feat(object,render): add ambient occlusion effect

[hummat]

• Implement enable_ambient_occlusion function which enables AO for the entire scene
• Add add_ambient_occlusion method to MeshObject class which adds AO to this object (and possibly surrounding ones)

[cornerfarmer]

BlenderProcHelper result for run 636:

Done with: [amass_human_poses_python 27s, auto_shading_python 10s, basic_python 12s, blenderkit_python 21s, bop_object_on_surface_sampling_python 83s, bop_object_physics_positioning_python 114s, bop_object_pose_sampling_python 38s, bop_scene_replication_python 171s, camera_depth_of_field_python 19s, camera_object_pose_python 10s, camera_random_trajectories_python 60s, camera_sampling_python 20s, coco_annotations_python 13s, diffuse_color_image_python 21s, dust_python 20s, entity_displacement_modifier_python 12s, entity_manipulation_python 10s, front_3d_object_sampling_python 87s, front_3d_python 93s, front_3d_with_improved_mat_python 107s, git_log 1s, haven_python 25s, ikea_python 18s, kinect_azure_noise_python 16s, lens_distortion_python 18s, lens_distortion_python 12s, light_sampling_python 12s, material_manipulation_python 13s, material_randomizer_python 11s, matterport3d_python 65s, motion_blur_rolling_shutter_python 27s, motion_blur_rolling_shutter_python 27s, multi_render_python 295s, nocs_python 19s, object_pose_sampling_python 10s, on_surface_object_sampling_python 10s, optical_flow_python 29s, physics_convex_decomposition_python 131s, physics_positioning_python 24s, pix3d_python 17s, point_clouds_python 16s, random_backgrounds_python 19s, random_room_constructor_python 76s, replica_python 221s, scenenet_python 49s, scenenet_with_cctextures_python 63s, semantic_segmentation_python 15s, shapenet_python 20s, shapenet_with_scenenet_python 56s, shapenet_with_suncg_python 55s, spotlight_python 20s, stereo_matching_python 48s, stereo_matching_with_projector_python 147s, suncg_basic_python 34s, suncg_with_cam_sampling_python 58s, suncg_with_improved_mat_python 69s, suncg_with_object_replacer_python 57s, tests_python 29s, urdf_loading_and_manipulation_python 51s]
Done with 59 of 59 tests.
There were errors: ❌
Unit tests output:

................
----------------------------------------------------------------------
Ran 16 tests in 24.406s

OK

urdf_loading_and_manipulation (main_python)

The output of urdf_loading_and_manipulation:main_python:000000_scene_gt_info_json has changed:

Expand

+ root['9'][2]['bbox_visib'][3]: 14
- root['9'][2]['bbox_visib'][3]: 13

stereo_matching (main_python)

The output of stereo_matching:main_python:disparity has changed: Diff: 0.0341, Pixel diff: 0.0031

Compare image	Newly generated image

The output of stereo_matching:main_python:disparity has changed: Diff: 0.0130, Pixel diff: 0.0043

Compare image	Newly generated image

Pylint output

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Messages

Module blenderproc (blenderproc/__init__.py)

Line	Col.	Type	Symbol	ID	Obj	Message
12	44	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.camera.CameraProjection (blenderproc/python/camera/CameraProjection.py)

Line	Col.	Type	Symbol	ID	Obj	Message
4	0	warning	unused-import	W0611		Unused create_primitive imported from blenderproc.python.types.MeshObjectUtility
10	0	convention	ungrouped-imports	C0412		Imports from package blenderproc are not grouped
29	31	convention	trailing-whitespace	C0303		Trailing whitespace
35	0	convention	trailing-whitespace	C0303		Trailing whitespace
41	0	convention	line-too-long	C0301		Line too long (147/120)
85	8	refactor	no-else-return	R1705	depth_at_points_via_raytracing	Unnecessary "else" after "return", remove the "else" and de-indent the code inside it
89	0	convention	trailing-whitespace	C0303		Trailing whitespace
90	0	convention	line-too-long	C0301		Line too long (134/120)
141	0	convention	trailing-whitespace	C0303		Trailing whitespace
159	7	convention	trailing-whitespace	C0303		Trailing whitespace
161	33	convention	trailing-whitespace	C0303		Trailing whitespace
165	0	convention	line-too-long	C0301		Line too long (132/120)
167	0	convention	trailing-newlines	C0305		Trailing newlines

