Object2HabitatMap

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Object2HabitatMap

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Awesome habitat top down map work 🤩

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# Object2HabitatMap
This project provides a method to add objects to the habitat simulator using top-down maps. 
Additionally, it provides RGB/Semantic(Instance, Category, Region, Place) top-down maps for Habitat-Sim. 
The position on the map can be converted to the position in the habitat-sim scene (vice versa). 
After collecting the maps, add objects using the maps with **add_object_with_2dmap.py**

## Installation
The source code is developed and tested in the following setting. 
- Python 3.7
- habitat-sim 0.2.2
- habitat 0.2.2

To start, we prefer creating the environment using conda:

```
conda create -n habitat_v22 python=3.7 cmake=3.14.0
conda activate habitat_v22
conda install habitat-sim==0.2.2 withbullet headless -c conda-forge -c aihabitat
cd 
mkdir programs
cd programs
git clone --branch stable https://github.com/facebookresearch/habitat-lab.git habitat-lab-v22
cd habitat-lab-v22
git checkout tags/v0.2.2
pip install -e .
```

Please make sure you have up-to-date NVIDIA drivers supporting CUDA 10.1 at least.

### Env Setup

Most of the scripts in this code build the environments assuming that the **datasets** are in **habitat-lab/data/** folder.

The recommended folder structure of habitat-lab:
```
habitat-lab
  └── data
    └── object_datasets
    └── scene_datasets
      └── gibson_semantic.scene_dataset_config.json
      └── mp3d.scene_dataset_config.json
      └── hm3d_annotated_basis.scene_dataset_config.json
      └── gibson
        └── *.glb, *.navmeshs  
      └── mp3d
        └── *.glb, *.navmeshs  
      └── hm3d
        └── *.glb, *.navmeshs  
```

Download the above data [Here](https://github.com/facebookresearch/habitat-lab/blob/main/DATASETS.md).

### Generated Data Examples

#### RGB Top Down Map
<img src="sample/rgb.png" alt="HM3D" width="400"/>

#### Instance Top Down Map 
<img src="sample/inst.png" alt="HM3DSemanticInstance" width="400"/>

#### Category Top Down Map 
<img src="sample/cat.png" alt="HM3DSemanticInstance" width="400"/>

#### Region Top Down Map 
<img src="sample/region.png" alt="HM3DSemanticRegion" width="400"/>

#### Place Top Down Map 
<img src="sample/place.png" alt="HM3DSemanticPlace" width="400"/>

## Download
You can download the generated top down maps [Here](https://drive.google.com/drive/folders/1Fx2dXFW5BiLoAM3Q8CIbKC7HRf356Zg9?usp=sharing)
and object data [Here](https://drive.google.com/drive/folders/1GOnVF19tC-Z7D2kcMjtPE_eR62_DOtEj?usp=sharing). 
The objects are adapted to habitat from [ShapeNetCore](https://shapenet.org/).

## Play with Map
After collecting the map, play with it using play_with_2dmap.py

### Usage
* You can use 'w/a/s/d' buttons to move an agent in the simulator.
* Double click the map and press 'm' to move to the clicked position.
* Press 'n' to move random point in the map.
* Press 'v' to see next house.

## Add Objects on Environments
### Usage

See the below youtube video for knowing how to add objects using the maps. 
[![IMAGE_ALT](https://img.youtube.com/vi/vCdYHH9GCOQ/0.jpg)](https://www.youtube.com/watch?v=vCdYHH9GCOQ)

* Use "manual" command to manually add objects on the map.
* Otherwise, the code will automatically add objects on the environment.
* Double click the map and press 'm' to move to the clicked position.
* You can use 'w/a/s/d' buttons to move an agent in the simulator.
* Press 'n' to move random point in the map.
* Press '8' to see prev house.
* Press '9' to see next house.
* Press 'i' to add an object to the clicked position.
* Press 'z' to remove the recently added object.
* Press 'c' to remove all the objects.
* Press 's' to save the added objects.
* Press 'l' to load the objects from file.
* Press 'q' to quit.
* Press 'h' to see the help.
* You can change the object rotation by pressing '0 - = p [ ]' buttons.
* You can change the object position by pressing 'l ; ', . / ' buttons.

## Citation
If you use habitat map in your research, please use the following BibTeX entry.
```BibTeX
@misc{kim2022habitatmap,
  author =       {Nuri Kim},
  title =        {Object2HabitatMap},
  howpublished = {\url{https://github.com/bareblackfoot/Object2HabitatMap}},
  year =         {2022}
}
```

Object2HabitatMap

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