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qcr / benchbot

BenchBot is a tool for seamlessly testing & evaluating semantic scene understanding tools in both realistic 3D simulation & on real robots
BSD 3-Clause "New" or "Revised" License
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Remove camera intrinisics assumption from `semantic_slam_attempt` example #53

Closed btalb closed 2 years ago

btalb commented 2 years ago

https://github.com/benchbot-addons/examples_ssu/blob/4a74f4cf83ec6c02b494961c6e1932da75d51f67/examples/.semantic_slam_attempt/votenet_benchbot.py#L186-L188

These lines in our semantic_slam_attempt example hard-code camera intrinsics. This was fine for the old Unreal-based simulations, but introduces errors since we've moved to Omniverse.

These lines need to be replaced with appropriate references into the observations object.

david2611 commented 2 years ago

Lines have been replaced with appropriate references to the provided observations['image_depth_info']['matrix_intrinsics'] parameters. Code is otherwise unchanged except for the inclusion of fx and fy focal length parameters over the original single focal length f Changes are on master branch of the examples_ssu benchbot addon as of commit https://github.com/benchbot-addons/examples_ssu/commit/f32ebcd0e30813827ee57882237b3643d6a2c4c6