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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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Miniroom Sink Ground Truth Bounding Box Incorrect #54

Closed david2611 closed 1 year ago

david2611 commented 2 years ago

Found when debugging #47. Sink within miniroom environments is incorrect as shown below.

Screenshot from 2022-04-13 14-32-11

Appears that sink centroid is incorrectly located at the sink mesh's origin rather than the centroid of the mesh.

Need to confirm that this only occurs for this one object and update ground_truth.json files accordingly.

david2611 commented 1 year ago

Centroid for sink has been updated in the latest version of the ground_truth_bears_develop addon repo. This bug is now fixed. Note. Should perform a general check for all environments to confirm this sort of bug is not present anywhere else.