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--[Part 2 of 2] Semantic region building (#2307)
* --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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36 changes: 36 additions & 0 deletions
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data/test_assets/dataset_tests/dataset_0/semantics/dataset_test_scene.semantic_config.json
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{ | ||
"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
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...ets/dataset_tests/dataset_0/semantics/test_semantic_descriptor_path1.semantic_config.json
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Original file line number | Diff line number | Diff line change |
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{ | ||
"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
36
...ets/dataset_tests/dataset_0/semantics/test_semantic_descriptor_path2.semantic_config.json
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Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -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] | ||
} | ||
] | ||
} |
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