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facebookresearch · Jan 22, 2024 · 6a2691c · 6a2691c
1 parent 09d2c9a
commit 6a2691c
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Showing 3 changed files with 7 additions and 6 deletions.
diff --git a/src/utils/datatool/Datatool.cpp b/src/utils/datatool/Datatool.cpp
@@ -24,6 +24,7 @@ using esp::assets::SceneLoader;
 using esp::nav::NavMeshSettings;
 using esp::nav::PathFinder;
 using esp::scene::SemanticScene;
+using Magnum::Math::Literals::operator""_degf;
 
 int createNavMesh(const std::string& meshFile, const std::string& navmeshFile) {
   SceneLoader loader;
@@ -96,8 +97,8 @@ int createGibsonSemanticMesh(const std::string& objFile,
   f << "end_header" << std::endl;
 
   // We need to rotate to match .glb where -Z is gravity
-  const Mn::Quaternion transform = esp::core::quatRotFromTwoVectors(
-      Mn::Vector3::yAxis(), Mn::Vector3::zAxis());
+  const Mn::Quaternion transform =
+      Mn::Quaternion::rotation(90.0_degf, Mn::Vector3::xAxis());
   for (size_t i = 0; i < numVerts; ++i) {
     unsigned char gray[] = {0x80, 0x80, 0x80};
     float* components = &attrib.vertices[i * 3];

diff --git a/src/utils/datatool/Mp3dInstanceMeshData.cpp b/src/utils/datatool/Mp3dInstanceMeshData.cpp
@@ -144,14 +144,14 @@ bool Mp3dInstanceMeshData::saveSemMeshPLY(
 
   for (int iVertex = 0; iVertex < nVertex; ++iVertex) {
     const Mn::Vector3& xyz = cpu_vbo_[iVertex];
-    const Mn::Vector3ui& rgb = cpu_cbo_[iVertex];
+    const Mn::Vector3ub& rgb = cpu_cbo_[iVertex];
     f.write(reinterpret_cast<const char*>(xyz.data()), 3 * sizeof(float));
     f.write(reinterpret_cast<const char*>(rgb.data()), 3 * sizeof(uint8_t));
   }
 
   for (int iFace = 0; iFace < perFaceIdxs_.size(); ++iFace) {
     const uint8_t nIndices = 3;
-    const Mn::Vector3i& indices = perFaceIdxs_[iFace];
+    const Mn::Vector3ui& indices = perFaceIdxs_[iFace];
     // The materialId corresponds to the segmentId from the .house file
     const int32_t segmentId = materialIds_[iFace];
     int32_t objectId = ID_UNDEFINED;

diff --git a/src/utils/datatool/Mp3dInstanceMeshData.h b/src/utils/datatool/Mp3dInstanceMeshData.h
@@ -36,8 +36,8 @@ class Mp3dInstanceMeshData {
 
  protected:
   std::vector<Magnum::Vector3> cpu_vbo_;
-  std::vector<Magnum::Vector3ui> cpu_cbo_;
-  std::vector<Magnum::Vector3i> perFaceIdxs_;
+  std::vector<Magnum::Vector3ub> cpu_cbo_;
+  std::vector<Magnum::Vector3ui> perFaceIdxs_;
   std::vector<int> materialIds_;
   std::vector<int> segmentIds_;
   std::vector<int> categoryIds_;