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kxhit / vMAP

[CVPR 2023] vMAP: Vectorised Object Mapping for Neural Field SLAM
https://kxhit.github.io/vMAP
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Question about ground-truth object mesh in Replica dataset #25

Closed Pixie8888 closed 6 months ago

Pixie8888 commented 6 months ago

Hi,

Thanks for releasing code! I have some question about the ground-truth object mesh in the replica dataset:

1.Line 27-28 in data_generation/extract_inst_obj.py, why does sub_mesh_indices[object_id] append twice?

image
  1. The ground-truth object mesh has holes due to occlusion. How can we faithfully evaluate the reconstructed object-level mesh on the occluded surface? For example, there are holes on the sofa due to the pillows on top of it. image
kxhit commented 6 months ago

Hi, thanks for your interest!

  1. Sorry, I can't really remember why. Does it work well without appending twice? If so, it might be a typo. I think the object-level mesh is still correct.
  2. I tried to find the complete mesh at the object level, but this is the best object-level GT mesh I can get from the Replica Dataset by splitting the scene mesh. I didn't find a better dataset that both contains good/diverse object/scene level mesh and supports data rendering. Please let me know if I missed any good datasets.
Pixie8888 commented 6 months ago

Thanks for your reply!