         random_selection: [Example Assets/Sunflower Field]
 
-  syclops_plugin_scatter:
-    - name: "Corn Scatter"
+  syclops_plugin_crop:
+    - name: "Corn"
       models: [Example Assets/Corn]
       floor_object: Ground
-      max_texture_size: 512
-      density_max: 10 # per m^2
-      distance_min: 0.05 # m
+      crop_angle: 0 # degrees; [-90, 90] possible
+      row_distance: 0.6 # m
+      row_standard_deviation: 0.2 # m
+      plant_distance: 0.1
+      plant_standard_deviation: 0.1 # m
       scale_standard_deviation: 0.5
       class_id: 2
       class_id_offset:
         Stem: 1
       seed: 1
+
+  syclops_plugin_scatter:
     - name: "Weed Scatter"
       models: [Example Assets/Plain Weeds]
       floor_object: Ground

syclops/__example_assets__/test_job.syclops.yaml

@@ -9,19 +9,19 @@ denoising_algorithm: "OPENIMAGEDENOISE"
 
 # TRANSFORMATION CONFIG
 transformations:
-  map:          
+  map:
     location: [0, 0, 0]
     rotation: [0, 0, 0]
     children:
       camera_link:
         location:
-          linear: [[-20,0,2],[0.5,0,0]]
-        rotation: 
-          normal: [[0.785398, 0, 0],[0.05,0.05,0.05]]
+          linear: [[-20, 0, 2], [0.5, 0, 0]]
+        rotation:
+          normal: [[0.785398, 0, 0], [0.05, 0.05, 0.05]]
       iso_object:
         location:
-          uniform: [[-20,-20,0],[20,20,0]]
-        rotation: [0,0,0]
+          uniform: [[-20, -20, 0], [20, 20, 0]]
+        rotation: [0, 0, 0]
 
 textures:
   plain_noise:
@@ -48,27 +48,35 @@ scene:
 
   syclops_plugin_environment:
     - type: hdri
-      environment_image: 
+      environment_image:
         random_selection: [Example Assets/Sunflower Field]
 
-  syclops_plugin_scatter:
-    - name: "Corn Scatter"
+  syclops_plugin_simulated_scatter:
+    - name: "ISO Object Scatter"
+      models: Example Assets/ISO Object
+      floor_object: Ground
+      class_id: 1
+      simulation_steps: 5
+      std_scale: 1
+      density: 0.01
+      convex_decomposition_quality: 90
+
+  syclops_plugin_crop:
+    - name: "Corn"
       models: [Example Assets/Corn]
       floor_object: Ground
-      max_texture_size: 512
-      density_max: 10 # per m^2
-      distance_min: 0.05 # m
+      crop_angle: 0 # degrees; [-90, 90] possible
+      row_distance: 0.6 # m
+      row_standard_deviation: 0.2 # m
+      plant_distance: 0.1
+      plant_standard_deviation: 0.1 # m
       scale_standard_deviation: 0.5
       class_id: 2
       class_id_offset:
         Stem: 1
       seed: 1
-      clumps:
-        ratio: 0.3
-        size: 3
-        size_std: 2
-        position_std: 0.02
-        scale_std: 0.4
+
+  syclops_plugin_scatter:
     - name: "Weed Scatter"
       models: [Example Assets/Plain Weeds]
       floor_object: Ground
@@ -93,7 +101,6 @@ scene:
       models: [Example Assets/ISO Object]
       floor_object: Ground
 
-
 # SENSOR CONFIG
 sensor:
   syclops_sensor_camera:
@@ -151,7 +158,7 @@ sensor:
 postprocessing:
   syclops_postprocessing_bounding_boxes:
     - type: "YOLO"
-      classes_to_skip: [0,1]
+      classes_to_skip: [0, 1]
       id: yolo_bound_boxes
       sources: ["main_cam_instance", "main_cam_semantic"]
-      multiple_bb_per_instance: False
+      multiple_bb_per_instance: False

