SemanticScene-compatible HM3D semantics annotations missing about habitat-sim

[aclegg3]

Hey @SgtVincent,

HM3D Semantic annotations include the object and architecture categories painted on the scan meshes. There is a notion of region ids for each object, but they have not been annotated with region names. There are also no ground truth bounding volumes for the regions.

If you wanted to add these, we support 2D poly loops with floor base height and extruded ceiling height as an abstraction. You could, for example, annotate the existing scenes in blender and add the semantic regions configs to the dataset. We may release some intermediate code and process documentation to make that process more transparent, but it hasn't been a priority recently.

[SgtVincent]

Thanks for your quick response! 🚀

You could, for example, annotate the existing scenes in blender and add the semantic regions configs to the dataset.

Going to look into this. I could also try some auto-processing scripts as you mentioned in other threads.

We may release some intermediate code and process documentation to make that process more transparent, but it hasn't been a priority recently.

I understand you have quite much stuff on your list. Look forward to your update. :)

[frank-gallagher]

Hi @aclegg3 ,

we support 2D poly loops with floor base height and extruded ceiling height as an abstraction

How is this accessed?

I am getting an empty list and 0.0 when printing region.poly_loop_points and region.extrusion_height.

EDIT: I'm not sure if this is related but the SemanticScene.get_regions_for_point() is also returning an empty list. Is there something in the config I need to change to get these to work?

ANOTHER EDIT: I have opened issue #2364 to address this question.