Core Utilities (.core.util)

blender

infinigen.core.util.blender.set_geometry_option(material, option='BUMP')

Parameters:

• material

• option -- (default: 'BUMP')

infinigen.core.util.blender.deep_clone_obj(obj, keep_modifiers=False, keep_materials=False)

Parameters:

• obj

• keep_modifiers -- (default: False)

• keep_materials -- (default: False)

infinigen.core.util.blender.copy(obj, keep_modifiers=False, keep_materials=False)

Parameters:

• obj

• keep_modifiers -- (default: False)

• keep_materials -- (default: False)

infinigen.core.util.blender.get_all_bpy_data_targets()

class infinigen.core.util.blender.ViewportMode(obj, mode)

Bases: object

class infinigen.core.util.blender.CursorLocation(loc)

Bases: object

class infinigen.core.util.blender.SelectObjects(objects, active=0)

Bases: object

class infinigen.core.util.blender.DisableModifiers(objs, keep=[])

Bases: object

class infinigen.core.util.blender.EnableParentCollections(objs, target_key='hide_viewport', target_value=False)

Bases: object

class infinigen.core.util.blender.TemporaryObject(obj)

Bases: object

infinigen.core.util.blender.garbage_collect(...)

Parameters:

• targets

• keep_in_use -- (default: True)

• keep_names -- (default: None)

• verbose -- (default: False)

class infinigen.core.util.blender.GarbageCollect(targets=None, keep_in_use=True, keep_orig=True, verbose=False)

Bases: object

infinigen.core.util.blender.select_none()

infinigen.core.util.blender.select(objs)

Parameters:

objs (Object | list[Object])

infinigen.core.util.blender.delete(objs)

Parameters:

objs (Object | list[Object])

infinigen.core.util.blender.delete_collection(collection)

Parameters:

collection (pf.Collection)

infinigen.core.util.blender.traverse_children(obj, fn)

Parameters:

• obj

• fn

infinigen.core.util.blender.iter_object_tree(obj)

Parameters:

obj

infinigen.core.util.blender.get_collection(name, reuse=True)

Parameters:

• name

• reuse -- (default: True)

infinigen.core.util.blender.unlink(obj)

Parameters:

obj

infinigen.core.util.blender.put_in_collection(objs, collection, exclusive=True)

Parameters:

• objs

• collection

• exclusive -- (default: True)

infinigen.core.util.blender.group_in_collection(...)

objs: List of (None | Blender Object | List[Blender Object])

Parameters:

• objs

• name (str)

• reuse -- (default: True)

infinigen.core.util.blender.group_toplevel_collections(...)

Parameters:

• keyword

• hide_viewport -- (default: False)

• hide_render -- (default: False)

• reuse -- (default: True)

infinigen.core.util.blender.spawn_empty(name, disp_type='PLAIN_AXES', s=0.1)

Parameters:

• name

• disp_type -- (default: 'PLAIN_AXES')

• s -- (default: 0.1)

infinigen.core.util.blender.spawn_point_cloud(name, pts, edges=None)

Parameters:

• name

• pts

• edges -- (default: None)

infinigen.core.util.blender.spawn_vert(name='vert')

Parameters:

name -- (default: 'vert')

infinigen.core.util.blender.spawn_line(name, pts)

Parameters:

• name

• pts

infinigen.core.util.blender.spawn_plane(**kwargs)

infinigen.core.util.blender.spawn_cube(...)

Parameters:

• size -- (default: 1)

• location -- (default: (0, 0, 0))

• scale -- (default: (1, 1, 1))

• name -- (default: None)

infinigen.core.util.blender.spawn_cylinder(...)

Parameters:

• radius -- (default: 1.0)

• depth -- (default: 2.0)

• location -- (default: (0, 0, 0))

• scale -- (default: (1, 1, 1))

• name -- (default: None)

infinigen.core.util.blender.spawn_sphere(...)

Parameters:

• radius -- (default: 1)

• location -- (default: (0, 0, 0))

• scale -- (default: (1, 1, 1))

• name -- (default: None)

infinigen.core.util.blender.spawn_icosphere(...)

