File size: 8,545 Bytes
9519887 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 | default_scene: "" # path to .blend to load a default scene
output_dir: "" # output directory
train_models_dir: "Assets/CADs/Manual"
distractors_dir: "Assets/General/distractors"
backgrounds_dir: "Assets/General/backgrounds"
planes_dir: "Assets/General/plane_materials"
material_randomization_dir: "SynMfg_Code/data/PBR_Textures" # path to folder containing random PBR textures
seed: 1 # If seed is set to -1, it will be a random seed
cycles_samples: 100 #100 # By default it is set to 1024
render_options: ["segmasks", "depth", "normals"] # Possible render options: [segmasks, depth, normals]
save_hdf5: True # If enabled, saves the rendered data as an hdf5 file (Needed for coco and yolo annotations)
save_raw: False # If enabled, saves the rendered raw data separated in (rgb/, depth/, normals/, segmasks/)
coco_to_yolo_category_mapping: {"1": 0, "2": 1, "3": 2, "4": 3, "5": 4, "6": 5, "7": 6, "8": 7, "9": 8, "10": 9, "11": 10, "12": 11, "13": 12, "14": 13, "15": 14, "16": 15, "17": 16, "18": 17, "19": 18, "20": 19, "21": 20, "22": 21, "23": 22, "24": 23, "25": 24, "26": 25, "27": 26, "28": 27, "29": 28, "30": 29, "31": 30, "32": 31, "33": 32}
# Dataload white lists:
train_models_whitelist: []
distraction_models_whitelist: []
backgrounds_whitelist: []
planes_whitelist: []
# Dataload black lists:
train_models_blacklist: ["washer.ply"]
distraction_models_blacklist: ["Dining_table_2.blend"]
backgrounds_blacklist: []
planes_blacklist: []
physics:
simulate_physics: True # If enabled, simulates the physics.
simulate_actives: True # Sets train models as rigidbody active (can move and can collide with other rigidbodies).
simulate_passives: True # Sets the distractors as rigidbody passive (fixed but can collide with other rigidbodies).
reorientate_camera: True # Recalculates the orientation of the camera to look towards the active objects.
default_scene_as_passives: True # Enables pasive physics for the loaded models of the default scene.
create_ground_plane: True # Create invisible ground so objects can fall on it.
max_simulation_time: 10 # Simulation is accelerated: 1 simulation second != 1 real second (this depends on how slow is the simulation)
check_interval: 2.5 # Interval at which check if objects stopped moving (In simulation seconds).
stopped_location_threshold: 0.5 # Minimum movement per second to be considered as stopped.
stopped_rotation_threshold: 0.5 # Minimum rotation per second to be considered as stopped.
world:
background_light_strength: [0.01, 1] # with steps of 0.01
default_background_img: "sylvan_highlands.exr"
random_backgrounds: True
lights:
lights_dir: [[0.323, -0.855, 0.405], [0.914, 0.028, 0.405], [-0.895, -0.186, 0.405]]
light_size: 0.25
contrasts: [1, 1, 1] # Energy multiplier for each light.
distance: 6
light_intensity: [0, 160]
randomize_color: True
exponential_lights: True
exponential_factor: 2.33
camera:
resolution: [1024, 1024]
f-stop: [128, 256] # A higher fstop value makes the resulting image look sharper, while a low value decreases the sharpness.
sensor_size: 36 # Sensor size in milimiters.
intrinsic_parameters_path: "/media/vrt/shared/Synthetic_Data/zivid_intrinics.yaml" # Path to a YAML file containing the camera intrinsic parameters matrix (k)
pos_shell_radius: [0.4, 0.65]
pos_shell_elevation: [60, 80] # Angle in degrees (min and max)
empty_object:
center: [0, 0, 0.25]
pos_shell_radius: [0, 0.15]
pos_shell_elevation: [0, 0]
models:
trains:
sample_size: [-1, -1] # If value is set to -1, it will be the maximum
scale: 1
n_copies: 1 # Creates copies of loaded models. If the model has a custom n_copies value it will use the custom one.
dynamic_origin: True # Uses the emtpy object as origin.
static_origin: [0, 0, 0.5] # If "dynamic_origin" is False, it will use this location as fixed origin.
pos_min: [-0.1, -0.1, 0] # Min value for x,y,z using origin as reference frame.
pos_max: [0.1, 0.1, 0] # Max value of x,y,z using origin as reference frame.
rot_min: [0,0,0] # Angles in radians
rot_max: [3.1415, 3.1415, 3.1415] # Angles in radians
keep_children: False # If true, keeps al the mesh models loaded with a common parent. Else, joins all the meshes into a single model.
combined_parent: True # If true, sets as parent a merged copy of the children.
simplify_models: False # If true, runs convex hull decomposition (on parent if combined_parent enabled or on children otherwise)
distractors:
sample_size: [5, -1] # If value is set to -1, it will be the maximum
scale: 1
n_copies: 0 # Creates copies of loaded train_models. If the model has a custom n_copies value it will use the custom one.
pos_min: [-1.5, -1.5, 0]
pos_max: [1.5, 1.5, 0]
rot_min: [0, 0, 0] # Angles in radians
rot_max: [0, 0, 3.1415] # Angles in radians
keep_children: True # If true, keeps al the mesh models loaded with a common parent. Else, joins all the meshes into a single model.
combined_parent: True # If true, sets as parent a merged copy of the children.
simplify_models: False # If true, runs convex hull decomposition (on parent if combined_parent enabled or on children otherwise)
material_randomization: False # Acts only if material randomization is set to true
material_randomization_options:
material_limit: 200
assign_mode: "per_object" # "per_object" or "shared_single"
randomize_mapping: true # random UV/box mapping transform per object
mapping_scale_range: [0.6, 1.8] # uniform scale range
mapping_rotation_range_deg: [-15, 15] # per-axis degrees
use_box_projection_if_no_uv: true
box_blend: 0.15 # soft edge for box projection
use_ao_in_basecolor: true # multiply AO into base color if present
recurse: true
max_depth: 4
material_anim:
enabled: true
stride: 1 # keyframe every N frames (Blender interpolates in between)
ranges:
roughness: [0.15, 0.85]
metallic: [0.0, 0.9]
specular: [0.1, 0.5]
fake_models:
trains:
sample_size: [-1, -1] # If value is set to -1, it will be the maximum
scale: 1
n_copies: 0
simple_trains: 0 # If bigger than 0, creates simple distractors that will replace train models.
similar_trains: 0 # If bigger than 0, creates n deformed copies of each loaded train model.
distractors:
sample_size: [-1, -1]
scale: 1
n_copies: 0
simple_distractors: 0 # If bigger than 0, creates distractors with simple geometric shapes.
plane:
simple_planes: 0
x_length: 4
y_length: 4
custom_models:
example.obj:
scale: 0.001 # Scale factor for the model.
n_copies: 0 # Number of copies of the model.
keep_children: True # If true, keeps al the mesh models loaded with a common parent. Else, joins all the meshes into a single model.
combined_parent: True # If true, sets as parent a joined copy of the children.
simplify_models: True # Applies convex hull decomposition on the model.
children_whitelist: [] # Childrens to load. (If empty, loads all of them)
children_blacklist: [] # Childrens to discard.
segment_whitelist: [] # Childrens from which generate annotations. (If empty, loads all of them)
segment_blacklist: [] # Childrens from which not generate annotations.
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