Module blenderproc.python.loader.BlendLoader (blenderproc/python/loader/BlendLoader.py)

Line	Col.	Type	Symbol	ID	Obj	Message
27	0	convention	line-too-long	C0301		Line too long (130/120)
100	0	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.loader.BopLoader (blenderproc/python/loader/BopLoader.py)

Line	Col.	Type	Symbol	ID	Obj	Message
353	0	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.loader.CCMaterialLoader (blenderproc/python/loader/CCMaterialLoader.py)

Line	Col.	Type	Symbol	ID	Obj	Message
73	0	convention	line-too-long	C0301		Line too long (152/120)

Module blenderproc.python.postprocessing.PostProcessingUtility (blenderproc/python/postprocessing/PostProcessingUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
15	0	convention	line-too-long	C0301		Line too long (137/120)

Module blenderproc.python.renderer.RendererUtility (blenderproc/python/renderer/RendererUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
246	0	convention	trailing-whitespace	C0303		Trailing whitespace
314	0	convention	trailing-whitespace	C0303		Trailing whitespace
504	0	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.types.EntityUtility (blenderproc/python/types/EntityUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
170	11	convention	unidiomatic-typecheck	C0123	Entity.duplicate	Use isinstance() rather than type() for a typecheck.

Module blenderproc.python.types.LightUtility (blenderproc/python/types/LightUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
125	12	refactor	consider-using-augmented-assign	R6104	Light.setup_as_projector	Use '/=' to do an augmented assign directly
216	0	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.types.MeshObjectUtility (blenderproc/python/types/MeshObjectUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
520	87	convention	trailing-whitespace	C0303		Trailing whitespace
526	0	convention	line-too-long	C0301		Line too long (122/120)
529	0	convention	trailing-whitespace	C0303		Trailing whitespace
535	68	warning	unused-variable	W0612	MeshObject.add_auto_smooth_modifier	Unused variable 'data_from'
543	16	warning	self-assigning-variable	W0127	MeshObject.add_auto_smooth_modifier	Assigning the same variable 'modifier' to itself
545	0	convention	trailing-whitespace	C0303		Trailing whitespace
580	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
584	0	convention	trailing-whitespace	C0303		Trailing whitespace
586	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
587	0	convention	trailing-whitespace	C0303		Trailing whitespace
589	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
591	0	warning	bad-indentation	W0311		Bad indentation. Found 13 spaces, expected 12
592	0	warning	bad-indentation	W0311		Bad indentation. Found 13 spaces, expected 12
593	0	warning	bad-indentation	W0311		Bad indentation. Found 13 spaces, expected 12
594	90	convention	trailing-whitespace	C0303		Trailing whitespace
594	0	warning	bad-indentation	W0311		Bad indentation. Found 13 spaces, expected 12
595	0	warning	bad-indentation	W0311		Bad indentation. Found 13 spaces, expected 12
596	0	warning	bad-indentation	W0311		Bad indentation. Found 13 spaces, expected 12
597	0	convention	trailing-whitespace	C0303		Trailing whitespace
598	23	convention	trailing-whitespace	C0303		Trailing whitespace
599	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
601	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
602	20	convention	trailing-whitespace	C0303		Trailing whitespace
603	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
604	0	convention	trailing-whitespace	C0303		Trailing whitespace
605	0	warning	bad-indentation	W0311		Bad indentation. Found 9 spaces, expected 8
754	28	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.utility.Initializer (blenderproc/python/utility/Initializer.py)

Line	Col.	Type	Symbol	ID	Obj	Message
80	0	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.utility.InstallUtility (blenderproc/python/utility/InstallUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
129	0	convention	trailing-whitespace	C0303		Trailing whitespace

