Texture Maps for YCB objects in dataset

[gurpreetsinghmukker]

Hi,

Thank you for sharing the dataset.

I am working with GoogleScannedObjects and YCB objects in your provided dataset. I was successfully able to load the normalized.obj files related GoogleScannedObjects and was able to load in the texture.png files which I downloaded from here

Unfortunately I was not able to use the texture maps for YCB objects. It seems like the normalized.obj that were provided for YCB are slightly simplified than what is made available here. I tried every texture map that YCB authors made available but none of them worked.

I was wondering if you have those texture maps for YCB and that if you would be able to share?

Thanks
Gurpreet

[JYChen18]

We do not use texture maps in our work, because our model takes as input only the depth point cloud.

If you need texture maps, I recommend using your own mesh with proper textures instead of our provided normalized.obj. You can use this code to align your raw mesh with normalized.obj.

Note that there may be some mismatches between your mesh and the grasp poses we provide, but these differences are not expected to greatly impact performance.