Closed senthilps8 closed 4 years ago
I added that abs to handle negative sizes as those don't make sense. I for some reason thought that the constructor/mp3d where in center/size format not min/max format.
https://github.com/facebookresearch/habitat-sim/pull/832 should fix this. Note that it will produce sizes that are all positive.
🐛 Bug
The Matterport3D region bounding boxes seem to be loaded incorrectly. Specifically, the
sizes
attribute of the axis aligned bounding boxes are incorrect. I think it is caused by this line: https://github.com/facebookresearch/habitat-sim/blob/master/src/esp/scene/Mp3dSemanticScene.cpp#L111The region annotation line in Matterport data has the following format:
R region_index level_index 0 0 label px py pz xlo ylo zlo xhi yhi zhi height 0 0 0 0
So thexhi yhi zhi
values are converted to their absolute values byhabitat_sim
when it's loaded.I was able to fix it by just getting rid of the
.abs()
, but I'm not sure if that's the best way or why the.abs()
was there in the first placeTo Reproduce
Steps to reproduce the behavior: Here is a minimal script:
The output I see:
From the Matterport annotation file
17DRP5sb8fy.house
:Expected behavior
I get this output with the fix I suggested above:
System Info