Module blenderproc.python.writer.BopWriterUtility (blenderproc/python/writer/BopWriterUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
9	0	convention	wrong-import-order	C0411		standard import "from typing import List, Optional, Dict, Tuple" should be placed before "import trimesh"
10	0	convention	wrong-import-order	C0411		standard import "import warnings" should be placed before "import trimesh"
11	0	convention	wrong-import-order	C0411		standard import "import datetime" should be placed before "import trimesh"
18	0	convention	wrong-import-order	C0411		standard import "import sys" should be placed before "import trimesh"
62	0	convention	line-too-long	C0301		Line too long (131/120)
80	8	warning	redefined-outer-name	W0621	write_bop	Redefining name 'dataset_objects' from outer scope (line 544)
175	12	warning	protected-access	W0212	write_bop	Access to a protected member _pyrender_init of a client class
177	0	convention	line-too-long	C0301		Line too long (124/120)
177	48	warning	protected-access	W0212	write_bop	Access to a protected member _pyrender_init of a client class
177	19	refactor	consider-using-with	R1732	write_bop	Consider using 'with' for resource-allocating operations
181	0	convention	trailing-whitespace	C0303		Trailing whitespace
187	0	convention	trailing-whitespace	C0303		Trailing whitespace
193	12	warning	protected-access	W0212	write_bop	Access to a protected member _pyrender_cleanup of a client class
313	21	warning	redefined-outer-name	W0621	_BopWriterUtility.get_frame_gt	Redefining name 'dataset_objects' from outer scope (line 544)
400	38	warning	redefined-outer-name	W0621	_BopWriterUtility.write_frames	Redefining name 'dataset_objects' from outer scope (line 544)
526	0	convention	trailing-whitespace	C0303		Trailing whitespace
538	78	convention	trailing-whitespace	C0303		Trailing whitespace
542	8	warning	global-variable-undefined	W0601	_BopWriterUtility._pyrender_init	Global variable 'renderer' undefined at the module level
542	8	warning	global-variable-undefined	W0601	_BopWriterUtility._pyrender_init	Global variable 'renderer_large' undefined at the module level
542	8	warning	global-variable-undefined	W0601	_BopWriterUtility._pyrender_init	Global variable 'dataset_objects' undefined at the module level
564	8	warning	global-variable-undefined	W0601	_BopWriterUtility._pyrender_cleanup	Global variable 'renderer' undefined at the module level
564	8	warning	global-variable-undefined	W0601	_BopWriterUtility._pyrender_cleanup	Global variable 'renderer_large' undefined at the module level
564	8	warning	global-variable-undefined	W0601	_BopWriterUtility._pyrender_cleanup	Global variable 'dataset_objects' undefined at the module level
570	0	convention	line-too-long	C0301		Line too long (173/120)
585	78	convention	trailing-whitespace	C0303		Trailing whitespace
591	8	warning	global-variable-not-assigned	W0602	_BopWriterUtility._calc_gt_masks_iteration	Using global for 'renderer' but no assignment is done
591	8	warning	global-variable-not-assigned	W0602	_BopWriterUtility._calc_gt_masks_iteration	Using global for 'dataset_objects' but no assignment is done
598	0	convention	trailing-whitespace	C0303		Trailing whitespace
689	0	convention	line-too-long	C0301		Line too long (165/120)
690	0	convention	trailing-whitespace	C0303		Trailing whitespace
693	0	convention	line-too-long	C0301		Line too long (196/120)
706	11	convention	trailing-whitespace	C0303		Trailing whitespace
708	78	convention	trailing-whitespace	C0303		Trailing whitespace
714	8	warning	global-variable-not-assigned	W0602	_BopWriterUtility._calc_gt_info_iteration	Using global for 'renderer_large' but no assignment is done
714	8	warning	global-variable-not-assigned	W0602	_BopWriterUtility._calc_gt_info_iteration	Using global for 'dataset_objects' but no assignment is done
714	8	warning	global-variable-not-assigned	W0602	_BopWriterUtility._calc_gt_info_iteration	Using global for 'renderer' but no assignment is done
718	11	warning	protected-access	W0212	_BopWriterUtility._calc_gt_info_iteration	Access to a protected member _renderer of a client class
719	12	warning	protected-access	W0212	_BopWriterUtility._calc_gt_info_iteration	Access to a protected member _renderer of a client class
720	12	warning	protected-access	W0212	_BopWriterUtility._calc_gt_info_iteration	Access to a protected member _renderer of a client class
727	0	convention	trailing-whitespace	C0303		Trailing whitespace
856	0	convention	line-too-long	C0301		Line too long (207/120)
857	0	convention	trailing-whitespace	C0303		Trailing whitespace
865	44	warning	redefined-outer-name	W0621	_BopWriterUtility.calc_gt_coco	Redefining name 'dataset_objects' from outer scope (line 544)

