Is there a way to improve the quality of rendered image of hm3d inside the habitat-lab?

[wzcai99]

Hi, I found the quality of the rendered image from the HM3D dataset is relatively low and blurry. I understand the quality of rendered image and speed is a trade-off, so, is there a way can I improve the quality with the loss of the speed inside the habitat-lab? Here is an example image:

[aclegg3]

Hey @wzcai99, within habitat-lab you can increase the resolution of the image, but it doesn't look like that is an issue here.

The upper limit of HM3D quality depends on the fidelity of the geometry and textures in the scan assets themselves. Some are better than others depending on the camera used, the number of samples taken, and the lighting/reflective qualities of the environment at the time of capture. Nothing we can do about that.

However, the HM3D-hab version of the dataset has been BASIS compressed and optimized for use in RL training. You could instead use the raw version of the dataset without compression at the cost of memory and compute for a chance at higher quality images.