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"Hello World": Generate your first Infinigen scene

This guide will show you how to generate an image and it's corresponding ground-truth, similar to those shown above.

⚠️ Known issue : We are actively fixing an issue which causes Infinigen not to be reproducible on many platforms. The same command may produce multiple rearranged scenes with different runtimes and memory requirements.

Generate a scene step by step

Infinigen generates scenes by running multiple tasks (usually executed automatically, like in Generate image(s) in one command). Here we will run them one by one to demonstrate. These commands take approximately 10 minutes and 16GB of memory to execute on an M1 Mac or Linux Desktop.

❗ If you encounter any missing .so files, missing dependencies (such as gin), or similar crashes, please check again that all steps of installation ran successfully. If you cannot resolve any issues with installation, please see our README and 'Bug Report' Git Issue template for advice on posting Git Issues to get help quickly - you must include the full installation logs in your issue so that we can help debug.

cd worldgen
mkdir outputs

# Generate a scene layout
$BLENDER -noaudio --background --python generate.py -- --seed 0 --task coarse -g desert.gin simple.gin --output_folder outputs/hello_world/coarse

# Populate unique assets
$BLENDER -noaudio --background --python generate.py -- --seed 0 --task populate fine_terrain -g desert.gin simple.gin --input_folder outputs/hello_world/coarse --output_folder outputs/hello_world/fine

# Render RGB images
$BLENDER -noaudio --background --python generate.py -- --seed 0 --task render -g desert.gin simple.gin --input_folder outputs/hello_world/fine --output_folder outputs/hello_world/frames

# Render again for accurate ground-truth
$BLENDER -noaudio --background --python generate.py -- --seed 0 --task render -g desert.gin simple.gin --input_folder outputs/hello_world/fine --output_folder outputs/hello_world/frames -p render.render_image_func=@flat/render_image

⚠️ If you recieve the error message -noaudio: command not found you most likely missed the export BLENDER=... step of the Installation instructions.

Output logs should indicate what the code is working on. Use --debug for even more detail. After each command completes you can inspect it's --output_folder for results, including running $BLENDER outputs/hello_world/coarse/scene.blend or similar to view blender files. We hide many meshes by default for viewport stability; to view them, click "Render" or use the UI to unhide them.

Generate image(s) in one command

We provide tools/manage_datagen_jobs.py, a utility which runs similar steps automatically.

python -m tools.manage_datagen_jobs --output_folder outputs/hello_world --num_scenes 1 --specific_seed 0 \
--configs desert.gin simple.gin --pipeline_configs local_16GB.gin monocular.gin blender_gt.gin --pipeline_overrides LocalScheduleHandler.use_gpu=False

This command will repeatedly print summaries of the status of each stage of the pipeline. Please look in outputs/hello_world/1/logs for full output logs of the underlying tasks.

We encourage you to visit Configuring Infinigen for a breakdown of this command and more advanced usage instructions / example commands.

See Extended ground-truth for a guide on using our custom ground-truth extraction system.