syclops/blender/plugins/crop.py

@@ -0,0 +1,80 @@
+"""This module contains the Crop plugin for Syclops.
+
+It is used to place objects in a row like fashion to simulate crop.
+"""
+
+import logging
+
+import bpy
+from syclops import utility
+from syclops.blender.plugins.plugin_interface import PluginInterface
+
+
+class Crop(PluginInterface):
+    """Plugin scatters objects in a row like fashion to simulate crop."""
+
+    crop: utility.ObjPointer
+
+    def load(self):
+        """Load everything into the scene but does not configure it."""
+        self.create_base_object()
+        self.load_instance_objects()
+        self.load_geometry_nodes()
+        logging.info("Crop: {0} loaded".format(self.config["name"]))
+
+    def load_geometry_nodes(self):
+        """Load geometry nodes from .blend file and assigns them to the crop."""
+        # Add crop node group to the scene
+        node_group_name = "Crop"
+        blend_path = utility.abs_path("./plugin_data/crop.blend")
+
+        crop_nodes = utility.load_from_blend(
+            blend_path,
+            "node_groups",
+            node_group_name,
+        )[0]
+
+        # Create GeoNode Modifier
+        self.geo_node_modifier = self.crop.get().modifiers.new(
+            self.config["name"],
+            "NODES",
+        )
+        self.geo_node_modifier.show_viewport = False
+        self.geo_node_modifier.node_group = crop_nodes
+
+    def load_instance_objects(self):
+        """Load crop geometry."""
+        # Create new collection and assign a pointer
+        self.instance_objects = utility.ObjPointer(
+            utility.create_collection("{0}_Objs".format(self.config["name"])),
+        )
+        utility.set_active_collection(self.instance_objects.get())
+
+        # Import the geometry
+        loaded_objs = utility.import_assets(self.config["models"])
+        for obj in loaded_objs:
+            self.reduce_size(obj)
+            obj.hide_set(True)
+            self.write_config(obj)
+        self.instance_objects.get().hide_render = True
+
+    def create_base_object(self):
+        """Add placeholder object to assign GeoNode Modifier to."""
+        # Setup a blender collection
+        collection = utility.create_collection(self.config["name"])
+        utility.set_active_collection(collection)
+
+        # Setup GeoNodes
+        bpy.ops.mesh.primitive_plane_add()
+        bpy.context.active_object.name = self.config["name"]
+        self.crop = utility.ObjPointer(bpy.context.active_object)
+
+    def configure(self):
+        """Apply configuration for current frame."""
+        # Refresh References
+        self.geo_node_modifier = self.crop.get().modifiers[self.config["name"]]
+        # Configure settings from config
+        self.configure_settings()
+        for obj in self.instance_objects.get().objects:
+            utility.add_volume_attribute(obj)
+        logging.info("Crop: {0} configured".format(self.config["name"]))

syclops/blender/plugins/schema/crop.schema.yaml

@@ -0,0 +1,66 @@
+description: Scatters 3D models on a floor object in a grid pattern.
+type: array
+items:
+  type: object
+  properties:
+    name:
+      description: Unique identifier of the plugin
+      type: string
+    models:
+      description: 3D assets to scatter.
+      oneOf:
+        - type: array
+          items:
+            $ref: "#/definitions/asset_models"
+        - $ref: "#/definitions/asset_models"
+    floor_object:
+      description: Name of the floor object to scatter on.
+      type: string
+    max_texture_size:
+      description: Maximum texture size in pixel. Will reduce the texture to save GPU RAM.
+      type: integer
+    density_map:
+      description: Texture that alters the density. It is normalized to 0-1.
+      $ref: "#/definitions/image_texture_evaluation"
+    decimate_mesh_factor:
+      description: Factor between 0-1 that decimates the number of vertices of the mesh. Lower means less vertices.
+      type: number
+    scale_standard_deviation:
+      description: Scale variance of the scattered objects.
+      $ref: "#/definitions/number_evaluation"
+    class_id:
+      description: Class ID for ground truth output.
+      type: integer
+    class_id_offset:
+      description: Class ID offset for ground truth output. The keys are the name of the material and the values are the offsets.
+      type: object
+      additionalProperties:
+        type: integer
+    crop_angle:
+      description: Global orientation of the row direction in degrees.
+      $ref: "#/definitions/number_evaluation"
+    row_distance:
+      description: Distance between rows in meters.
+      $ref: "#/definitions/number_evaluation"
+    row_standard_deviation:
+      description: Standard deviation of the row distance in meters.
+      $ref: "#/definitions/number_evaluation"
+    plant_distance:
+      description: Intra row distance between plants in meters.
+      $ref: "#/definitions/number_evaluation"
+    plant_standard_deviation:
+      description: Standard deviation of the intra row distance in meters.
+      $ref: "#/definitions/number_evaluation"
+
+  required:
+    [
+      name,
+      models,
+      floor_object,
+      scale_standard_deviation,
+      row_distance,
+      plant_distance,
+      crop_angle,
+      row_standard_deviation,
+      plant_standard_deviation,
+    ]