Parameters:

• radius -- (default: 1)

• location -- (default: (0, 0, 0))

• scale -- (default: (1, 1, 1))

• name -- (default: None)

infinigen.core.util.blender.clear_scene(keep=[], targets=None, materials=True)

Parameters:

• keep -- (default: [])

• targets -- (default: None)

• materials -- (default: True)

infinigen.core.util.blender.spawn_capsule(...)

Parameters:

• rad

• height

• us -- (default: 32)

• vs -- (default: 16)

infinigen.core.util.blender.to_mesh(object, context=<bpy_struct, Context>)

Parameters:

• object

• context -- (default: <bpy_struct, Context>)

infinigen.core.util.blender.get_camera_res()

infinigen.core.util.blender.set_geomod_inputs(mod, inputs)

Parameters:

• mod

• inputs (dict)

infinigen.core.util.blender.modify_mesh(...) → bpy_types.Object

Parameters:

• obj

• type

• apply -- (default: True)

• name -- (default: None)

• return_mod -- (default: False)

• ng_inputs -- (default: None)

• show_viewport -- (default: None)

infinigen.core.util.blender.constrain_object(obj, type, **kwargs)

Parameters:

• obj

• type

infinigen.core.util.blender.apply_transform(...)

Parameters:

• obj

• loc -- (default: False)

• rot -- (default: True)

• scale -- (default: True)

infinigen.core.util.blender.import_mesh(path, **kwargs)

Parameters:

path

infinigen.core.util.blender.boolean(objs, mode='UNION', verbose=False)

Parameters:

• objs

• mode -- (default: 'UNION')

• verbose -- (default: False)

infinigen.core.util.blender.split_object(obj, mode='LOOSE')

Parameters:

• obj

• mode -- (default: 'LOOSE')

infinigen.core.util.blender.move_modifier(obj, mod, i)

Parameters:

• obj

• mod

• i

infinigen.core.util.blender.join_objects(objs, check_attributes=False)

Parameters:

• objs

• check_attributes -- (default: False)

infinigen.core.util.blender.clear_mesh(obj)

Parameters:

obj

infinigen.core.util.blender.apply_modifiers(obj, mod=None, quiet=True)

Parameters:

• obj

• mod -- (default: None)

• quiet -- (default: True)

infinigen.core.util.blender.recalc_normals(obj, inside=False)

Parameters:

• obj

• inside -- (default: False)

infinigen.core.util.blender.save_blend(path, autopack=False, verbose=False)

Parameters:

• path

• autopack -- (default: False)

• verbose -- (default: False)

infinigen.core.util.blender.joined_kd(objs, include_origins=False)

Parameters:

• objs

• include_origins -- (default: False)

infinigen.core.util.blender.make_instances_real()

infinigen.core.util.blender.objectdata_from_VF(vertices, faces)

Parameters:

• vertices

• faces

infinigen.core.util.blender.object_from_VF(vertices, faces, name)

Parameters:

• vertices

• faces

• name

infinigen.core.util.blender.object_from_trimesh(mesh, name, material=None)

Parameters:

• mesh

• name

• material -- (default: None)

infinigen.core.util.blender.object_to_vertex_attributes(obj)

Parameters:

obj

infinigen.core.util.blender.object_to_trimesh(obj)

Parameters:

obj

infinigen.core.util.blender.blender_internal_attr(a)

Parameters:

a

infinigen.core.util.blender.merge_by_distance(obj, face_size)

Parameters:

• obj

• face_size

infinigen.core.util.blender.origin_set(objs, mode, **kwargs)

Parameters:

• objs

• mode

infinigen.core.util.blender.apply_geo(obj)

Parameters:

obj

infinigen.core.util.blender.avg_approx_vol(objects)

Parameters:

objects

infinigen.core.util.blender.parent_to(...)

