Matthias Humt

[FEATURE]: Allow BlenderProc to be used as a Python package

2

**Is your feature request related to a problem? Please describe.** Right now BlenderProc seems to be usable only as a stand alone program and not as a Python package. Additionally,...

- [ ] All functions and methods should have a docstring - [ ] All files should have a docstring

https://github.com/hummat/easy-o3d/blob/f42d7fd51b577815611eb606624448a18f4e8de3/easy_o3d/registration.py#L474 Potentially throws error if run with `open3d.pipelines.registration.registration_ransac_based_on_correspondence`.

[Scheduler] Add Variational Diffusion Models (VDM) scheduler

3

# What does this PR do? This PR adds a discrete and continuous time scheduler based on the [Variational Diffusion Models](https://arxiv.org/abs/2107.00630) (VDM) formulation, i.e. expressing the diffusion process via the...

Trying to use CLIP FID after `pip install clean-fid` results in `ModuleNotFoundError: No module named 'clip'`. `pip install git+https://github.com/openai/CLIP.git` is missing from the requirements, though it is mentioned in https://github.com/GaParmar/clean-fid/blob/bd44693af04626963af76e94bdb1d4529a76bd11/cleanfid/clip_features.py#L1

feat(object,render): add ambient occlusion effect

6

- 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)

feat(writer): Allow to write additional data to coco_annotations.json

4

Additional custom properties from `map_by` keys other then, e.g. `category_id` or `instances`, in `blenderproc.renderer.enable_segmentation_output` are included in the annotation info.

### Describe the issue The following check for `--background` in `sys.argv` causes an error if the render script takes `--background` as an argument: https://github.com/DLR-RM/BlenderProc/blob/b0bd846a657d97b2d7fae387297b1fc6a5644a6b/blenderproc/python/utility/SetupUtility.py#L70 ``` Error: Python: Traceback (most recent...