--properly initialize magnum vectors for sensor spec pos and orientation.

jturner65 · jturner65 · commit 0160f2ac9ee8 · 2024-02-05T14:57:22.000-05:00
--Need floating point values for list/np.array initialization.
diff --git a/examples/motion_viewer.py b/examples/motion_viewer.py
@@ -8,8 +8,6 @@
 import time
 from typing import Any, Callable, Dict, Optional, Tuple
 
-import numpy as np
-
 flags = sys.getdlopenflags()
 sys.setdlopenflags(flags | ctypes.RTLD_GLOBAL)
 
@@ -121,8 +119,8 @@ def reconfigure_sim(self) -> None:
             self.sim_settings["height"],
             self.sim_settings["width"],
         ]
-        camera_sensor_spec.position = np.array([0, 0, 0])
-        camera_sensor_spec.orientation = np.array([0, 0, 0])
+        camera_sensor_spec.position = mn.Vector3([0, 0, 0])
+        camera_sensor_spec.orientation = mn.Vector3([0, 0, 0])
         camera_sensor_spec.uuid = "fpov_sensor"
 
         agent_config = habitat_sim.agent.AgentConfiguration(
diff --git a/examples/tutorials/nb_python/ECCV_2020_Advanced_Features.py b/examples/tutorials/nb_python/ECCV_2020_Advanced_Features.py
@@ -474,7 +474,7 @@ def make_cfg(settings):
             settings["sensor_height"] + 0.2,
             0.2,
         ]
-        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]
+        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0.0, 0.0]
         color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
         sensor_specs.append(color_sensor_3rd_person_spec)
 
@@ -574,8 +574,8 @@ def init_camera_track_config(sim, sensor_name="color_sensor_1st_person", agent_I
     init_state["position"] = np.array(visual_sensor._spec.position)
     init_state["orientation"] = np.array(visual_sensor._spec.orientation)
     # set the color sensor transform to be the agent transform
-    visual_sensor._spec.position = np.array([0, 0, 0])
-    visual_sensor._spec.orientation = np.array([0, 0, 0])
+    visual_sensor._spec.position = np.array([0.0, 0.0, 0.0])
+    visual_sensor._spec.orientation = np.array([0.0, 0.0, 0.0])
     visual_sensor._sensor_object.set_transformation_from_spec()
     # save ID of agent being modified
     init_state["agent_ID"] = agent_ID
@@ -848,7 +848,7 @@ def build_widget_ui(obj_attr_mgr, prim_attr_mgr):
 sim_settings["scene"] = os.path.join(
     data_path, "scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb"
 )
-sim_settings["sensor_pitch"] = 0
+sim_settings["sensor_pitch"] = 0.0
 
 make_simulator_from_settings(sim_settings)
 
@@ -870,8 +870,8 @@ def build_widget_ui(obj_attr_mgr, prim_attr_mgr):
 initial_sensor_position = np.array(visual_sensor._spec.position)
 initial_sensor_orientation = np.array(visual_sensor._spec.orientation)
 # set the color sensor transform to be the agent transform
-visual_sensor._spec.position = np.array([0, 0, 0])
-visual_sensor._spec.orientation = np.array([0, 0, 0])
+visual_sensor._spec.position = np.array([0.0, 0.0, 0.0])
+visual_sensor._spec.orientation = np.array([0.0, 0.0, 0.0])
 visual_sensor._sensor_object.set_transformation_from_spec()
 
 # boost the agent off the floor
@@ -1006,7 +1006,7 @@ def get_2d_point(sim, sensor_name, point_3d):
 sim_settings["scene"] = os.path.join(
     data_path, "scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb"
 )
-sim_settings["sensor_pitch"] = 0
+sim_settings["sensor_pitch"] = 0.0
 sim_settings["semantic_sensor_1st_person"] = True
 
 make_simulator_from_settings(sim_settings)
@@ -1097,7 +1097,7 @@ def get_2d_point(sim, sensor_name, point_3d):
 sim_settings["scene"] = os.path.join(
     data_path, "scene_datasets/habitat-test-scenes/apartment_1.glb"
 )
-sim_settings["sensor_pitch"] = 0
+sim_settings["sensor_pitch"] = 0.0
 
 make_simulator_from_settings(sim_settings)
 
diff --git a/examples/tutorials/nb_python/ECCV_2020_Interactivity.py b/examples/tutorials/nb_python/ECCV_2020_Interactivity.py
@@ -178,7 +178,7 @@ def make_cfg(settings):
             settings["sensor_height"] + 0.2,
             0.2,
         ]
-        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]
+        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0.0, 0.0]
         color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
         sensor_specs.append(color_sensor_3rd_person_spec)
 
