Ground Truth Generation

ACSim provides ground truth generation functions for mask, 3D depth, and optical flow.

Overview

To activate ground truth saving, use the built-in version of ACSim and enable one or more of the following options:

  • mask

  • depth

  • ele (elevation angle)

By default: - mask and ele are saved as .png files - depth is saved as a .npy file

> ⚠️ When setting the output path, please make sure the file extension matches the expected format (e.g., .png for mask, .npy for depth).

Ground truth sample

For optical flow, since it requires two different poses, it is recommended to use a Python script to generate the output as follows.

Flow

To generate optical flow ground truth, ACSim provides a dedicated setup.

  1. Open the of.blend file located in the built-in folder.

  2. Go to the Scripting workspace in Blender.

  3. Run the provided flow script to generate and save the flow data.