iGibson 1.0: Instance Segmentation (ins_seg)

Looking for a utility function or code to produce the instance segmentation on iGibson 1.0, similar to the ins_seg sensor output of the iGibson +2.0. Thanks!

Hi,

This functionality is not included out of the box in that version, but you can make the seg channel show an instance segmentation rather than a semantic segmentation by changing the below lines such that each object gets a unique ID rather than its class ID:

iGibson/igibson/simulator.py

Lines 234 to 235 in 555dc3d

    
           class_id = self.class_name_to_class_id.get( 
        
               scene.objects_by_id[body_id].category, SemanticClass.SCENE_OBJS)

This only affects objects loaded with the scene - for other objects imported via import_object, you can pass in an appropriate class ID via the class_id variable.

Please do let us know why you prefer iGibson 1.0 instead of the latest 2.0 so that we are aware of missing features etc.

Thanks!

	class_id = self.class_name_to_class_id.get(
	scene.objects_by_id[body_id].category, SemanticClass.SCENE_OBJS)