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Instructions and main specifications for the virtual plant imagerLink


clearly separate Lpy and the VPI

General descriptionLink

The Virtual Plant Imager functions as a digital twin of the real romi robot Plant imager: it takes RGB images of one to several virtual 3D plant models and generate all data and metadata necessary to proceed downstream with a training of a neural network or with an analysis pipeline of the plant-3d-vision tool suite.

  • As input, it takes a 3D model (.obj) file
  • As output, it provides one to several datasets in a romi database format, ready for downstream use (training or analysis)
├── virtual_imageset/
│   ├── images/
│   ├── metadata/
│   │   ├── images/
│   │   └── images.json
│   ├── files.json
│   └── scan.json
└── romidb

The Virtual Plant Imager relies on Blender v2.93 to generate at set of (2D) RGB images from a plant 3D model. An HTTP server acts as an interface to drive Blender generation scripts.


The Virtual Plant Imager is closely integrated with the plant generator L-Py. For information related to the generation of virtual 3D model of plants, you will be redirected to other LPy documentation.

Input data (for romi_run_task VirtualScan)Link

As for all ROMI tools, the Virtual Plant Imager requires a proper database to store, access and generate new data. Let's call virtual_db this database. In particular, it contains data for the virtual plant generation and/or imaging grouped in a so-called vscan_data folder:


  • (*) the name is fixed and cannot be changed
  • (!) the folder/file must exist (no tag means that the folder is not required for the program to run)
├── vscan_data/ (!*) 
│   ├── hdri/ (*)
│   │   ├── hdri_file1.hdr
│   │   ├── hdri_file2.hdr
│   │   └── etc...
│   ├── lpy/ (*)
│   │   └── my_plant_species_model.lpy
│   ├── obj/ (*)
│   │   ├── VirtualPlant.obj
│   │   └── VirtualPlant_mtl
│   ├── metadata/ (!*)
│   │   ├── hdri.json
│   │   ├── lpy.json
│   │   ├── obj.json
│   │   ├── palette.json
│   │   └── scenes.json
│   ├── palette/ (*)
│   │   └── my_plant_species_model.png
│   └── scenes/ (*)
├── files.json
└── romidb (!*) # a (empty) marker file for recognition by the plantdb module

The following sections detail the content of each file and subfolder.


If no HDRI files are provided, a uniform black background will be applied. Even if they are provided, HDRI backgrounds can be deactivated in the .toml file (related romi_run task: VirtualScan) and the default black background will be applied.

New background HDRI files can be downloaded from hdri haven and store in the hdri folder. Limited resolution is enough for downstream applications (we recommend 2K resolution, 6.2 MB total download).


If there are several hdri files -> which one is used ?


.lpy files contain a parametric model of a plant that Lpy will use to generate a 3D model as an .obj file. With the above data_example, we provide the file arabidopsis_notex.lpy, a LPy model for the laboratory model plant Arabidopsis thaliana (copyright C. Godin, Inria - RDP Mosaic).

You can replace this file with any other LPy model file. The correct name of the file must then be specified in the configuration .toml file (see below)

lpy_file_id = "arabidopsis_notex" #base name of the .lpy to be used by Lpy

If you do not want to use Lpy to generate your virtual plant, you can also directly import your custom 3D plant (generated elsewhere), which must be at the .obj format. In this case, lpy subfolder is dispensable, store data in the obj subfolder (see next)


Alternatively to Lpy-generated, custom 3D plant model can be provided. Data must consist in an .obj and an .mtl file.

In the .obj, each semantic type of label desired to segment the plant must correspond to a distinct mesh. Each of these meshes must have a single material whose name is the name of the label.

(note QUESTION: and then, what are the groundtruth ? how are they provided ?)



    "task_params": {
        "output_file_id": "out",
        "scan_id": "vscan_data"
other files (hdri/palette/scenes.json):
    "task_parameters": {},
    "task_params": {
        "output_file_id": "out",
        "scan_id": "vscan_data"


a .png file containing textures that will LPy will apply on the virtual plant.


fileset descriptor with "id" definitions.

    "filesets": [
            "files": [
                    "file": "felsenlabyrinth_2k.hdr",
                    "id": "felsenlabyrinth_2k"
                    "file": "forest_slope_2k.hdr",
                    "id": "forest_slope_2k"
            "id": "hdri"
            "files": [
                    "file": "arabidopsis_notex.lpy",
                    "id": "arabidopsis_notex"
            "id": "lpy"

Running the virtual plant imagerLink

Basic command linesLink

Corresponding task with romi_run_task: VirtualScan shell romi_run_task VirtualScan \ --config vpi_single_dataset.toml \ path/to/db/generated_dataset the content of the configuration file vpi_single_dataset.toml will be detailed un the next section

Configuration file for the Task VirtualScanLink

see also the page on specifications>tasks>VPI (does not exist yet, to be created)