Fail to get scene instance data

[fangchuan]

Hi, I encountered another problem when I use habitat-sim to render the textured meshes of HM3D. Firstly, I downloaded the following data sequentially:

• hm3d-minival-habitat-v0.2

• hm3d-minival-semantic-annots-v0.2

• hm3d-minival-semantic-configs-v0.2 Then, I put \*.basis.glb \*.scene_dataset_config.json, \*.semantic.glb and \*.semantic.txt into the same scene folder respectively. Next, I run the demo code , everything is ok when I run in the scene with the habitat simulator, I can render color image, semantic image and depth image successfully. But when the code run into print_scene_recur() function

  it seems some problems related about objects in the scene: House has 0 levels, 14 regions and 661 objects House center:[0,0,0] dims:[-inf -inf -inf]

I wonder if this phenomena is caused by the absence of \*basis.scene_instance.json, because the scene_dataset_config.json has specified the location of those instances' file:

But I fail to have access to the scene_instance.json files, only the semantic annotation and config files is available now.

Im looking forward your help, best regards! @dhruvbatra @aclegg3 @haeric

[aclegg3]

@fangchuan,

If I understand correctly, you are wondering why there are no scene or object instance locality metadata (i.e., bounding box information).

Currently, we haven't serialized that metadata so it won't be available. There is some code to approximate these values in-engine. You can export a csv with bounding box info from the viewer in habitat-sim and follow the code trail from there if this is critical for your use case.

[aclegg3]

As a follow-up, those scene_instance.json references are not expected to be used at this time. They exist to allow users to quickly change simulator settings for specific scenes (e.g. to add objects).

[shuhangchen]

Hi, I encountered another problem when I use habitat-sim to render the textured meshes of HM3D. Firstly, I downloaded the following data sequentially:

• hm3d-minival-habitat-v0.2
• hm3d-minival-semantic-annots-v0.2
• hm3d-minival-semantic-configs-v0.2 Then, I put \*.basis.glb \*.scene_dataset_config.json, \*.semantic.glb and \*.semantic.txt into the same scene folder respectively. Next, I run the demo code , everything is ok when I run in the scene with the habitat simulator, I can render color image, semantic image and depth image successfully. But when the code run into print_scene_recur() function it seems some problems related about objects in the scene: House has 0 levels, 14 regions and 661 objects House center:[0,0,0] dims:[-inf -inf -inf]

I wonder if this phenomena is caused by the absence of \*basis.scene_instance.json, because the scene_dataset_config.json has specified the location of those instances' file:

But I fail to have access to the scene_instance.json files, only the semantic annotation and config files is available now.

Im looking forward your help, best regards! @dhruvbatra @aclegg3 @haeric

Hi, were you able to get meaningful read from semantic sensor? I get all zeros following the same demo and using the same minival dataset.

[yuhanghe01]

Hi @shuhangchen , thanks for proposing this out. I met the same problem that all sensor reads are zeros. Have you solved it already? Any advice is welcome! My habitat_sim version is 0.2.2.

If this issue still exists, can @aclegg3 please take a look at it? Many thanks!