Magnum Renderer

.pre-commit-config.yaml

@@ -42,7 +42,7 @@ repos:
         exclude: docs/
 
 -   repo: https://github.com/ambv/black
-    rev: 21.5b2
+    rev: 22.3.0
     hooks:
     - id: black
       exclude: ^examples/tutorials/(nb_python|colabs)

habitat_sim/__init__.py

@@ -60,6 +60,7 @@
         SceneNodeType,
         SimulatorConfiguration,
         built_with_bullet,
+        build_type,
         cuda_enabled,
         vhacd_enabled,
     )

habitat_sim/bindings/__init__.py

@@ -39,6 +39,7 @@
     SimulatorConfiguration,
     VisualSensorSpec,
     built_with_bullet,
+    build_type,
     cuda_enabled,
     vhacd_enabled,
 )

habitat_sim/utils/datasets_download.py

@@ -35,6 +35,20 @@ def hm3d_train_configs_post(extract_dir: str) -> List[str]:
     return [link_name]
 
 
+def hm3d_semantic_configs_post(extract_dir: str) -> List[str]:
+    all_scene_dataset_cfg = os.path.join(
+        extract_dir, "hm3d_annotated_basis.scene_dataset_config.json"
+    )
+    assert os.path.exists(all_scene_dataset_cfg)
+
+    dst_name = os.path.join(
+        extract_dir, "..", "hm3d_annotated_basis.scene_dataset_config.json"
+    )
+    os.replace(all_scene_dataset_cfg, dst_name)
+
+    return [dst_name]
+
+
 def initialize_test_data_sources(data_path):
     global data_sources
     global data_groups
@@ -75,10 +89,10 @@ def initialize_test_data_sources(data_path):
             "version": "0.2",
         },
         "mp3d_example_scene": {
-            "source": "http://dl.fbaipublicfiles.com/habitat/mp3d_example.zip",
-            "package_name": "mp3d_example.zip",
+            "source": "http://dl.fbaipublicfiles.com/habitat/mp3d/mp3d_example_v1.1.zip",
+            "package_name": "mp3d_example_v1.1.zip",
             "link": data_path + "scene_datasets/mp3d_example",
-            "version": "1.0",
+            "version": "1.1",
         },
         "coda_scene": {
             "source": "https://dl.fbaipublicfiles.com/habitat/coda_v1.0.zip",
@@ -95,22 +109,22 @@ def initialize_test_data_sources(data_path):
             "version": "1.0",
         },
         "replica_cad_dataset": {
-            "source": "https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_dataset_v1.1.zip",
-            "package_name": "ReplicaCAD_dataset_v1.1.zip",
+            "source": "https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_dataset_v1.5.zip",
+            "package_name": "ReplicaCAD_dataset_v1.5.zip",
             "link": data_path + "replica_cad",
-            "version": "1.1",
+            "version": "1.5",
         },
         "replica_cad_baked_lighting": {
-            "source": "https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_baked_lighting_v1.1.zip",
-            "package_name": "ReplicaCAD_baked_lighting_v1.1.zip",
+            "source": "https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/ReplicaCAD_baked_lighting_v1.5.zip",
+            "package_name": "ReplicaCAD_baked_lighting_v1.5.zip",
             "link": data_path + "replica_cad_baked_lighting",
-            "version": "1.1",
+            "version": "1.5",
         },
         "ycb": {
-            "source": "https://dl.fbaipublicfiles.com/habitat/ycb/hab_ycb_v1.0.zip",
-            "package_name": "hab_ycb_v1.0.zip",
+            "source": "https://dl.fbaipublicfiles.com/habitat/ycb/hab_ycb_v1.1.zip",
+            "package_name": "hab_ycb_v1.1.zip",
             "link": data_path + "objects/ycb",
-            "version": "1.0",
+            "version": "1.1",
         },
         "hab_fetch": {
             "source": "http://dl.fbaipublicfiles.com/habitat/hab_fetch_v1.0.zip",
@@ -124,6 +138,18 @@ def initialize_test_data_sources(data_path):
             "link": data_path + "datasets/rearrange_pick/replica_cad/v0",
             "version": "1.0",
         },
+        "rearrange_dataset_v1": {
+            "source": "https://dl.fbaipublicfiles.com/habitat/data/datasets/replica_cad/v1.zip",
+            "package_name": "v1.zip",
+            "link": data_path + "datasets/replica_cad/rearrange",
+            "version": "1.0",
+        },
+        "hab2_bench_assets": {
+            "source": "https://dl.fbaipublicfiles.com/habitat/ReplicaCAD/hab2_bench_assets.zip",
+            "package_name": "hab2_bench_assets.zip",
+            "link": data_path + "hab2_bench_assets",
+            "version": "1.0",
+        },
     }
 
     data_sources.update(
@@ -179,6 +205,59 @@ def initialize_test_data_sources(data_path):
         }
     )
 
