missing glass surfaces when using replica in habitat

[liren-jin]

Hi there,

I am using replicav1 dataset in habitat_sim, python api. I can get correct images from the simulator, however, I realize that all glass surfaces are missing and simulator returns 0 depth in this case. Does anyone know how to adding the glass surfaces in the habitat simulator?

[aclegg3]

Perhaps you can share some images of your expectation vs. reality?
Often times glass can be a failure point in 3D scanning so I'm curious if you are seeing artifacts of that process or issues with the simulation/renderer.

[liren-jin]

Hi thanks for the reply.The original replica dataset has a mirror in this scene, but what i get from habitat is a missing surface on that area. I also check the mesh.ply file used by habitat-sim, it shows missing surfaces as well. so I guess because habitat-sim does not use the glass.sur file contained in the replica dataset?

replica dataset:

image rendered from habitat-sim

[aclegg3]

Ah, I see. Yeah, that makes sense.
We actually aren't rendering PTEX anymore, instead treating these as standard PLY.
My guess is that this is one of the missed features.