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--[Part 2 of 2] Semantic region building #2307

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merged 28 commits into from
Jan 31, 2024
Merged

--[Part 2 of 2] Semantic region building #2307

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1704ba3
--add support for non-wildcard relative filenames.
jturner65 Jan 23, 2024
ab893d0
--pass semantic attributes to loadSemanticSceneDescriptor instead of …
jturner65 Jan 23, 2024
2c9621a
--move all semantic scene creation code to SemanticScene
jturner65 Jan 23, 2024
9210c44
--add semantic region creation and bindings.
jturner65 Jan 23, 2024
635e775
--fix mp3d test
jturner65 Jan 23, 2024
906a727
--clang-tidy
jturner65 Jan 23, 2024
45185d8
--add regions to the scene's region vector
jturner65 Jan 23, 2024
aa73975
viewer.py region rendering demo
aclegg3 Jan 23, 2024
9238d7e
fix viewer typo introduced by flaker
aclegg3 Jan 23, 2024
dd0a73c
--make extrusions
jturner65 Jan 25, 2024
59ff50c
--rename sub-configs to SemanticVolumes
jturner65 Jan 26, 2024
53563c5
--add construction of volume edges for debug/visualizations.
jturner65 Jan 26, 2024
eedb92b
--add semantic visualization in a more formal manner.
jturner65 Jan 26, 2024
f15dcf8
--initial test commit
jturner65 Jan 30, 2024
08d28c5
--minor message cleanup
jturner65 Jan 31, 2024
02d1340
--test containment; fix height calc and containment check.
jturner65 Jan 31, 2024
8a9ebea
--cleanup and expand c++ tests;
jturner65 Jan 31, 2024
b93ebc7
--update test to read from test JSON file instead of using a JSON str…
jturner65 Jan 31, 2024
bab9477
--clean up
jturner65 Jan 31, 2024
4414404
--ssd specified through scene dataset config default value
jturner65 Jan 31, 2024
8bc63e7
--add semantic config files with names matching scene dataset tags
jturner65 Jan 31, 2024
c032437
--update test dataset config
jturner65 Jan 31, 2024
d787c70
--require ssd handle to be found explicitly in dataset
jturner65 Jan 31, 2024
dc43e79
--adjust test to cover expanded test scene dataset.
jturner65 Jan 31, 2024
4e79bf0
--minor simplification of attributes managers tests.
jturner65 Jan 31, 2024
feccd0c
--add bindings specifically for loop-based semantic category
jturner65 Jan 31, 2024
6bfedef
--python test for semantic regions
jturner65 Jan 31, 2024
f49ced1
--fix attempting to map ssd file handle if scene instance is NONE scene.
jturner65 Jan 31, 2024
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3 changes: 1 addition & 2 deletions data/test_assets/dataset_tests/dataset_0/scenes/dataset_test_scene.scene_instance.json
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,5 @@
}
],
"default_lighting":"modified_test_lights",
"navmesh_instance":"navmesh_path1",
"semantic_scene_instance":"semantic_descriptor_path1"
"navmesh_instance":"navmesh_path1"
}
36 changes: 36 additions & 0 deletions data/test_assets/dataset_tests/dataset_0/semantics/dataset_test_scene.semantic_config.json
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@@ -0,0 +1,36 @@
{
"region_annotations": [
{
"name": "test_region_negativeX",
"label": "bedroom",
"poly_loop": [
[-20.0, -2.0,-10.0],
[-25.0, -2.0, 0.0],
[-20.0, -2.0, 10.0],
[-10.0, -2.0, 10.0],
[-5.0, -2.0, 0.0],
[-10.0, -2.0,-10.0]
],
"floor_height": -2.0,
"extrusion_height": 4.0,
"min_bounds": [-25.0, -2.0, -10.0],
"max_bounds": [-5.0, 2.0, 10.0]
},
{
"name": "test_region_positiveX",
"label": "bathroom",
"poly_loop": [
[10.0, -2.0,-10.0],
[5.0, -2.0, 0.0],
[10.0, -2.0, 10.0],
[20.0, -2.0, 10.0],
[25.0, -2.0, 0.0],
[20.0, -2.0,-10.0]
],
"floor_height": -2.0,
"extrusion_height": 4.0,
"min_bounds": [5.0, -2.0, -10.0],
"max_bounds": [25.0, 2.0, 10.0]
}
]
}
