search

facebookresearch / habitat-sim

A flexible, high-performance 3D simulator for Embodied AI research.
https://aihabitat.org/
MIT License
2.58k stars 419 forks source link

Exporting a CSV file with bounding box info from the viewer #2324

Closed frank-gallagher closed 7 months ago

frank-gallagher commented 7 months ago

This was originally posted as a comment on Issue #2323 but I decided to create a unique issue.

@aclegg3 I'm having trouble exporting a CSV file with bounding box info from the viewer as you mention here.

If I launch the viewer with habitat-viewer /mnt/data/habitat/scene_datasets/hm3d/minival/00800-TEEsavR23oF/TEEsavR23oF.glb and then press the J key I get this error Unable to build semantic CC objects since no semantic mesh exists. However, a CSV file is still generated with bounding box coordinates but no semantic category information (I've included a snippet of the resulting file below). On the other hand if I launch the viewer with the semantic annotations using habitat-viewer --dataset /mnt/data/habitat/scene_datasets/hm3d/hm3d_annotated_basis.scene_dataset_config.json TEEsavR23oF, the J key binding does nothing and no CSV file is produced at all.

Firstly, what am I missing regarding how this CSV export is supposed to work? Secondly, am I right in thinking this CSV only contains object level information or does it include region level bounding boxes also?

Obj IDX, Object ID, Color RGB, # Verts in partition, BBOX Center XYZ, BBOX Dims XYZ, BBOX Vol
0,Unknown_0,0 0 0,84,-4.58087 2.02348 -4.89537, 0.15872 0.158504 0.140015,0.00352247
0,Unknown_0,0 0 0,194,-4.24955 1.58655 -4.733, 0.0802779 0.594599 0.10411,0.00496951
0,Unknown_0,0 0 0,3,-6.04151 -5.10475e-05 -4.59289, 0.120018 0.001955 5.72205e-06,1.34259e-09
0,Unknown_0,0 0 0,3,-5.98281 2.73714 -4.90295, 0.00463486 0.00377131 0.299967,5.24326e-06
0,Unknown_0,0 0 0,29,-5.84325 0.0841004 -4.9529, 0.19651 0.0978 0.200001,0.00384376
0,Unknown_0,0 0 0,305,-5.60432 0.390835 -3.9079, 0.474372 0.582252 0.35,0.0966714
0,Unknown_0,0 0 0,3,-5.36151 0.345203 -3.63635, 3.8147e-06 0.139998 0.00273609,1.46121e-09
0,Unknown_0,0 0 0,16,-5.46556 1.3752 -3.67292, 0.0288248 0.679999 0.040098,0.000785954
0,Unknown_0,0 0 0,97,-4.57089 2.02371 -4.71172, 0.156851 0.17701 0.139235,0.00386574
0,Unknown_0,0 0 0,3,-4.4991 0.245224 -4.17291, 0.00325108 0.100018 5.29289e-05,1.72107e-08
0,Unknown_0,0 0 0,3,-4.48651 1.94517 -4.85289, 0.00407314 0.099996 1.09673e-05,4.46694e-09
0,Unknown_0,0 0 0,3,-5.37151 -0.011998 -3.97904, 0.099998 0.014431 0.052309,7.54857e-05
0,Unknown_0,0 0 0,3,-6.00229 1.2152 -4.05168, 0.00456381 0.04 0.0025301,4.61875e-07
0,Unknown_0,0 0 0,3,-6.19151 0.00118852 -4.03067, 0.0200019 0.028026 0.00444508,2.49179e-06
0,Unknown_0,0 0 0,3,-5.28923 -0.00442798 -4.04291, 0.144564 0.003563 0.0200286,1.03164e-05
0,Unknown_0,0 0 0,55,-5.7315 2.0952 -3.81605, 0.500006 0.11999 0.353696,0.0212202
0,Unknown_0,0 0 0,3,-5.82156 -0.087167 -4.4729, 0.000138283 0.015665 0.0799842,1.73262e-07
0,Unknown_0,0 0 0,3,-5.39151 0.00702289 -5.14052, 0.02 0.016355 0.0152597,4.99146e-06
0,Unknown_0,0 0 0,10,-5.48911 0.765202 -3.67289, 0.0471787 0.500002 0.0400181,0.000944005
...
...
...
frank-gallagher commented 7 months ago

Apologies, I jumped the gun posting this issue. This is covered in Issue #2077. The CSV file I produced matches the example given.