[HM3D]--Connected Components Utility; CC-based Semantic BBox generation; Mesh connectivity reporting#1669
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jturner65 merged 19 commits intofacebookresearch:mainfrom Feb 23, 2022
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Performance improvements
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Thanks as always @Skylion007 :) |
Also move conditionalDFS to geo, to make available for others to use.
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Also add semantic OBJ bbox setting based on largest volume CC.
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Motivation and Context
This PR adds the following functionality :
Derive connected components on a set of vertices conditioned on some vertex attribute, such as color. It finds all cc's that share the same vertex attribute value, finds the AABB of the resultant vertex cloud, and aggregates the results into a map keyed by semantic object IDX.
Semantic BBoxes are being generated when needed (currently only in HM3D dataset) using CC with largest BBox (by volume) for a particular semantic annotation.
Reporting tools are provided through viewer, including the ability to go through all the scenes in a dataset to derive and save the report to csv file. A python binding is also provided to give access to this data.
How Has This Been Tested
All existing local c++ and python tests pass.
Types of changes
Checklist