Extend bindings for OBB and misc fixes. #493
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## master #493 +/- ##
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- Coverage 59.19% 59.16% -0.04%
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Files 165 165
Lines 7340 7346 +6
Branches 84 84
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+ Hits 4345 4346 +1
- Misses 2995 3000 +5
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Co-Authored-By: Erik Wijmans <etw@gatech.edu>
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@Skylion007 thank you for all the courage to fix low level hard to capture issues. Well done!
| @@ -107,7 +107,7 @@ OBB computeGravityAlignedMOBB(const vec3f& gravity, | |||
| const float dd = d0[0] * d1[1] - d0[1] * d1[0]; | |||
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| const float dx = s1[0] - s0[0]; | |||
| const float dy = s1[1] - s0[0]; | |||
| const float dy = s1[1] - s0[1]; | |||
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@Skylion007, can you remind me what was the bug here?
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dy was not actually calculating a delta y.
| @@ -240,7 +240,7 @@ OBB computeGravityAlignedMOBB(const vec3f& gravity, | |||
| aabb.extend(T_w2b * pt); | |||
| } | |||
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| return OBB{aabb.center(), aabb.sizes(), T_w2b.inverse()}; | |||
| return OBB{T_w2b.inverse() * aabb.center(), aabb.sizes(), T_w2b.inverse()}; | |||
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The center was not in world coordinates
| @@ -39,13 +39,12 @@ std::vector<vec2f> convexHull2D(const std::vector<vec2f>& points) { | |||
| } | |||
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| // Build upper hull | |||
| for (size_t i = idx.size() - 2, t = k + 1; i >= 0; i--) { | |||
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And here, just to have a history record for all this deep changes.
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Resolves a segfault that occurs on Linux due to undefined behavior of unsigned integer underflows.
* OBB fixes and extends. Also added error val to sample navigable point * Make getRandomNavigablePoint failure value constant. Co-Authored-By: Erik Wijmans <etw@gatech.edu> Co-authored-by: Erik Wijmans <ewijmans2@gmail.com>
* Extract ckpt_id from ckpt_path * rename util function * Move defrost
Motivation and Context
Added some functionality needed for properly using OBBs in the Habitat-API.
1). Add new python bindings to OBB
2). Fix bugs computeMOBB and expose to python.
3). Have sampleNavigablePoint return a point that will always not be navigable if it fails. That ensure that we get a proper error state that we can check against pt(inf,inf,inf).
How Has This Been Tested
It has been tested by being used for generating the ObjectNav datasets in the Habitat-API.
Types of changes
Checklist