Blenderproc: "ignored obj, 1 because either "

[luigifaticoso]

Hello, I have this problem that, I think, gives a problem to the generation of the depth image in the output.
My scene is this one, I just took the example scene and added my object.

my rgb and depth image are like this:


or in this one is totally blank:

#### Start - Running module BopWriter ####
ignored obj,  1 because either 
(1) it is too far (e.g. fell through a plane during physics sim)
or
(2) the object pose has not been given in meters
ignored obj,  1 because either 
(1) it is too far (e.g. fell through a plane during physics sim)
or
(2) the object pose has not been given in meters
Key: distance - shape: (512, 512) - dtype: float64 - path: /dev/shm/blender_proc_0086206e212a4634af5be77f869ac74f/distance_0000.exr
ignored obj,  1 because either 
(1) it is too far (e.g. fell through a plane during physics sim)
or
(2) the object pose has not been given in meters
Key: distance - shape: (512, 512) - dtype: float64 - path: /dev/shm/blender_proc_0086206e212a4634af5be77f869ac74f/distance_0001.exr

My config file is:

# Args: <cam_file> <obj_file> <output_dir>
{
  "version": 3,
  "setup": {
    "blender_install_path": "/home_local/<env:USER>/blender/",
    "pip": [
      "h5py"
    ]
  },
  "modules": [
    {
      "module": "main.Initializer",
      "config": {
        "global": {
          "output_dir": "<args:2>"
        }
      }
    },
    {
      "module": "loader.ObjectLoader",
      "config": {
        "path": "<args:1>",
        "add_properties": {
          "cp_sample_pose": True,
          "cp_category_id": "1" 
        }
      }
    },
    {
      "module": "lighting.LightLoader",
      "config": {
        "lights": [
          {
            "type": "POINT",
            "location": [5, -5, 5],
            "energy": 1000
          }
        ]
      }
    },
    {
      "module": "camera.CameraLoader",
      "config": {
        "path": "<args:0>",
        "file_format": "location rotation/value",
        "intrinsics": {
          "fov": 1
        }
      }
    },
    {
      "module": "object.ObjectPoseSampler",
      "config":{
        "max_iterations": 1000,
        "objects_to_sample": {
          "provider": "getter.Entity",
          "conditions": {
            "cp_sample_pose": True,
            "type": "MESH"
          }
        },
        "pos_sampler": {
          "provider": "sampler.Uniform3d",
          "max": [0,0,0],
          "min": [0,0,0]
        },
        "rot_sampler": {
          "provider": "sampler.Uniform3d",
          "max": [0,0,0],
          "min": [6.28,6.28,0]
        }
      }
    },
    {
      "module": "renderer.RgbRenderer",
      "config": {
        "samples": 100,
        "render_distance": True,
      }
    },
    {
      "module": "renderer.SegMapRenderer",
      "config": {
        "map_by": "instance"
      }
    },
    {
      "module": "writer.BopWriter",
      "config": {
        "m2mm": True, # original bop annotations in mm (default)
        "append_to_existing_output": True,
        "postprocessing_modules": {
          "distance": [
            {"module": "postprocessing.Dist2Depth"}
          ]
        }
      }
    },
  ]
}

When using the Hdf5Writer nothing wrong pops out. Any way you can help me understand the issue?

Thank you

[themasterlink]

Hey,

it might be the case that the distance range is too limited.

https://dlr-rm.github.io/BlenderProc/src.renderer.RendererInterface.html#src.renderer.RendererInterface.RendererInterface

In the documentation you can see there are values to change that. See this value in particular: distance_range

Maybe increase it to 100.00 and see if that helps.

But, when using the HDF5Writer the range is also incorrect, right?

Best,
Max

[luigifaticoso]

Thank you for your quick and informative answer,

It still gives me the same problem. The depth shows up only up to a determined point. I have added 300 as distance range and changed the distance_start too, but it didn't work in the end.

The HDF5Writer gives the correct output as in the image:

[themasterlink]

Hey,

it seems this is an error with the BopWriter then: @MartinSmeyer could you have a look?

Best,
Max

[MartinSmeyer]

Hi,

yes, the problem is that in BOP format, depth images are saved as uint16 format. For increased accuracy there is the depth_scale parameter which scales the depth data to exploit the full range of uint16. It is set to 0.1 by default which yields a high accuracy (0.1mm) but also a low maximum depth (6.5535 meter). This is enough for the BOP datasets but not for your example above.

To quickly fix your issue, change this line:
https://github.com/DLR-RM/BlenderProc/blob/bcf4f2c5721cd3c62140abc682d2dd1100afce1e/src/writer/BopWriter.py#L144-L145

to self.depth_scale = 1.0

Then maximum depth is 65.535 meter with an accuracy of 1mm.

In the next minor release we will make depth_scale configurable and set the default to 1.0.

[themasterlink]

@MartinSmeyer thanks for answering!

One last side remark, your objects are quite big. I would suggest scaling them down to meters. Except of course they are already in meters and they are intended to be bigger than 6 meters.

You can use the EntityManipulator for that, see this example: https://dlr-rm.github.io/BlenderProc/examples/entity_manipulation/index.html Instead of the location you can set the scale to [0.1, 0.1, 0.1].

[luigifaticoso]

Perfect!
Thank you, the detailed answers totally cleared my mind!