@@ -887,7 +887,7 @@ def build_widget_ui(obj_attr_mgr, prim_attr_mgr):
 sim_settings["scene"] = os.path.join(
     data_path, "scene_datasets/habitat-test-scenes/apartment_1.glb"
 )
-sim_settings["sensor_pitch"] = 0
+sim_settings["sensor_pitch"] = 0.0
 
 make_simulator_from_settings(sim_settings)
 
@@ -1180,7 +1180,7 @@ def release(self):
 # fmt: off
 sim_settings["scene"] = os.path.join(data_path, "scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb")  # @param{type:"string"}
 # fmt: on
-sim_settings["sensor_pitch"] = 0
+sim_settings["sensor_pitch"] = 0.0
 sim_settings["sensor_height"] = 0.6
 sim_settings["color_sensor_3rd_person"] = True
 sim_settings["depth_sensor_1st_person"] = True
diff --git a/examples/tutorials/nb_python/ReplicaCAD_quickstart.py b/examples/tutorials/nb_python/ReplicaCAD_quickstart.py
@@ -136,7 +136,7 @@ def make_default_settings():
         "scene": "NONE",  # Scene path
         "default_agent": 0,
         "sensor_height": 1.5,  # Height of sensors in meters
-        "sensor_pitch": 0,  # sensor pitch (x rotation in rads)
+        "sensor_pitch": 0.0,  # sensor pitch (x rotation in rads)
         "seed": 1,
         "enable_physics": True,  # enable dynamics simulation
     }
diff --git a/examples/tutorials/nb_python/asset_viewer.py b/examples/tutorials/nb_python/asset_viewer.py
@@ -176,7 +176,7 @@ def make_cfg(settings):
             settings["sensor_height"] + 0.2,
             0.2,
         ]
-        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]
+        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0.0, 0.0]
         color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
         sensor_specs.append(color_sensor_3rd_person_spec)
 
@@ -720,7 +720,7 @@ def build_widget_ui(obj_attr_mgr, prim_attr_mgr):
 
 sim_settings = make_default_settings()
 sim_settings["scene"] = "none"
-sim_settings["sensor_pitch"] = 0
+sim_settings["sensor_pitch"] = 0.0
 sim_settings["override_scene_light_defaults"] = True
 sim_settings["scene_light_setup"] = ""
 
diff --git a/examples/tutorials/nb_python/managed_rigid_object_tutorial.py b/examples/tutorials/nb_python/managed_rigid_object_tutorial.py
@@ -81,7 +81,7 @@ def make_configuration():
     rgba_camera_3rdperson_spec.sensor_type = habitat_sim.SensorType.COLOR
     rgba_camera_3rdperson_spec.resolution = camera_resolution
     rgba_camera_3rdperson_spec.position = [0.0, 1.0, 0.3]
-    rgba_camera_3rdperson_spec.orientation = [-45, 0.0, 0.0]
+    rgba_camera_3rdperson_spec.orientation = [-45.0, 0.0, 0.0]
     rgba_camera_3rdperson_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
     sensor_specs.append(rgba_camera_3rdperson_spec)
 
