create sementic maps

[leyuan-sun]

PONI/scripts/create_semantic_maps.py

Lines 190 to 196 in 30682c2

	p1 = ply_data["vertex"][vids[0]]
	p1 = [p1[0], p1[2], -p1[1]]
	p2 = ply_data["vertex"][vids[1]]
	p2 = [p2[0], p2[2], -p2[1]]
	p3 = ply_data["vertex"][vids[2]]
	p3 = [p3[0], p3[2], -p3[1]]
	obj_id_to_faces[obj_id].append([p1, p2, p3])

could you plz explain why you change the vertex order in semantic.ply file to [x z -y] for all objects?

[srama2512]

The coordinate convention from the PLY file does not match habitat's. This transformation will convert it to habitat's format.

[leyuan-sun]

I see, since I am converting the obj file generated by 3D scene graph annotations, I found out that the vertex position is different between semantic.ply and .obj file (from 3D scene graph), do you know why? But the visualization of .ply and .obj looks same. Besides, could you let me know where is the definition of habitat's format. Thanks!!!