36 changes: 36 additions & 0 deletions ...ets/dataset_tests/dataset_0/semantics/test_semantic_descriptor_path1.semantic_config.json
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@@ -0,0 +1,36 @@
{
"region_annotations": [
{
"name": "test_region_negativeX",
"label": "bedroom",
"poly_loop": [
[-20.0, -2.0,-10.0],
[-25.0, -2.0, 0.0],
[-20.0, -2.0, 10.0],
[-10.0, -2.0, 10.0],
[-5.0, -2.0, 0.0],
[-10.0, -2.0,-10.0]
],
"floor_height": -2.0,
"extrusion_height": 4.0,
"min_bounds": [-25.0, -2.0, -10.0],
"max_bounds": [-5.0, 2.0, 10.0]
},
{
"name": "test_region_positiveX",
"label": "bathroom",
"poly_loop": [
[10.0, -2.0,-10.0],
[5.0, -2.0, 0.0],
[10.0, -2.0, 10.0],
[20.0, -2.0, 10.0],
[25.0, -2.0, 0.0],
[20.0, -2.0,-10.0]
],
"floor_height": -2.0,
"extrusion_height": 4.0,
"min_bounds": [5.0, -2.0, -10.0],
"max_bounds": [25.0, 2.0, 10.0]
}
]
}
36 changes: 36 additions & 0 deletions ...ets/dataset_tests/dataset_0/semantics/test_semantic_descriptor_path2.semantic_config.json
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@@ -0,0 +1,36 @@
{
"region_annotations": [
{
"name": "test_region_negativeX",
"label": "bedroom",
"poly_loop": [
[-20.0, -2.0,-10.0],
[-25.0, -2.0, 0.0],
[-20.0, -2.0, 10.0],
[-10.0, -2.0, 10.0],
[-5.0, -2.0, 0.0],
[-10.0, -2.0,-10.0]
],
"floor_height": -2.0,
"extrusion_height": 4.0,
"min_bounds": [-25.0, -2.0, -10.0],
"max_bounds": [-5.0, 2.0, 10.0]
},
{
"name": "test_region_positiveX",
"label": "bathroom",
"poly_loop": [
[10.0, -2.0,-10.0],
[5.0, -2.0, 0.0],
[10.0, -2.0, 10.0],
[20.0, -2.0, 10.0],
[25.0, -2.0, 0.0],
[20.0, -2.0,-10.0]
],
"floor_height": -2.0,
"extrusion_height": 4.0,
"min_bounds": [5.0, -2.0, -10.0],
"max_bounds": [25.0, 2.0, 10.0]
}
]
}
88 changes: 47 additions & 41 deletions data/test_assets/dataset_tests/dataset_0/test_dataset_0.scene_dataset_config.json
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Original file line number Diff line number Diff line change
Expand Up @@ -12,90 +12,91 @@
"original_file": "stages/dataset_test_stage.stage_config.json",
"template_handle": "modified_test_stage",
"attributes": {
"scale":[1,1,1],
"gravity":[0,-9.8,0],
"margin":0.041,
"friction_coefficient": 0.4,
"restitution_coefficient": 0.5,
"units_to_meters":1.0
"scale":[1,1,1],
"gravity":[0,-9.8,0],
"margin":0.041,
"friction_coefficient": 0.4,
"restitution_coefficient": 0.5,
"units_to_meters":1.0
}
},
{
"template_handle": "new_test_stage",
"attributes": {
"render_asset": "stages/dataset_test_stage.glb",
"up":[0,-1,0],
"scale":[2,2,2],
"gravity":[0,9.8,0],
"friction_coefficient": 0.35,
"restitution_coefficient": 0.25,
"units_to_meters":2.0,
"force_flat_shading": true
"render_asset": "stages/dataset_test_stage.glb",
"up":[0,-1,0],
"scale":[2,2,2],
"gravity":[0,9.8,0],
"friction_coefficient": 0.35,
"restitution_coefficient": 0.25,
"units_to_meters":2.0,
"force_flat_shading": true
}
}
]
},
"objects":{
"default_attributes": {
"mass" : 10.0,
"inertia": [3,2,1]
"mass" : 10.0,
"inertia": [3,2,1]
},
"paths": {
".json" : ["objects"]
},
".json" : ["objects"]
},
"configs" : [
{
"original_file": "objects/dataset_test_object1.object_config.json",
"template_handle": "modified_test_object1_1_slick_heavy",
"attributes": {
"friction_coefficient": 0.2,
"rolling_friction_coefficient": 0.0002,
"spinning_friction_coefficient": 0.0003,
"mass": 3.5
"friction_coefficient": 0.2,
"rolling_friction_coefficient": 0.0002,
"spinning_friction_coefficient": 0.0003,
"mass": 3.5
}
},
{
{
"template_handle": "new_test_object3",
"attributes": {
"render_asset": "objects/dataset_test_object3.glb",
"friction_coefficient": 0.1,
"mass": 1.1
"render_asset": "objects/dataset_test_object3.glb",
"friction_coefficient": 0.1,
"mass": 1.1
}
}

