--[TEMP DO NOT MERGE] Hssd ao utilities jt #2379
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…ape) and some QoL features for viewer
…d output directory. Import Habitat-lab features.
… Validate proxy bounding box is similar to ground truth. Prepare for Recetpacle sampling TODO.
…debug image draw.
…isphere raycasting, debug draw improvements.
…cal offset option
…ct subset of objects
… found in a single scene. Re-organize receptacle metrics caching.
…ation feature (note: does not correctly re-orient receptacles yet)
…te_collision_shape func. output_dir is now optional
…isualize receptacles and collision objects.
As an object is created, attributes values are changed in the original object template by values in the scene<Object/AO>Instance attributes. These should not be written to the underlying attributes' source file.
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Enable eventually being able to move the functions to a utility
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… to inappropriate COM correction. Due to a quirk with how object attributes are read and saved, and how a specified COM vector vs an unspecified COM vector in the configuration json is treated by the engine when determining the object origin location, points that were saved with the original configs (which had no COM specified and so therefore relied on rigid object COMs being determined based on bbox center) would be saved in configs that would get a 0,0,0 COM saved as well, inappropriately. Upon subsequent load, this 0,0,0 would be used to determine the object's origin, instead of the bbox COM that was used initially, and the marker points would be displaced from where they belonged. This PR enables the reversal of this displacement. PR#2382 will correct the inappropriate save of COM location, and a subsequent PR will include the internal bindings to the uncorrected COM location that are added to this commit as well.
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Motivation and Context
This is a version of the HSSD ao utilities that has been rebased onto the markerset PR here and has had the work from @aclegg3 's
alex-04_22-marker_set_utilbranch for handling marker placement merged into examples/viewer.pyHow Has This Been Tested
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Checklist