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maximiliangilles / MetaGraspNet

MetaGraspNet: Official Code Repository
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How to generate the occlusion masks in the dataset? #1

Closed Trav1slaflame closed 2 years ago

Trav1slaflame commented 2 years ago

Hello! thanks for your excellent work!

I have one question: I read that your dataset provides Amodal Segmentation Masks (occlusion masks). However, according to my understanding, the Nvidia Isaac Sim Replicator cannot generate the Amodal Segmentation Masks for each occluded object.
May I ask how your team generated these Amodal Segmentation Masks? Occlusion masks

Thanks for your time!

maximiliangilles commented 2 years ago

Hi @Trav1slaflame,

you are right. We are generating amodal object masks with custom code we wrote specifically for this purpose. Isaac Sim does not support this ground truth mask. Our custom approach is based on visible segmentation masks and single object scenes.

Best,

Max

Trav1slaflame commented 2 years ago

Dear @maximiliangilles,

Thank you so much for your reply!

May I ask whether the custom code for generating amodal object masks is available in your repo?

Again, Thank you very much!

maximiliangilles commented 2 years ago

Hi @Trav1slaflame,

making the codebase public is intendet but unfortunately I cannot give you a firm date yet. We hope that we can shift our code base to a newer isaac sim version soon. If you have a specific question regarding how to generate amodal masks for your project, feel free to contact me via email.

Best,

Max

Trav1slaflame commented 2 years ago

Dear @maximiliangilles,

Got it! Thank you so much!