Parameters:

• a

• b

• type -- (default: 'OBJECT')

• keep_transform -- (default: False)

• no_inverse -- (default: False)

• no_transform -- (default: False)

infinigen.core.util.blender.apply_matrix_world(obj, verts)

Parameters:

• obj

• verts (array)

infinigen.core.util.blender.surface_area(obj)

Parameters:

obj (Object)

infinigen.core.util.blender.approve_all_drivers()

infinigen.core.util.blender.count_objects()

infinigen.core.util.blender.count_instance()

infinigen.core.util.blender.bounds(obj)

Parameters:

obj

infinigen.core.util.blender.create_noise_plane(...)

Parameters:

• size -- (default: 50)

• cuts -- (default: 10)

• std -- (default: 3)

• levels -- (default: 3)

infinigen.core.util.blender.purge_empty_materials(obj)

Parameters:

obj

infinigen.core.util.blender.global_polygon_normal(obj, polygon, rev_normal=False)

Parameters:

• obj

• polygon

• rev_normal -- (default: False)

infinigen.core.util.blender.global_vertex_coordinates(obj, local_vertex) → pf.Vector

Parameters:

• obj

• local_vertex

camera

infinigen.core.util.camera.get_calibration_matrix_K_from_blender(camd)

Parameters:

camd

infinigen.core.util.camera.get_3x4_RT_matrix_from_blender(cam)

Parameters:

cam

infinigen.core.util.camera.get_3x4_P_matrix_from_blender(cam)

Parameters:

cam

infinigen.core.util.camera.project_by_object_utils(cam, point)

Parameters:

• cam

• point

infinigen.core.util.camera.points_inview(bbox, camera)

Parameters:

• bbox

• camera

imu

infinigen.core.util.imu.solve_cubic(...)

Parameters:

• c0

• c1

• c2

• c3

infinigen.core.util.imu.bezier_zeros(...)

Parameters:

• x

• q0

• q1

• q2

• q3

infinigen.core.util.imu.y_of_bezier(t, cy)

Returns the position of a cubic Bezier curve at t where t is in [0,1]

Parameters:

• t

• cy

infinigen.core.util.imu.v_of_bezier(t, cx, cy)

Returns the velocity of a cubic Bezier curve at t where t is in [0,1]

Parameters:

• t

• cx

• cy

infinigen.core.util.imu.a_of_bezier(t, cx, cy)

Returns the acceleration of a cubic Bezier curve at t where t is in [0,1]

Parameters:

• t

• cx

• cy

infinigen.core.util.imu.data_from_keyframes(...)

Return imu (acceleration or rotational velocity) and location data for an fcurve

Parameters:

• keyframe_points

• frame_start

• frame_end

• for_acceleration

infinigen.core.util.imu.get_imu_tum_data(object, start, end)

Returns imu and tum data of camera in file formatted strings

Parameters:

• object

• start

• end

infinigen.core.util.imu.save_imu_tum_files(...)

Write imu and tum data to output files for each object.

Parameters:

• output_folder

• objects (list[Object])

• start -- (default: None)

• end -- (default: None)

infinigen.core.util.imu.get_camera_intrinsics(camera)

Parameters:

camera

logging

infinigen.core.util.logging.lazydebug(...)

Parameters:

• logger (Logger)

• msg (Callable)

class infinigen.core.util.logging.Timer(desc, disable_timer=False, logger=None)

Bases: object

class infinigen.core.util.logging.Suppress

Bases: object

class infinigen.core.util.logging.LogLevel(logger, level)

Bases: object

infinigen.core.util.logging.save_polycounts(file)

Parameters:

file

infinigen.core.util.logging.create_text_file(log_dir, filename, text=None)

Parameters:

• log_dir

• filename

• text -- (default: None)

exception infinigen.core.util.logging.BadSeedError

Bases: ValueError

math

class infinigen.core.util.math.FixedSeed(seed)

Bases: object

class infinigen.core.util.math.AddedSeed(added_seed)

Bases: object

class infinigen.core.util.math.BBox(mins, maxs)

Bases: object

uniform()

union(other)

Parameters:

other

intersect(other)

Parameters:

other

empty()

subset(idx)

