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--[Part 2 of 2] Semantic region building (#2307)
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* --add support for non-wildcard relative filenames.
This enables relative path/filename values set in the default attributes section of the scene dataset config to be resolved to real files on attributes load.
* --pass semantic attributes to loadSemanticSceneDescriptor instead of just filename.
* --move all semantic scene creation code to SemanticScene
* --add semantic region creation and bindings.
* --add regions to the scene's region vector
* viewer.py region rendering demo
* --make extrusions
* --rename sub-configs to SemanticVolumes
Will eventually be used for describing non-region semantic constructs.
* --add construction of volume edges for debug/visualizations.
* --add semantic visualization in a more formal manner.
* --test containment; fix height calc and containment check.
* --update test to read from test JSON file instead of using a JSON string.
* --ssd specified through scene dataset config default value
* --add semantic config files with names matching scene dataset tags
* --require ssd handle to be found explicitly in dataset
Since this handle is only a string tag to tie to a semantic attributes, it should -always- be matched explicitly.
* --adjust test to cover expanded test scene dataset.
* --minor simplification of attributes managers tests.
* --add bindings specifically for loop-based semantic category
* --python test for semantic regions
* --fix attempting to map ssd file handle if scene instance is NONE scene.

---------

Co-authored-by: aclegg3 <alexanderwclegg@gmail.com>
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@jturner65 @aclegg3
jturner65 and aclegg3 committed Jan 31, 2024
1 parent 9233834 commit f964e51
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Showing 28 changed files with 1,007 additions and 585 deletions.
3 changes: 1 addition & 2 deletions data/test_assets/dataset_tests/dataset_0/scenes/dataset_test_scene.scene_instance.json
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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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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"
}
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15 changes: 7 additions & 8 deletions data/test_assets/dataset_tests/dataset_1/test_dataset_1.scene_dataset_config.json
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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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