Update: Get View Interface
- First, generate a scene file by
# Remember to specify dataset path in the script's main function
python data_generation/tools/generate_scene_pcd.py
# It will generate a scene.pickle file in the dataset folder
- Then, try get_view function
# Remember to specity the scene.pickle file path and camera pose in the script's main function
python data_generation/tools/get_view.py
# The get_view() function will return scene_pcl and obj_pcl_dict
Data Generation
This folder contains assets related to generating datasets. Maintained by Zhengxiao Han.
1 Prerequisites
- OmniObject3d-simplified dataset downloaded. Contact Jiyao to acquire it.
- Isaac Sim installed.
2 How to Use
2.1 Convert Dataset to .usd Format
~/.local/share/ov/pkg/isaac_sim-2023.1.1/python.sh <path-to-this-repo>/data_generation/tools/convert_dataset.py <path-to-the-dataset>
# For example:
# ~/.local/share/ov/pkg/isaac_sim-2023.1.1/python.sh /home/hzx/Projects/ActivePerception/data_generation/tools/convert_dataset.py /home/hzx/Downloads/OmniObject3d-simplified/output
2.2 Run the Script
- Firstly Specify file paths in data_generation.yaml and replicator.yaml
- Then run this script:
~/.local/share/ov/pkg/isaac_sim-2023.1.1/python.sh <path-to-this-repo>/data_generation/src/generate_objects.py