+    data_sources.update(
+        {
+            f"hm3d_{split}_semantic_{data_format}_v0.1": {
+                "source": "https://api.matterport.com/resources/habitat/hm3d-{split}-semantic-{data_format}-v0.1.tar{ext}".format(
+                    ext=".gz" if data_format == "annots" else "",
+                    split=split,
+                    data_format=data_format,
+                ),
+                "download_pre_args": "--location",
+                "package_name": "hm3d-{split}-semantic-{data_format}-v0.1.tar{ext}".format(
+                    ext=".gz" if data_format == "annots" else "",
+                    split=split,
+                    data_format=data_format,
+                ),
+                "link": data_path + "scene_datasets/hm3d",
+                "version": "1.0",
+                "version_dir": "hm3d-{version}/hm3d",
+                "extract_postfix": f"{split}",
+                "downloaded_file_list": f"hm3d-{{version}}/{split}-semantic-{data_format}-files.json.gz",
+                "requires_auth": True,
+                "use_curl": True,
+                "post_extract_fn": hm3d_semantic_configs_post
+                if data_format == "configs"
+                else None,
+            }
+            for split, data_format in itertools.product(
+                ["minival", "train", "val"],
+                ["annots", "configs"],
+            )
+        }
+    )
+
+    data_sources.update(
+        {
+            f"hm3d_example_semantic_{data_format}_v0.1": {
+                "source": "https://github.com/matterport/habitat-matterport-3dresearch/raw/main/example/hm3d-example-semantic-{data_format}-v0.1.tar{ext}".format(
+                    ext=".gz" if data_format == "annots" else "",
+                    data_format=data_format,
+                ),
+                "package_name": "hm3d-example-semantic-{data_format}-v0.1.tar{ext}".format(
+                    ext=".gz" if data_format == "annots" else "",
+                    data_format=data_format,
+                ),
+                "link": data_path + "scene_datasets/hm3d",
+                "version": "1.0",
+                "version_dir": "hm3d-{version}/hm3d",
+                "extract_postfix": "example",
+                "downloaded_file_list": f"hm3d-{{version}}/example-semantic-{data_format}-files.json.gz",
+            }
+            for data_format in ["annots", "configs"]
+        }
+    )
+
     # data sources can be grouped for batch commands with a new uid
     data_groups = {
         "ci_test_assets": [
@@ -196,11 +275,42 @@ def initialize_test_data_sources(data_path):
             "hab_fetch",
             "ycb",
             "rearrange_pick_dataset_v0",
+            "rearrange_dataset_v1",
+        ],
+        "hm3d_example": [
+            "hm3d_example_habitat",
+            "hm3d_example_configs",
+            "hm3d_example_semantic_annots_v0.1",
+            "hm3d_example_semantic_configs_v0.1",
+        ],
+        "hm3d_val": [
+            "hm3d_val_habitat",
+            "hm3d_val_configs",
+            "hm3d_val_semantic_annots_v0.1",
+            "hm3d_val_semantic_configs_v0.1",
+        ],
+        "hm3d_train": [
+            "hm3d_train_habitat",
+            "hm3d_train_configs",
+            "hm3d_train_semantic_annots_v0.1",
+            "hm3d_train_semantic_configs_v0.1",
+        ],
+        "hm3d_minival": [
+            "hm3d_minival_habitat",
+            "hm3d_minival_configs",
+            "hm3d_minival_semantic_annots_v0.1",
+            "hm3d_minival_semantic_configs_v0.1",
+        ],
+        "hm3d_semantics": [
+            "hm3d_example_semantic_annots_v0.1",
+            "hm3d_example_semantic_configs_v0.1",
+            "hm3d_val_semantic_annots_v0.1",
+            "hm3d_val_semantic_configs_v0.1",
+            "hm3d_train_semantic_annots_v0.1",
+            "hm3d_train_semantic_configs_v0.1",
+            "hm3d_minival_semantic_annots_v0.1",
+            "hm3d_minival_semantic_configs_v0.1",
         ],
-        "hm3d_example": ["hm3d_example_habitat", "hm3d_example_configs"],
-        "hm3d_val": ["hm3d_val_habitat", "hm3d_val_configs"],
-        "hm3d_train": ["hm3d_train_habitat", "hm3d_train_configs"],
-        "hm3d_minival": ["hm3d_minival_habitat", "hm3d_minival_configs"],
         "hm3d_full": list(filter(lambda k: k.startswith("hm3d_"), data_sources.keys())),
     }
 

habitat_sim/utils/viz_utils.py

@@ -32,7 +32,7 @@ def is_notebook() -> bool:
         return True
 
 
-def get_fast_video_writer(video_file: str, fps: int = 60):
+def get_fast_video_writer(video_file: str, fps: int = 60, include_frame_number = False):
     if (
         "google.colab" in sys.modules
         and os.path.splitext(video_file)[-1] == ".mp4"
@@ -51,7 +51,11 @@ def get_fast_video_writer(video_file: str, fps: int = 60):
         )
     else:
         # Use software encoding
-        writer = imageio.get_writer(video_file, fps=fps)
+        output_params = [
+                "-vf", 
+                "drawtext=fontfile=Arial.ttf: text='%{frame_num}': start_number=0: x=0: y=1: fontcolor=black: fontsize=10: box=1: boxcolor=white: boxborderw=1"
+                ] if include_frame_number else None
+        writer = imageio.get_writer(video_file, fps=fps, output_params=output_params)
     return writer
 
 
@@ -210,6 +214,7 @@ def make_video(
     overlay_settings: Optional[List[Dict[str, Any]]] = None,
     depth_clip: Optional[float] = 10.0,
     observation_to_image=observation_to_image,
+    include_frame_number = False,
 ):
     """Build a video from a passed observations array, with some images optionally overlayed.
     :param observations: List of observations from which the video should be constructed.
@@ -233,7 +238,7 @@ def make_video(
     if not video_file.endswith(".mp4"):
         video_file = video_file + ".mp4"
     print("Encoding the video: %s " % video_file)
-    writer = get_fast_video_writer(video_file, fps=fps)
+    writer = get_fast_video_writer(video_file, fps=fps, include_frame_number=include_frame_number)
     observation_to_image = partial(observation_to_image, depth_clip=depth_clip)
 
     for ob in observations: