get_camera_transform
from habitat.tasks.rearrange.utils
uses inconsistent getting method
#1804
Labels
bug
Something isn't working
Habitat-Lab and Habitat-Sim versions
Habitat-Lab: v0.3.0 or master?
Habitat-Sim: v0.3.0 or master?
Habitat is under active development, and we advise users to restrict themselves to stable releases of Habitat-Lab and Habitat-Sim. The bug you are about to report may already be fixed in the latest version.
Master branch contains 'bleeding edge' code, but we do appreciate bug reports for it!
🐛 Bug
The cameras attached to articulated agents are initialized using ArticulatedAgentCameraParams class here. The position for this sensor is set using the logic here. However when
habitat.tasks.rearrange.utils.get_camera_transform
function is used to get the absolute transformation of this camera, the getter applies inconsistent logic taking only the translation component of camera's view-matrix. This leads to a camera-pose with right translation but wrong rotation wrt world frame.Steps to Reproduce
Steps to reproduce the behavior:
get_camera_transform
sim.agents[0]._sensors[<sensor-name>].render_camera.camera_matrix.inverted()
See PCD built with 3 (top) versus with 2 (bottom) below.
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