diff --git a/examples/tutorials/notebooks/ECCV_2020_Advanced_Features.ipynb b/examples/tutorials/notebooks/ECCV_2020_Advanced_Features.ipynb
@@ -473,7 +473,7 @@
     "            settings[\"sensor_height\"] + 0.2,\n",
     "            0.2,\n",
     "        ]\n",
-    "        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]\n",
+    "        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0.0, 0.0]\n",
     "        color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
     "        sensor_specs.append(color_sensor_3rd_person_spec)\n",
     "\n",
@@ -580,8 +580,8 @@
     "    init_state[\"position\"] = np.array(visual_sensor._spec.position)\n",
     "    init_state[\"orientation\"] = np.array(visual_sensor._spec.orientation)\n",
     "    # set the color sensor transform to be the agent transform\n",
-    "    visual_sensor._spec.position = np.array([0, 0, 0])\n",
-    "    visual_sensor._spec.orientation = np.array([0, 0, 0])\n",
+    "    visual_sensor._spec.position = np.array([0.0, 0.0, 0.0])\n",
+    "    visual_sensor._spec.orientation = np.array([0.0, 0.0, 0.0])\n",
     "    visual_sensor._sensor_object.set_transformation_from_spec()\n",
     "    # save ID of agent being modified\n",
     "    init_state[\"agent_ID\"] = agent_ID\n",
@@ -875,7 +875,7 @@
     "sim_settings[\"scene\"] = os.path.join(\n",
     "    data_path, \"scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb\"\n",
     ")\n",
-    "sim_settings[\"sensor_pitch\"] = 0\n",
+    "sim_settings[\"sensor_pitch\"] = 0.0\n",
     "\n",
     "make_simulator_from_settings(sim_settings)"
    ]
@@ -915,8 +915,8 @@
     "initial_sensor_position = np.array(visual_sensor._spec.position)\n",
     "initial_sensor_orientation = np.array(visual_sensor._spec.orientation)\n",
     "# set the color sensor transform to be the agent transform\n",
-    "visual_sensor._spec.position = np.array([0, 0, 0])\n",
-    "visual_sensor._spec.orientation = np.array([0, 0, 0])\n",
+    "visual_sensor._spec.position = np.array([0.0, 0.0, 0.0])\n",
+    "visual_sensor._spec.orientation = np.array([0.0, 0.0, 0.0])\n",
     "visual_sensor._sensor_object.set_transformation_from_spec()\n",
     "\n",
     "# boost the agent off the floor\n",
@@ -1070,7 +1070,7 @@
     "sim_settings[\"scene\"] = os.path.join(\n",
     "    data_path, \"scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb\"\n",
     ")\n",
-    "sim_settings[\"sensor_pitch\"] = 0\n",
+    "sim_settings[\"sensor_pitch\"] = 0.0\n",
     "sim_settings[\"semantic_sensor_1st_person\"] = True\n",
     "\n",
     "make_simulator_from_settings(sim_settings)\n",
@@ -1175,7 +1175,7 @@
     "sim_settings[\"scene\"] = os.path.join(\n",
     "    data_path, \"scene_datasets/habitat-test-scenes/apartment_1.glb\"\n",
     ")\n",
-    "sim_settings[\"sensor_pitch\"] = 0\n",
+    "sim_settings[\"sensor_pitch\"] = 0.0\n",
     "\n",
     "make_simulator_from_settings(sim_settings)\n",
     "\n",
diff --git a/examples/tutorials/notebooks/ECCV_2020_Interactivity.ipynb b/examples/tutorials/notebooks/ECCV_2020_Interactivity.ipynb
@@ -170,7 +170,7 @@
     "            settings[\"sensor_height\"] + 0.2,\n",
     "            0.2,\n",
     "        ]\n",
-    "        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]\n",
+    "        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0.0, 0.0]\n",
     "        color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
     "        sensor_specs.append(color_sensor_3rd_person_spec)\n",
     "\n",
@@ -973,7 +973,7 @@
     "sim_settings[\"scene\"] = os.path.join(\n",
     "    data_path, \"scene_datasets/habitat-test-scenes/apartment_1.glb\"\n",
     ")\n",
-    "sim_settings[\"sensor_pitch\"] = 0\n",
+    "sim_settings[\"sensor_pitch\"] = 0.0\n",
     "\n",
     "make_simulator_from_settings(sim_settings)"
    ]
@@ -1304,7 +1304,7 @@
     "# fmt: off\n",
     "sim_settings[\"scene\"] = os.path.join(data_path, \"scene_datasets/mp3d_example/17DRP5sb8fy/17DRP5sb8fy.glb\")  # @param{type:\"string\"}\n",
     "# fmt: on\n",
-    "sim_settings[\"sensor_pitch\"] = 0\n",
+    "sim_settings[\"sensor_pitch\"] = 0.0\n",
     "sim_settings[\"sensor_height\"] = 0.6\n",
     "sim_settings[\"color_sensor_3rd_person\"] = True\n",
     "sim_settings[\"depth_sensor_1st_person\"] = True\n",
diff --git a/examples/tutorials/notebooks/ReplicaCAD_quickstart.ipynb b/examples/tutorials/notebooks/ReplicaCAD_quickstart.ipynb
@@ -127,7 +127,7 @@
     "        \"scene\": \"NONE\",  # Scene path\n",
     "        \"default_agent\": 0,\n",
     "        \"sensor_height\": 1.5,  # Height of sensors in meters\n",
-    "        \"sensor_pitch\": 0,  # sensor pitch (x rotation in rads)\n",
+    "        \"sensor_pitch\": 0.0,  # sensor pitch (x rotation in rads)\n",
     "        \"seed\": 1,\n",
     "        \"enable_physics\": True,  # enable dynamics simulation\n",
     "    }\n",
diff --git a/examples/tutorials/notebooks/asset_viewer.ipynb b/examples/tutorials/notebooks/asset_viewer.ipynb
@@ -167,7 +167,7 @@
     "            settings[\"sensor_height\"] + 0.2,\n",
     "            0.2,\n",
     "        ]\n",
-    "        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0, 0]\n",
+    "        color_sensor_3rd_person_spec.orientation = [-math.pi / 4, 0.0, 0.0]\n",
     "        color_sensor_3rd_person_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
     "        sensor_specs.append(color_sensor_3rd_person_spec)\n",
     "\n",
@@ -733,7 +733,7 @@
     "\n",
     "sim_settings = make_default_settings()\n",
     "sim_settings[\"scene\"] = \"none\"\n",
-    "sim_settings[\"sensor_pitch\"] = 0\n",
+    "sim_settings[\"sensor_pitch\"] = 0.0\n",
     "sim_settings[\"override_scene_light_defaults\"] = True\n",
     "sim_settings[\"scene_light_setup\"] = \"\"\n",
     "\n",
diff --git a/examples/tutorials/notebooks/managed_rigid_object_tutorial.ipynb b/examples/tutorials/notebooks/managed_rigid_object_tutorial.ipynb
@@ -71,7 +71,7 @@
     "    rgba_camera_3rdperson_spec.sensor_type = habitat_sim.SensorType.COLOR\n",
     "    rgba_camera_3rdperson_spec.resolution = camera_resolution\n",
     "    rgba_camera_3rdperson_spec.position = [0.0, 1.0, 0.3]\n",
-    "    rgba_camera_3rdperson_spec.orientation = [-45, 0.0, 0.0]\n",
+    "    rgba_camera_3rdperson_spec.orientation = [-45.0, 0.0, 0.0]\n",
     "    rgba_camera_3rdperson_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE\n",
     "    sensor_specs.append(rgba_camera_3rdperson_spec)\n",
     "\n",
diff --git a/src_python/habitat_sim/utils/settings.py b/src_python/habitat_sim/utils/settings.py
@@ -100,8 +100,10 @@ def make_cfg(settings: Dict[str, Any]):
     def create_camera_spec(**kw_args):
         camera_sensor_spec = habitat_sim.CameraSensorSpec()
         camera_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
-        camera_sensor_spec.resolution = [settings["height"], settings["width"]]
-        camera_sensor_spec.position = [0, settings["sensor_height"], 0]
+        camera_sensor_spec.resolution = mn.Vector2i(
+            [settings["height"], settings["width"]]
+        )
+        camera_sensor_spec.position = mn.Vector3(0, settings["sensor_height"], 0)
         for k in kw_args:
             setattr(camera_sensor_spec, k, kw_args[k])
         return camera_sensor_spec
@@ -186,11 +188,13 @@ def create_fisheye_spec(**kw_args):
         fisheye_sensor_spec.alpha = 0.57
         fisheye_sensor_spec.focal_length = [364.84, 364.86]
 