Parameters:

idx

linspace(n)

Parameters:

n

to_local_coords(p)

Parameters:

p

to_global_coords(p)

Parameters:

p

dims()

measure()

root()

center()

eroded(margin)

Parameters:

margin

inflated(margin)

Parameters:

margin

classmethod from_center_dims(center, dims)

Parameters:

• center

• dims

classmethod from_bpy_box(bpy_obj)

Parameters:

bpy_obj

classmethod empty_box(dim)

Parameters:

dim

to_limits()

infinigen.core.util.math.md5_hash(x)

Parameters:

x

infinigen.core.util.math.int_hash(x, max=4294967295)

Parameters:

• x

• max -- (default: 4294967295)

infinigen.core.util.math.round_to_nearest(x, step)

Parameters:

• x

• step

infinigen.core.util.math.lerp_sample(vec, ts)

Parameters:

• vec

• ts (array)

infinigen.core.util.math.inverse_interpolate(vals, ds)

Find ts such that lerp_sample(vals, ts) = ds

Parameters:

• vals

• ds

infinigen.core.util.math.cross_matrix(v)

Parameters:

v

infinigen.core.util.math.rodrigues(angle, axi)

Parameters:

• angle

• axi

infinigen.core.util.math.rotate_match_directions(a, b)

Parameters:

• a

• b

infinigen.core.util.math.lerp(a, b, x)

linear interpolation

Parameters:

• a

• b

• x

infinigen.core.util.math.dict_lerp(a, b, t)

Parameters:

• a

• b

• t

infinigen.core.util.math.dict_convex_comb(dicts, weights)

Parameters:

• dicts

• weights

infinigen.core.util.math.randomspacing(...)

Parameters:

• min

• max

• n

• margin

infinigen.core.util.math.linvec(n, low, high)

Parameters:

• n

• low

• high

infinigen.core.util.math.homogenize(points)

Parameters:

points

infinigen.core.util.math.dehomogenize(points)

Parameters:

points

infinigen.core.util.math.clip_gaussian(...)

Parameters:

• mean

• std

• min

• max

• max_tries -- (default: 20)

infinigen.core.util.math.normalize(v, disallow_zero_norm=False, in_place=True)

Parameters:

• v

• disallow_zero_norm -- (default: False)

• in_place -- (default: True)

infinigen.core.util.math.project_to_unit_vector(k, v)

Parameters:

• k

• v

infinigen.core.util.math.wrap_around_cyclic_coord(u, u_start, u_end)

Parameters:

• u

• u_start

• u_end

infinigen.core.util.math.new_domain_from_affine(old_domain, a=1.0, b=0.0)

old domain: domain of u(t) new domain: domain of u(f(t)), f(t) = a * t + b

Parameters:

• old_domain

• a -- (default: 1.0)

• b -- (default: 0.0)

infinigen.core.util.math.affine_from_new_domain(old_domain, new_domain)

Get affine parameters a, b such that u(f(at+b)) has new_domain

Parameters:

• old_domain

• new_domain

infinigen.core.util.math.resize(arr, shape)

Parameters:

• arr

• shape

ocmesher_utils

infinigen.core.util.ocmesher_utils.create_sdf_from_mesh(mesh)

Parameters:

mesh

infinigen.core.util.ocmesher_utils.run_ocmesher(obj, cameras)

Parameters:

• obj

• cameras

organization

class infinigen.core.util.organization.Task

Bases: object

Coarse = 'coarse'

Populate = 'populate'

FineTerrain = 'fine_terrain'

Render = 'render'

GroundTruth = 'ground_truth'

MeshSave = 'mesh_save'

Export = 'export'

class infinigen.core.util.organization.Materials

Bases: object

GroundCollection = 'ground_collection'

MountainCollection = 'mountain_collection'

LiquidCollection = 'liquid_collection'

Eroded = 'eroded'

Lava = 'lava'

Snow = 'snow'

Atmosphere = 'atmosphere'

Clouds = 'clouds'

