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[Prototype] - Rearrange Scene Evaluation and Collision Proxy Optimizer (CPO) #2078
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Commits on Mar 5, 2024
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add check and solution for invalid raycasts (hits outside bounding sh…
…ape) and some QoL features for viewer
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add debug peek images for ground truth and proxy shapes. Add specifie…
…d output directory. Import Habitat-lab features.
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refactor to better modularize debug image capture suring proxy phase.…
… Validate proxy bounding box is similar to ground truth. Prepare for Recetpacle sampling TODO.
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magenta/alpha clear color for better object contrast. Add Receptacle …
…debug image draw.
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Added: receptacle access metrics v1, receptacle density sampling, hem…
…isphere raycasting, debug draw improvements.
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debug visualization of receptacle access metrics and receptacle verti…
…cal offset option
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bugfix shape id tracking. VHACD collision shape optimization for sele…
…ct subset of objects
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add receptacle debug_draw in viewer. Limit processed objects to those…
… found in a single scene. Re-organize receptacle metrics caching.
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re-align API with habitat-lab mesh_data changes. Add object re-orient…
…ation feature (note: does not correctly re-orient receptacles yet)
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use CollisionProxyOptimizer in viewer tool and remove outdated evalua…
…te_collision_shape func. output_dir is now optional
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separate obj_viewer and (scene)viewer. Add scene viewer features to v…
…isualize receptacles and collision objects.
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viewer.py changes supporting receptacle filtering and loading/saving …
…filter metadata json.
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save coacd output for each shape_id for later copy instead of additio…
…nal recomputation
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add a file annotating object ids which cause caocd trouble to use as …
…a general exclusion set
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refactor viewer for faster rec drawing and collision optimization for…
… optional coacd import
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add ssd removal script for post-processing scene_instance.json files …
…after exporting them from spot_viewer
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Commits on Mar 12, 2024
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Commits on Mar 13, 2024
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--add command line to not build navmesh
For free-look-like behavior
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