/robot-fetch-test-data

Primary LanguagePython

Prepare test data from AI2THOR and AI-HABITAT

Setup

This is developed in Ubuntu 16.04, however Ubuntu 18.04 is recommended because Open3D has a better support for 18.04

pip install requirements.py

To run CloudRendering in ai2thor,

sudo apt-get install libvulkan1

If you are using Ubuntu 16.04, visualization may have some bugs, you can install a previous version or compile from source (issue). Or you can also download a pre-built whl from here.

Visualization

rgb

rgb

world coordinate point cloud and bounding boxes

world coordinate point cloud

sunrgbd 2d bbox, left: dataset label, right: RCNN detector label

sunrgbd point cloud, 3d bboxes, and voting

sunrgbd prediction result, confident nms, night stand and bed

TODO

  • query 2d bbox
  • read votenet Dataset and see 3d bbox coordinate, camera or world
  • know what bbox orientation means
  • AI-Habitat
  • Modify Dataset config of votenet
  • SLAM and make the whole scene
  • what is required from SPOT