Module blenderproc.python.writer.GifWriterUtility (blenderproc/python/writer/GifWriterUtility.py)

Line	Col.	Type	Symbol	ID	Obj	Message
13	0	convention	wrong-import-position	C0413		Import "from blenderproc.scripts.visHdf5Files import vis_data" should be placed at the top of the module
14	0	convention	wrong-import-position	C0413		Import "from blenderproc.python.utility.Utility import Utility" should be placed at the top of the module

Module blenderproc.scripts.quickstart (blenderproc/scripts/quickstart.py)

Line	Col.	Type	Symbol	ID	Obj	Message
1	0	convention	missing-module-docstring	C0114		Missing module docstring
11	-1	warning	pointless-string-statement	W0105		String statement has no effect
13	0	convention	wrong-import-position	C0413		Import "import numpy as np" should be placed at the top of the module

Metrics

Count per types

Name	Count
convention	61
refactor	3
warning	38

Count per messages

Name	Count
trailing-whitespace	37
line-too-long	13
trailing-newlines	1
no-else-return	1
ungrouped-imports	1
unused-import	1
unidiomatic-typecheck	1
consider-using-augmented-assign	1
bad-indentation	13
self-assigning-variable	1
unused-variable	1
wrong-import-position	3
redefined-outer-name	4
protected-access	6
consider-using-with	1
global-variable-undefined	6
global-variable-not-assigned	5
wrong-import-order	4
missing-module-docstring	1
pointless-string-statement	1

Count per modules

Name	Count
blenderproc	1
blenderproc.python.camera.CameraProjection	13
blenderproc.python.loader.CCMaterialLoader	1
blenderproc.python.loader.BopLoader	1
blenderproc.python.loader.BlendLoader	2
blenderproc.python.postprocessing.PostProcessingUtility	1
blenderproc.python.renderer.RendererUtility	3
blenderproc.python.types.EntityUtility	1
blenderproc.python.types.LightUtility	2
blenderproc.python.types.MeshObjectUtility	27
blenderproc.python.utility.Initializer	1
blenderproc.python.utility.InstallUtility	1
blenderproc.python.writer.GifWriterUtility	2
blenderproc.python.writer.BopWriterUtility	43
blenderproc.scripts.quickstart	3

Count per path

Name	Count
blenderproc/__init__.py	1
blenderproc/python/camera/CameraProjection.py	13
blenderproc/python/loader/CCMaterialLoader.py	1
blenderproc/python/loader/BopLoader.py	1
blenderproc/python/loader/BlendLoader.py	2
blenderproc/python/postprocessing/PostProcessingUtility.py	1
blenderproc/python/renderer/RendererUtility.py	3
blenderproc/python/types/EntityUtility.py	1
blenderproc/python/types/LightUtility.py	2
blenderproc/python/types/MeshObjectUtility.py	27
blenderproc/python/utility/Initializer.py	1
blenderproc/python/utility/InstallUtility.py	1
blenderproc/python/writer/GifWriterUtility.py	2
blenderproc/python/writer/BopWriterUtility.py	43
blenderproc/scripts/quickstart.py	3

***The tests are done.*** Check the log:

Last update: 12/12/2024, 15:12:24

[cornerfarmer]

Can you give an example where ao is helpful?

[hummat]

Can you give an example where ao is helpful?

AO can help to increase contrast between objects or object parts which can increase readability of geometric detail (e.g. see the mouth and ears or the left eye).

Mesh w/ AO	Mesh w/o AO

PCD w/ AO	PCD w/o AO

The effect can be more or less subtle depending on the lighting conditions, materials and geometry.

[cornerfarmer]

Thanks, makes sense! So this is more for visualizations than for photo-realistic rendering.

[hummat]

Yes, exactly. So I'm actually not 100% sure if it's a good fit for this project.

[hummat]

Do you think it makes sense to add this @cornerfarmer? If yes, I'll make the suggested changes. If not I'll close this.

[cornerfarmer]

Yes, I think it still makes sense to add this. Even though its maybe not too relevent, it does not hurt to have this feature.