Method replace

blenderproc/python/object/ObjectReplacer.py:102–128

Scale, translate, rotate obj_to_add to match obj_to_remove and check if there is a bounding box collision returns a boolean. :param obj_to_remove: An object to remove from the scene. :param obj_to_add: An object to put in the scene instead of obj_to_remove. :param c

(obj_to_remove: MeshObject, obj_to_add: MeshObject,
                check_collision_with: Optional[List[MeshObject]] = None, scale: bool = True,
                relative_pose_sampler: Callable[[MeshObject], None] = None)

    @staticmethod
    def replace(obj_to_remove: MeshObject, obj_to_add: MeshObject,
                check_collision_with: Optional[List[MeshObject]] = None, scale: bool = True,
                relative_pose_sampler: Callable[[MeshObject], None] = None):
        """ Scale, translate, rotate obj_to_add to match obj_to_remove and check if there is a bounding box collision
        returns a boolean.

        :param obj_to_remove: An object to remove from the scene.
        :param obj_to_add: An object to put in the scene instead of obj_to_remove.
        :param check_collision_with: A list of objects, which are not checked for collisions with.
        :param scale: Scales obj_to_add to match obj_to_remove dimensions.
        :param relative_pose_sampler: A function that randomly perturbs the pose of the object to replace with
                                      (after it has been aligned to the object to replace).
        """
        if check_collision_with is None:
            check_collision_with = []
        # New object takes location, rotation and rough scale of original object
        obj_to_add.set_location(obj_to_remove.get_location())
        obj_to_add.set_rotation_euler(obj_to_remove.get_rotation_euler())
        if scale:
            obj_to_add.set_scale(_ObjectReplacer.bb_ratio(obj_to_remove.get_bound_box(True),
                                                          obj_to_add.get_bound_box(True)))
        if relative_pose_sampler is not None:
            relative_pose_sampler(obj_to_add)

        # Check for collision between the new object and other objects in the scene
        objects_to_check_against = [obj for obj in check_collision_with if obj not in (obj_to_add, obj_to_remove)]
        return CollisionUtility.check_intersections(obj_to_add, None, objects_to_check_against, [])