Skip to content

Latest commit

 

History

History

data_generation

README.md

Replica Data Generation

Download Replica Dataset

Download 3D models and info files from Replica

3D Object Mesh Extraction

Change the input path in ./data_generation/extract_inst_obj.py and run

python ./data_generation/extract_inst_obj.py

Camera Trajectory Generation

Please refer to Semantic-NeRF for more details. The random trajectory generation only works for single room scene. For multiple rooms scene, collision checking is needed. Welcome contributions.

Rendering 2D Images

Given camera trajectory t_wc (change pose_file in configs), we use Habitat-Sim to render RGB, Depth, Semantic and Instance images.

Install Habitat-Sim 0.2.1

We recommend to use conda to install habitat-sim 0.2.1.

conda create -n habitat python=3.8.12 cmake=3.14.0
conda activate habitat
conda install habitat-sim=0.2.1 withbullet -c conda-forge -c aihabitat 
conda install numba=0.54.1

Run rendering with configs

python ./data_generation/habitat_renderer.py --config ./data_generation/replica_render_config_vMAP.yaml

Note that to get HDR img, use mesh.ply not semantic_mesh.ply. Change path in configs. And copy rgb folder to replace previous high exposure rgb.

python ./data_generation/habitat_renderer.py --config ./data_generation/replica_render_config_vMAP.yaml