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The THOR medatada for agent pose and objects seems to live in the native Unity left-handed coordinate system. This might be confusing for people who are not familiar with how Unity works as right-handed coordinate systems are much more common. For example, creating point clouds in world space using allenact.embodiedai.mapping.mapping_utils.point_cloud_utils.depth_frame_to_camera_space_xyz and allenact.embodiedai.mapping.mapping_utils.point_cloud_utils.camera_space_xyz_to_world_xyz and visualizing in meshlab will give the appearance of a flip (as seen below). Ultimately this should be handled on the user side, but it should be clear that THOR is using a left-handed coordinate system. Hence updated THOR docs and docs for allenact.embodiedai.mapping.mapping_utils.point_cloud_utils would be helpful.
Problem
The THOR medatada for agent pose and objects seems to live in the native Unity left-handed coordinate system. This might be confusing for people who are not familiar with how Unity works as right-handed coordinate systems are much more common. For example, creating point clouds in world space using
allenact.embodiedai.mapping.mapping_utils.point_cloud_utils.depth_frame_to_camera_space_xyz
andallenact.embodiedai.mapping.mapping_utils.point_cloud_utils.camera_space_xyz_to_world_xyz
and visualizing in meshlab will give the appearance of a flip (as seen below). Ultimately this should be handled on the user side, but it should be clear that THOR is using a left-handed coordinate system. Hence updated THOR docs and docs forallenact.embodiedai.mapping.mapping_utils.point_cloud_utils
would be helpful.Steps to reproduce
Screenshots
Image from THOR:
Back-projected visualization in meshlab:
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