Find which region the agent is in

[zhangfuyang]

Hi,
I have a question about how to get the current room label that the agent is in. I am working on the mp3d datatset. I noticed these two previous issues: #331 and issue in habitat-sim addressing this problem. But I still couldn't make it work.

I wonder if I am doing the right thing.

regions = sim.semantic_annotations().regions
agent_loc = sim.get_agent_state(0).position

''' Check if agent is in region 0 '''
center = region[0].aabb.center
sizes = region[0].aabb.sizes
if center - 1/2 sizes < agent_loc < center + 1/2 sizes, then True

Also, I find the z-axis of regions sizes are all negative in the scene "EU6Fwq7SyZv". This doesn't make sense to me.

[erikwijmans]

What commit/version of habitat-sim are you using? There was an additional fix in facebookresearch/habitat-sim#1024

[zhangfuyang]

I was using a very old version. Now I can get the correct room bounding box. Thank you!

[zillur01]

Hi @erikwijmans @zhangfuyang for me, region.aabb.sizes shows all array([-inf, -inf, -inf], dtype=float32) while regions.aabb.center shows all 0.

I am able to get semantic rgb and others data in observation. so loading part is working. The number of regions for each scene also matches with the semantic annotaion txt file.