Redwood noisy depth

.circleci/config.yml

@@ -45,7 +45,8 @@ jobs:
       - run:
           name: run clang-format
           command: |
-            find . -not -path "*/\.*" -not -path "*/deps/*" -not -path "*/obsolete/*" -not -path "*/build/*" | grep -E ".*\.cpp$|.*\.h$|.*\.cu$|.*\.hpp$" | xargs -I {} bash -c "diff -u <(cat {}) <(clang-format -style=file {})"
+            find . -not -path "*/\.*" -not -path "*/deps/*" -not -path "*/obsolete/*" -not -path "*/build/*" | grep -E ".*\.(cpp|h|cu|hpp|cuh)$" | xargs -I {} bash -c "diff -u <(cat {}) <(clang-format -style=file {})"
+
   js_lint:
     docker:
       - image: circleci/node:11.9
@@ -236,13 +237,13 @@ jobs:
           name: Run sim benchmark
           command: |
               while [ ! -f ./cuda_installed ]; do sleep 2; done # wait for CUDA
-              export PATH=$HOME/miniconda/bin:$PATH
+              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-sim
               python examples/example.py --scene data/scene_datasets/habitat-test-scenes/van-gogh-room.glb --silent --test_fps_regression $FPS_THRESHOLD
       - run:
           name: Run sim tests
           command: |
-              export PATH=$HOME/miniconda/bin:$PATH
+              export PATH=$HOME/miniconda/bin:/usr/local/cuda/bin:$PATH
               . activate habitat; cd habitat-sim
 
               export PYTHONPATH=$PYTHONPATH:$(pwd)

.gitignore

@@ -164,7 +164,7 @@ run_example
 *.swp
 
 tests/17DRP5sb8fy
-data/
+/data/
 *.zip
 habitat_sim/_ext
 build_js/

.pre-commit-config.yaml

@@ -34,7 +34,7 @@ repos:
       name: Run clang-format
       entry: clang-format -i -style=file
       types: [text]
-      files: '.*\.cpp|.*\.h'
+      files: '.*\.(cpp|h|hpp|cu|cuh)$'
       language: system
 
 -   repo: https://github.com/pre-commit/mirrors-eslint

MANIFEST.in

@@ -0,0 +1 @@
+graft habitat_sim/sensors/noise_models/data

docs/conf.py

@@ -30,7 +30,7 @@
 FAVICON = "habitat-blue.png"
 MAIN_PROJECT_URL = "/"
 INPUT_MODULES = [habitat_sim]
-INPUT_DOCS = ["docs.rst", "gfx.rst"]
+INPUT_DOCS = ["docs.rst", "gfx.rst", "noise_models.rst"]
 INPUT_PAGES = [
     "pages/index.rst",
     "pages/new-actions.rst",

docs/noise_models.rst

@@ -0,0 +1,53 @@
+.. py:module:: habitat_sim.sensors.noise_models
+    :summary: Library of Sensor noise models
+
+
+    A library of noise models to close the gap between simulated observations
+    and observations from real sensors.
+
+    A noise model can be applied to a sensor by specifying the name of the noise
+    model in the `sensor.SensorSpec.noise_model` feild.
+    Arguments can be passed to the noise model constructor as keyword arguments using
+    the `sensor.SensorSpec.noise_model_kwargs` field. For instance, to use the `RedwoodDepthNoiseModel`
+    with a ``noise_multiplier`` of 5
+
+    .. code:: py
+
+        sensor_spec.noise_model = "RedwoodDepthNoiseModel"
+        sensor_spec.noise_model_kwargs = dict(noise_multiplier=5)
+
+
+
+    These noise models are commonly the result of contributions from various research projects.
+    If you use a noise model in your research, please cite the relevant work specified by the docummentation
+
+
+    **Depth Noise Models**
+
+    * Redwood Noise Model for PrimSense depth cameras: `RedwoodDepthNoiseModel`
+
+.. py:class:: habitat_sim.sensors.noise_models.NoSensorNoiseModel
+    :summary: No noise noise model.  Simply returns a copy of the input
+
+    Accessible from the registry under the name ``"None"``
+
+.. py:class:: habitat_sim.sensors.noise_models.RedwoodDepthNoiseModel
+    :summary: Redwood Noise Model for PrimSense depth cameras
+
+    Accessible from the registry under the name ``"RedwoodDepthNoiseModel"``
+
+    Implements the noise model provided by http://redwood-data.org/indoor/dataset.html
+
+    If you use this noise model, please cite::
+
+        @inproceedings{choi2015robust,
+          title={Robust reconstruction of indoor scenes},
+          author={Choi, Sungjoon and Zhou, Qian-Yi and Koltun, Vladlen},
+          booktitle={Proceedings of the IEEE Conference on Computer Vision and
+            Pattern Recognition}, pages={5556--5565}, year={2015}
+        }
+
+
+.. py:function:: habitat_sim.sensors.noise_models.RedwoodDepthNoiseModel.__init__
+    :param gpu_device_id: The ID of CUDA device to use (only applicable if habitat-sim was built with ``--with-cuda``)
+    :param noise_multiplier: Multipler for the Guassian random-variables.  This reduces or increase the amount of noise

habitat_sim/agent/agent.py

@@ -12,7 +12,7 @@
 
 import habitat_sim.bindings as hsim
 import habitat_sim.errors
-from habitat_sim.sensors import SensorSuite
+from habitat_sim.sensors.sensor_suite import SensorSuite
 from habitat_sim.utils.common import (
     quat_from_coeffs,
     quat_from_magnum,

habitat_sim/registry.py

@@ -8,8 +8,6 @@
 import re
 from typing import Optional, Type
 
-from habitat_sim.agent.controls import SceneNodeControl
-
 __all__ = ["registry"]
 