]
},
"light_setups":{
"default_attributes": {
},
"default_attributes": {},
"paths": {
".json" : ["lights"]
},
".json" : ["lights"]
},
"configs" : [
{
"original_file":"lights/dataset_test_lights.lighting_config.json",
"template_handle": "modified_test_lights",
"attributes": {
"lights":{
"0": { "position": [1.5,0.1,1.5], "intensity": 2.4, "color": [0.5,1,0.95], "type": "point"},
"1": { "position": [2.5,-0.1,2.5], "intensity": 2.1, "color": [0.5,1,0.95], "type": "point"},
"11": { "position": [3.5,-0.7,-3.5], "intensity": -0.5, "color": [1,0.5,1], "type": "point"}
}
"lights":{
"0": { "position": [1.5,0.1,1.5], "intensity": 2.4, "color": [0.5,1,0.95], "type": "point"},
"1": { "position": [2.5,-0.1,2.5], "intensity": 2.1, "color": [0.5,1,0.95], "type": "point"},
"11": { "position": [3.5,-0.7,-3.5], "intensity": -0.5, "color": [1,0.5,1], "type": "point"}
}
}
},
{
"template_handle": "new_test_lights_0",
"attributes": {
"lights":{
"3": { "position": [11.5,10.1,11.5], "intensity": 1.4, "color": [0.5,1,0.95], "type": "point"},
"4": { "position": [12.5,-10.1,12.5], "intensity": 1.1, "color": [0.5,1,0.95], "type": "point"},
"5": { "position": [13.5,-10.7,-13.5], "intensity": -1.5, "color": [1,0.5,1], "type": "point"}
}
"lights":{
"3": { "position": [11.5,10.1,11.5], "intensity": 1.4, "color": [0.5,1,0.95], "type": "point"},
"4": { "position": [12.5,-10.1,12.5], "intensity": 1.1, "color": [0.5,1,0.95], "type": "point"},
"5": { "position": [13.5,-10.7,-13.5], "intensity": -1.5, "color": [1,0.5,1], "type": "point"}
}
}
}
]
},
"scene_instances":{
"default_attributes": {
"semantic_scene_instance": "%%CONFIG_NAME_AS_ASSET_FILENAME%%.semantic_config.json"
},
"paths": {
".json" : ["scenes"]
}
Expand All @@ -105,6 +106,11 @@
"navmesh_path2":"test_navmesh_path2"
},
"semantic_scene_descriptor_instances": {
"paths": {
".json": [
"semantics/*"
]
},
"semantic_descriptor_path1":"test_semantic_descriptor_path1",
"semantic_descriptor_path2":"test_semantic_descriptor_path2"
}
Expand Down
15 changes: 7 additions & 8 deletions data/test_assets/dataset_tests/dataset_1/test_dataset_1.scene_dataset_config.json
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Original file line number Diff line number Diff line change
Expand Up @@ -4,8 +4,8 @@
"origin":[1.0,2.0,3.0]
},
"paths": {
".json" : ["stages/*"]
},
".json" : ["stages/*"]
},
"configs" : [
{
"original_file": "stages/stage_0/dataset_test_stage_0.stage_config.json",
Expand Down Expand Up @@ -52,8 +52,8 @@
"inertia": [3,2,1]
},
"paths": {
".json" : ["objects/*"]
},
".json" : ["objects/*"]
},
"configs" : [
{
"original_file": "objects/object_0/dataset_test_object1_0.object_config.json",
Expand All @@ -63,23 +63,22 @@
"mass": 3.5
}
},
{
{
"template_handle": "new_test_object3",
"attributes": {
"render_asset": "objects/object_1/dataset_test_object3_1.glb",
"friction_coefficient": 0.1,
"mass": 1.1
}
}

]
},
"light_setups":{
"default_attributes": {
},
"paths": {
".json" : ["lights/*"]
},
".json" : ["lights/*"]
},
"configs" : [
{
"original_file":"lights/lights_0/dataset_test_lights_0.lighting_config.json",
Expand Down
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