blenderproc.python.sampler.UpperRegionSampler module

Uniformly samples 3-dimensional value over the bounding box of the specified objects

class blenderproc.python.sampler.UpperRegionSampler.Region2D(vectors, normal, base_point)[source]

Bases: object

Helper class for UpperRegionSampler: Defines a 2D region in 3D.

normal()[source]
Returns:

the normal of the region

sample_point(face_sample_range)[source]

Samples a point in the 2D Region

Parameters:

face_sample_range (ndarray) – relative lengths of both face vectors between which points are sampled

Return type:

ndarray

Returns:

blenderproc.python.sampler.UpperRegionSampler.upper_region(objects_to_sample_on, face_sample_range=None, min_height=0.0, max_height=1.0, use_ray_trace_check=False, upper_dir=None, use_upper_dir=True)[source]

Uniformly samples 3-dimensional value over the bounding box of the specified objects (can be just a plane) in the defined upper direction. If “use_upper_dir” is False, samples along the face normal closest to “upper_dir”. The sampling volume results in a parallelepiped. “min_height” and “max_height” define the sampling distance from the face.

Example 1: Sample a location on the surface of the given objects with height above this surface in range of [1.5, 1.8].

UpperRegionSampler.sample(
    objects_to_sample_on=objs,
    min_height=1.5,
    max_height=1.8
)
Parameters:

  • objects_to_sample_on (Union[MeshObject, List[MeshObject]]) – Objects, on which to sample on.

  • face_sample_range (Union[Vector, ndarray, List[float], None]) – Restricts the area on the face where objects are sampled. Specifically describes relative lengths of both face vectors between which points are sampled. Default: [0.0, 1.0]

  • min_height (float) – Minimum distance to the bounding box that a point is sampled on.

  • max_height (float) – Maximum distance to the bounding box that a point is sampled on.

  • use_ray_trace_check (bool) – Toggles using a ray casting towards the sampled object (if the object is directly below the sampled position is the position accepted).

  • upper_dir (Union[Vector, ndarray, List[float], None]) – The ‘up’ direction of the sampling box. Default: [0.0, 0.0, 1.0].

  • use_upper_dir (bool) – Toggles using a ray casting towards the sampled object (if the object is directly below the sampled position is the position accepted).

Return type:

ndarray

Returns:

Sampled value.