 
@@ -37,12 +35,12 @@ class _Registry:
     @classmethod
     def register_move_fn(
         cls,
-        controller: Optional[Type[SceneNodeControl]] = None,
+        controller: Optional[Type] = None,
         *,
         name: Optional[str] = None,
         body_action: bool = None,
     ):
-        r"""Registers a new control with Habitat-Sim. Registered conrtols can
+        r"""Registers a new control with Habitat-Sim. Registered controls can
         then be retrieved via `get_move_fn()`
 
         See `new-actions <new-actions.html>`_ for an example of how to add new actions
@@ -62,6 +60,7 @@ def register_move_fn(
         assert (
             body_action is not None
         ), "body_action must be explicitly set to True or False"
+        from habitat_sim.agent.controls.controls import SceneNodeControl
 
         def _wrapper(controller: Type[SceneNodeControl]):
             assert issubclass(
@@ -79,17 +78,54 @@ def _wrapper(controller: Type[SceneNodeControl]):
         else:
             return _wrapper(controller)
 
+    @classmethod
+    def register_noise_model(
+        cls, noise_model: Optional[Type] = None, *, name: Optional[str] = None
+    ):
+        r"""Registers a new sensor noise model with Habitat-Sim
+
+        :param noise_model: The class of the noise model to register
+            If `None`, will return a wrapper for use with decorator syntax
+        :param name: The name to register the noise model with
+            If `None`, will register with the name of the noise_model
+        """
+        from habitat_sim.sensors.noise_models.sensor_noise_model import SensorNoiseModel
+
+        def _wrapper(noise_model: Type[SensorNoiseModel]):
+            assert issubclass(
+                noise_model, SensorNoiseModel
+            ), "All noise_models must inherit from habitat_sim.sensor.SensorNoiseModel"
+
+            cls._mapping["sensor_noise_model"][
+                noise_model.__name__ if name is None else name
+            ] = noise_model
+
+            return noise_model
+
+        if noise_model is None:
+            return _wrapper
+        else:
+            return _wrapper(noise_model)
+
     @classmethod
     def _get_impl(cls, _type, name):
         return cls._mapping[_type].get(name, None)
 
     @classmethod
-    def get_move_fn(cls, name: str) -> SceneNodeControl:
+    def get_move_fn(cls, name: str):
         r"""Retrieve the move_fn register under ``name``
 
         :param name: The name provided to `register_move_fn`
         """
         return cls._get_impl("move_fn", name)
 
+    @classmethod
+    def get_noise_model(cls, name: str):
+        r"""Retrieve the noise_model register under ``name``
+
+        :param name: The name provided to `register_noise_model`
+        """
+        return cls._get_impl("sensor_noise_model", name)
+
 
 registry = _Registry()

habitat_sim/sensors/__init__.py

@@ -4,6 +4,8 @@
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.
 
+from habitat_sim.sensors import noise_models
+
 from .sensor_suite import SensorSuite
 
-__all__ = ["SensorSuite"]
+__all__ = ["SensorSuite", "noise_models"]

habitat_sim/sensors/noise_models/__init__.py

@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+from typing import Any, Dict
+
+from habitat_sim.registry import registry
+from habitat_sim.sensors.noise_models.no_noise_model import NoSensorNoiseModel
+from habitat_sim.sensors.noise_models.redwood_depth_noise_model import (
+    RedwoodDepthNoiseModel,
+)
+from habitat_sim.sensors.noise_models.sensor_noise_model import SensorNoiseModel
+
+
+def make_sensor_noise_model(name: str, kwargs: Dict[str, Any]) -> SensorNoiseModel:
+    r"""Constructs a noise model using the given name and keyword arguments
+
+    :param name: The name of the noise model in the `habitat_sim.registry`
+    :param kwargs: The keyword arguments to be passed to the constructor of the noise model
+    """
+
+    model = registry.get_noise_model(name)
+    assert model is not None, "Could not find a noise model for name '{}'".format(name)
+
+    return model(**kwargs)
+
+
+__all__ = [
+    "make_sensor_noise_model",
+    "SensorNoiseModel",
+    "RedwoodDepthNoiseModel",
+    "NoSensorNoiseModel",
+]

habitat_sim/sensors/noise_models/no_noise_model.py

@@ -0,0 +1,23 @@
+#!/usr/bin/env python3
+
+# Copyright (c) Facebook, Inc. and its affiliates.
+# This source code is licensed under the MIT license found in the
+# LICENSE file in the root directory of this source tree.
+
+import numpy as np
+
+from habitat_sim.registry import registry
+from habitat_sim.sensors.noise_models.sensor_noise_model import SensorNoiseModel
+
+
+@registry.register_noise_model(name="None")
+class NoSensorNoiseModel(SensorNoiseModel):
+    @staticmethod
+    def is_valid_sensor_type(sensor_type):
+        return True
+
+    def apply(self, x):
+        if isinstance(x, np.ndarray):
+            return x.copy()
+        else:
+            return x.clone()