Semantic sensor position is wrong

[daqq-qqer]

Semantic sensor position is wrong

I follow ECCV_2020_Navigation.ipynb(https://github.com/facebookresearch/habitat-sim/blob/main/examples/tutorials/notebooks/ECCV_2020_Navigation.ipynb) to test Navigation in Habitat-sim. But the semantic sonsor position is wrong, the RGB and Depth is right.

my code is:

rgb_sensor = True  
depth_sensor = True 
semantic_sensor = True  
sim_settings = {
"width": 256,  
"height": 256,
"scene": test_scene,  
"default_agent": 0, 
"sensor_height": 1.5,  
"color_sensor": rgb_sensor,  
"depth_sensor": depth_sensor,  
"semantic_sensor": semantic_sensor,  
"seed": 1,  
"enable_physics": False,  
}
def make_simple_cfg(settings):
    sim_cfg = habitat_sim.SimulatorConfiguration() 
    sim_cfg.gpu_device_id = 0 
    sim_cfg.scene_id = settings["scene"] 
    sim_cfg.enable_physics = settings["enable_physics"] 

# Note: all sensors must have the same resolution
sensor_specs = []

color_sensor_spec = habitat_sim.CameraSensorSpec()
color_sensor_spec.uuid = "color_sensor" 
color_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
color_sensor_spec.resolution = [settings["height"], settings["width"]]
color_sensor_spec.position = [0.0, settings["sensor_height"], 0.0]
color_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
sensor_specs.append(color_sensor_spec) 

depth_sensor_spec = habitat_sim.CameraSensorSpec()
depth_sensor_spec.uuid = "depth_sensor"
depth_sensor_spec.sensor_type = habitat_sim.SensorType.DEPTH
depth_sensor_spec.resolution = [settings["height"], settings["width"]]
depth_sensor_spec.position = [0.0, settings["sensor_height"], 0.0]
depth_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
sensor_specs.append(depth_sensor_spec) 

semantic_sensor_spec = habitat_sim.CameraSensorSpec()
semantic_sensor_spec.uuid = "semantic_sensor"
semantic_sensor_spec.sensor_type = habitat_sim.SensorType.SEMANTIC
semantic_sensor_spec.resolution = [settings["height"], settings["width"]]
semantic_sensor_spec.position = [0.0, settings["sensor_height"], 0.0]
semantic_sensor_spec.sensor_subtype = habitat_sim.SensorSubType.PINHOLE
sensor_specs.append(semantic_sensor_spec) # 将semantic_sensor_spec加入到sensor_specs中

# Here you can specify the amount of displacement in a forward action and the turn angle
agent_cfg = habitat_sim.agent.AgentConfiguration()
agent_cfg.sensor_specifications = sensor_specs
agent_cfg.action_space = {
    "move_forward": habitat_sim.agent.ActionSpec(
        "move_forward", habitat_sim.agent.ActuationSpec(amount=0.25) 
    ),
    "turn_left": habitat_sim.agent.ActionSpec(
        "turn_left", habitat_sim.agent.ActuationSpec(amount=30.0) 
    ),
    "turn_right": habitat_sim.agent.ActionSpec(
        "turn_right", habitat_sim.agent.ActuationSpec(amount=30.0) 
    ),
}
return habitat_sim.Configuration(sim_cfg, [agent_cfg])


cfg = make_simple_cfg(sim_settings)
sim = habitat_sim.Simulator(cfg)
random.seed(sim_settings["seed"])
sim.seed(sim_settings["seed"])

# initialize an agent
agent = sim.initialize_agent(sim_settings["default_agent"])

# Set agent state
agent_state = habitat_sim.AgentState()
agent_state.position = np.array([-0.6, 0.0, 0.0])  # in world space
agent.set_state(agent_state)

# Get agent state
agent_state = agent.get_state()
print("agent_state: position", agent_state.position, "rotation", agent_state.rotation)

action_names = list(cfg.agents[sim_settings["default_agent"]].action_space.keys())
print("Discrete action space: ", action_names)

total_frames = 0
action_names = list(cfg.agents[sim_settings["default_agent"]].action_space.keys())

max_frames = 5
while total_frames < max_frames:
    action = random.choice(action_names)
    print("action", action)
    observations = sim.step(action)
    rgb = observations["color_sensor"]
    semantic = observations["semantic_sensor"]
    depth = observations["depth_sensor"]

    if display:
        display_sample(rgb, semantic, depth)

    total_frames += 1

Habitat version

habitat 0.2.1
habitat_sim 0.2.1