40 lines
1.6 KiB
Markdown
40 lines
1.6 KiB
Markdown
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# Update: Get View Interface
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* First, generate a scene file by
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```sh
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# Remember to specify dataset path in the script's main function
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python data_generation/tools/generate_scene_pcd.py
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# It will generate a scene.pickle file in the dataset folder
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```
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* Then, try get_view function
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```sh
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# Remember to specity the scene.pickle file path and camera pose in the script's main function
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python data_generation/tools/get_view.py
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# The get_view() function will return scene_pcl and obj_pcl_dict
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```
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# Data Generation
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This folder contains assets related to generating datasets. Maintained by Zhengxiao Han.
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## 1 Prerequisites
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* **OmniObject3d-simplified** dataset downloaded. Contact Jiyao to acquire it.
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* [Isaac Sim](https://docs.omniverse.nvidia.com/isaacsim/latest/index.html) installed.
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## 2 How to Use
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### 2.1 Convert Dataset to .usd Format
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```sh
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~/.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>
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# For example:
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# ~/.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
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```
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### 2.2 Run the Script
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* Firstly Specify file paths in [data_generation.yaml](https://github.com/Jiyao06/ActivePerception/blob/main/data_generation/config/data_generation/data_generation.yaml) and [replicator.yaml](https://github.com/Jiyao06/ActivePerception/blob/main/data_generation/config/replicator/replicator.yaml)
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* Then run this script:
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```sh
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~/.local/share/ov/pkg/isaac_sim-2023.1.1/python.sh <path-to-this-repo>/data_generation/src/generate_objects.py
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```
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