Beach = 'beach'

all = ['ground_collection', 'mountain_collection', 'eroded', 'liquid_collection', 'lava', 'snow', 'atmosphere', 'clouds', 'beach']

class infinigen.core.util.organization.LandTile

Bases: object

Canyon = 'Canyon'

Canyons = 'Canyons'

Cliff = 'Cliff'

Mesa = 'Mesa'

Mountain = 'Mountain'

River = 'River'

Volcano = 'Volcano'

Coast = 'Coast'

MultiMountains = 'MultiMountains'

class infinigen.core.util.organization.Assets

Bases: object

Caves = 'Caves'

UpsidedownMountains = 'UpsidedownMountains'

Ocean = 'Ocean'

class infinigen.core.util.organization.AssetFile

Bases: object

Heightmap = 'heightmap'

Mask = 'mask'

TileSize = 'tile_size'

Params = 'params'

Finish = 'finish'

class infinigen.core.util.organization.Process

Bases: object

Snowfall = 'snowfall'

Erosion = 'erosion'

IceErosion = 'ice_erosion'

Eruption = 'eruption'

class infinigen.core.util.organization.TerrainNames

Bases: object

OpaqueTerrain = 'OpaqueTerrain'

CollectiveTransparentTerrain = 'CollectiveTransparentTerrain'

class infinigen.core.util.organization.Transparency

Bases: object

IndividualTransparent = 'IndividualTransparent'

CollectiveTransparent = 'CollectiveTransparent'

Opaque = 'Opaque'

class infinigen.core.util.organization.ElementNames

Bases: object

Atmosphere = 'atmosphere'

Liquid = 'liquid'

Caves = 'caves'

Clouds = 'clouds'

LandTiles = 'landtiles'

Ground = 'ground'

Mountains = 'mountains'

WarpedRocks = 'warped_rocks'

VoronoiRocks = 'voronoi_rocks'

VoronoiGrains = 'voronoi_grains'

UpsidedownMountains = 'upsidedown_mountains'

Volcanos = 'volcanos'

FloatingIce = 'floating_ice'

class infinigen.core.util.organization.Tags

Bases: object

Cave = 'cave'

LiquidCovered = 'liquid_covered'

UpsidedownMountainsLowerPart = 'upsidedown_mountain_lower_part'

Terrain = 'terrain'

Landscape = 'landscape'

OutOfView = 'out_of_view'

class infinigen.core.util.organization.Attributes

Bases: object

BoundarySDF = 'BoundarySDF'

ElementTag = 'ElementTag'

class infinigen.core.util.organization.SelectionCriterions

Bases: object

CloseUp = 'closeup'

Altitude = 'altitude'

class infinigen.core.util.organization.ElementTag

Bases: object

Liquid = 0

Clouds = 1

Terrain = 2

WarpedRocks = 3

VoronoiRocks = 4

VoronoiGrains = 5

Volcanos = 6

FloatingIce = 7

UpsidedownMountains = 8

total_cnt = 9

map = ['liquid', 'clouds', 'terrain', 'warped_rocks', 'voronoi_rocks', 'voronoi_grains', 'volcanos', 'floating_ice', 'upsidedown_mountains']

class infinigen.core.util.organization.SurfaceTypes

Bases: object

BlenderDisplacement = 'BlenderDisplacement'

Displacement = 'Displacement'

SDFPerturb = 'SDFPerturb'

pipeline

class infinigen.core.util.pipeline.RandomStageExecutor(scene_seed, output_folder, params)

Bases: object

Parameters:

output_folder (Path)

save_results(path)

Parameters:

path

run_stage(...)

