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ivalab / simData

The dataset of our RA-L work 'Learning Affordance Segmentation for Real-world Robotic Manipulation via Synthetic Images'
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Generate preprocessed model files for imgSaver via catkin project #1

Closed acmiyaguchi closed 1 year ago

acmiyaguchi commented 2 years ago

This follows the general instructions in https://github.com/ivalab/simData_imgSaver for preprocessing images. This should replace some of the matlab scripts with CMake instead.

https://github.com/ivalab/simData_imgSaver/blob/master/utils/move_model_files.m

This approach has the benefit of being integrated into the catkin workflow, and also does not rely on hardcoding values or changing the repository after checkout. I tried to set this up so that the files could be found in the installation directory, and added to the gazebo path directly. However, I had issues with the $(find warehouse) action in the roslaunch file, so we have to deal with absolute paths in the generated files.

acmiyaguchi commented 2 years ago

This seems to work well for my purposes, but there is a minor issue at the time of writing. I have yet to move the descriptions for the affordance files (for files suffixed with _gt_{index}.dae). The cmake is tricky for doing regular expressions, but if this actually gets review in the near future and I can make some effort to finish it up.