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.