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Object-level Synthetic-scanned Dataset

Source surfaces

The source surfaces are obtained from four databases, including the Thingi10k, the 3DNet Cat200 subset, the ABC and the Three D Scans. If you want to use the databases, please cite their works.

Generate the scanning list of objects name for batch scanning

python blensor_scan_filename.py --In_Dir MESH_DIRECTORY/meshes [--split 8]

Optionally, if you want to split the file list, just set a positive integer number after --split, and -1 means not split. After running the script, a list of scanned file names will be generated (i.e. blensor_scan_list.txt).

Use BlenSor to perform the synthetical scanning

The BlenSor software could be downloaded here
Blensor-x64.AppImage --background -P camera_rotate_scan_batch.py blensor_scan_list.txt

After running the script, two subfolders will be generated in the MESH_DIRECTORY directory (i.e. MESH_DIRECTORY/Nonuniform and MESH_DIRECTORY/Noise)

Estimate normals for the synthetic Point Clouds

python estimate_normal_batch.py --In_Nonuniform_Dir MESH_DIRECTORY/Nonuniform --Out_Nonuniform_Normal_Dir MESH_DIRECTORY/Nonuniform_normal --In_Noise_Dir MESH_DIRECTORY/Noise --Out_Noise_Normal_Dir/Noise_Normal [--num_worker 8]

Optionally, set --num_worker to run with multithreading.

Synthesis different challenges

To generate data with different challenges, run the below scripts. Note that, Uniform here is the same as Perfect scanning in the paper.

python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Uniform --num_worker 8

python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Nonuniform --num_worker 8

python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Noise -sl 1 -an 0.001 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Noise -sl 2 -an 0.003 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Noise -sl 3 -an 0.006 --num_worker 8

python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Outlier -sl 1 -on 0.001 -oi 0.1 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Outlier -sl 2 -on 0.003 -oi 0.1 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Outlier -sl 3 -on 0.006 -oi 0.1 --num_worker 8

python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w MissingData -sl 1 --num_worker 8 
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w MissingData -sl 2 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w MissingData -sl 3 --num_worker 8

python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Misalignment -sl 1 -mi 0.005 -mma 0.5 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Misalignment -sl 2 -mi 0.01 -mma 1 --num_worker 8
python synthetic_dataset_batch.py --Base_dir_in MESH_DIRECTORY -w Misalignment -sl 3 -mi 0.02 -mma 2 --num_worker 8

The final output could be found in MESH_DIRECTORY/Out, and in TXT format.