Closed tianhaowuhz closed 1 year ago
I also tried to convert pointcloud to mesh. However, some of the mesh quality is very bad.
Hi, the contactpose object models we provided (in OakInkObjectsV2.zip
) are triangle meshes.
for example:
the object model: OakInkObjectsV2/contactpose_camera/align/camera.ply
can be loaded via MeshLab as:
I am sorry I didn't check that, thank you for your reply!
By the way, what is the difference between "algin" and "algin ds"?
The align
model aligns the objects' canonical system within a certain OakInk category. The align_ds
model downsamples the original mesh of an object to reduce the number of vertices and the surface for quicker computing. We have ensured that the downsampled model is watertight, thanks to ManifoldPlus. Therefore, it can be used to compute the SDF, but it's worth noting that some of the downsampled objects may have different geometry compared to the original ones.
Thank you so much !
Hi, recetnly I am trying to use the dataset in simulator. However, I found the data for contactpose only has pointcloud, and no mesh which can not be used in simulator to load object. I also tried to match the original contactpose object model, but it has slight rotation which is hard to match exactly. Thus, I am wondering can you public the processed object model related to contactpose, Thank you so much!