Parameters:

• name

• fn

• use_chance -- (default: True)

• gc -- (default: True)

• default -- (default: None)

• prereq -- (default: None)

random

infinigen.core.util.random.log_uniform(low, high, size=None)

Parameters:

• low

• high

• size -- (default: None)

infinigen.core.util.random.sample_json_palette(pallette_name, n_sample=1)

Parameters:

• pallette_name

• n_sample -- (default: 1)

infinigen.core.util.random.random_general(var)

Parameters:

var

infinigen.core.util.random.random_vector3()

infinigen.core.util.random.random_color_neighbour(...)

returns a random color in the neighbourhood of the given one :param color: (r, g, b) or (r, g, b, a) :param hue_diff: maximum change in hue, if none all hue is allowed :param sat_diff: maximum change in saturation :param val_diff: maximum change in value :param only_less_hue: only small hue values smaller than the one provided in rgb :param only_less_sat: :param only_less_val: :param only_more_hue: :param only_more_sat: :param only_more_val: :return: (r, g, b) or (r, g, b, a) depending in the input

Parameters:

rgb

infinigen.core.util.random.clip_hsv(...)

reduces the hue, saturation and value of an rgb color

Parameters:

• rgb

• max_h -- (default: None)

• max_s -- (default: None)

• max_v -- (default: None)

infinigen.core.util.random.random_color(brightness_lim=1)

Parameters:

brightness_lim -- (default: 1)

infinigen.core.util.random.weighted_sample(reg)

Parameters:

reg

infinigen.core.util.random.mixture_of_gaussian(...)

Parameters:

• means (ndarray)

• stds (array)

• weights (list[float])

• clamp_min -- (default: None)

• clamp_max -- (default: None)

infinigen.core.util.random.wrap_gaussian(...)

Parameters:

• mean

• std

• low -- (default: 0)

• high -- (default: 1)

rrt

infinigen.core.util.rrt.validate_node_nature(node, obj_groups)

Parameters:

• node

• obj_groups

infinigen.core.util.rrt.validate_node_indoors(node, obj_groups)

Parameters:

• node

• obj_groups

class infinigen.core.util.rrt.RRT(

obj_groups,

validate_node,

bbox=None,

step_range=(1, 1),

stride_range=(16, 32),

min_node_dist_to_obstacle=0.2,

max_iter=2000,

)

Bases: object

generate_path(start=None, goal=None)

Parameters:

• start -- (default: None)

• goal -- (default: None)

next_goal(start, max_iter=100)

Parameters:

• start

• max_iter -- (default: 100)

prox_check(x)

Parameters:

x

node_in_object(coord)

Parameters:

coord

is_valid(node)

Parameters:

node

rand_valid_node()

rand_node()

parent(x)

Parameters:

x

cost(x)

Parameters:

x

get_vertices()

wireup(x, y)

Parameters:

• x

• y

getDist(pos1, pos2)

Parameters:

• pos1

• pos2

sample_free(xt, bias=0.1)

Parameters:

• xt

• bias -- (default: 0.1)

nearest(x)

Parameters:

x

neighborhood(x, radius=None, max_iter=10)

Parameters:

• x

• radius -- (default: None)

• max_iter -- (default: 10)

steer(x, direction)

Parameters:

• x

• direction

get_bbox(objects=None)

Parameters:

objects -- (default: None)

is_in_bbox(coord, bbox)

Parameters:

• coord

• bbox

line_not_valid(...)

see if line intersects obstacle

Parameters:

• p1

• p2

• bbox -- (default: None)

• dist -- (default: None)

class infinigen.core.util.rrt.AnimPolicyRRT(

rrt=None,

obj_groups=None,

speed=('uniform', 1.0, 1.0),

rot=('normal', 0, [20, 20, 20], 3),

start=None,

goal=None,

)

Bases: object

reset()

retry()

infinigen.core.util.rrt.validate_cam_pose_rrt(...)

Parameters:

• cam

• max_sky_percent -- (default: 0.7)

• max_proxim_percent -- (default: 0.5)

• min_obj_dist -- (default: None)

• min_pixels_check -- (default: 100)

test_utils

infinigen.core.util.test_utils.setup_gin(configs_folders, configs, overrides=None)

Parameters:

• configs_folders

• configs

• overrides -- (default: None)

infinigen.core.util.test_utils.import_item(name)

Parameters:

name

infinigen.core.util.test_utils.load_txt_list(path, skip_sharp=True)

Parameters:

• path (Path)

• skip_sharp -- (default: True)

Module contents