-        fisheye_sensor_spec.resolution = [settings["height"], settings["width"]]
+        fisheye_sensor_spec.resolution = mn.Vector2i(
+            [settings["height"], settings["width"]]
+        )
         # The default principal_point_offset is the middle of the image
         fisheye_sensor_spec.principal_point_offset = None
         # default: fisheye_sensor_spec.principal_point_offset = [i/2 for i in fisheye_sensor_spec.resolution]
-        fisheye_sensor_spec.position = [0, settings["sensor_height"], 0]
+        fisheye_sensor_spec.position = mn.Vector3(0, settings["sensor_height"], 0)
         for k in kw_args:
             setattr(fisheye_sensor_spec, k, kw_args[k])
         return fisheye_sensor_spec
@@ -218,8 +222,10 @@ def create_equirect_spec(**kw_args):
         equirect_sensor_spec = habitat_sim.EquirectangularSensorSpec()
         equirect_sensor_spec.uuid = "equirect_rgba_sensor"
         equirect_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
-        equirect_sensor_spec.resolution = [settings["height"], settings["width"]]
-        equirect_sensor_spec.position = [0, settings["sensor_height"], 0]
+        equirect_sensor_spec.resolution = mn.Vector2i(
+            [settings["height"], settings["width"]]
+        )
+        equirect_sensor_spec.position = mn.Vector3(0, settings["sensor_height"], 0)
         for k in kw_args:
             setattr(equirect_sensor_spec, k, kw_args[k])
         return equirect_sensor_spec

Original file line number	Diff line number	Diff line change
`@@ -136,7 +136,7 @@ def make_default_settings():`
`136`	`136`	`"scene": "NONE", # Scene path`
`137`	`137`	`"default_agent": 0,`
`138`	`138`	`"sensor_height": 1.5, # Height of sensors in meters`
`139`		`- "sensor_pitch": 0, # sensor pitch (x rotation in rads)`
	`139`	`+ "sensor_pitch": 0.0, # sensor pitch (x rotation in rads)`
`140`	`140`	`"seed": 1,`
`141`	`141`	`"enable_physics": True, # enable dynamics simulation`
`142`	`142`	`}`