--Add Panoptic/Instance ID support to Semantic sensor#2316
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…ctors Part of ongoing effort to remove redundant Eigen dependency.
…ion. --Need floating point values for list/np.array initialization.
TODO this requires changes to hard-coded stage ID setting in habitat lab.
This field is ignored if semantics are not rendered.
The render camera knows which semantic data it needs from each scene node, and the scene nodes know all their appropriate data.
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aclegg3
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Feb 27, 2024
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Feb 27, 2024
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Overall good, but one more question about the subtree treatment of the semantic vector.
| SceneNode* node = new SceneNode(*this); | ||
| node->setId(this->getId()); | ||
| node->setSceneNodeTags(childNodeTags); | ||
| node->setSemanticIDVector(this->getSemanticIDVector()); |
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Could this accidentally copy the drawable_id to non-drawable sub nodes?
aclegg3
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Feb 28, 2024
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Motivation and Context
This PR will add the ability to have the semantic sensor produce images containing object ID of the objects rendered per-pixel in the same way that it currently produces semantic ID observations.
Until this PR in habitat-lab is merged, this PR will fail on lab tests due to hard-coded references to the stage ID.
NOTE (side thesis): This PR also refactors many uses of Eigen vec classes to Magnum instead.
How Has This Been Tested
Locally c++ and python tests pass
Types of changes
Checklist