fix camera pose writing in gen_hm3dsem_from_poses

.gitignore

@@ -2,4 +2,7 @@
 *.pth
 *.pyc
 *.pyo
-/hovsg.egg-info
+/hovsg.egg-info
+/data/hm3dsem_walks
+/data/scene_graphs
+/outputs

README.md

@@ -200,7 +200,7 @@ The Data folder should have the following structure:
 
 ### Create Scene Graphs (only for Habitat Matterport 3D Semantics):
 ```bash
-python application/create_graph.py main.dataset=hm3dsem main.dataset_path=hm3dsem_walks/val/00824-Dd4bFSTQ8gi/ main.save_path=data/scene_graphs/00824-Dd4bFSTQ8gi
+python application/create_graph.py main.dataset=hm3dsem main.dataset_path=data/hm3dsem_walks/val/00824-Dd4bFSTQ8gi/ main.save_path=data/scene_graphs/00824-Dd4bFSTQ8gi
 ```
 <details>
   <summary>This will generate a scene graph for the specified RGB-D sequence and save it. The following files are generated:</summary>

data/habitat/habitat_utils.py

@@ -234,8 +234,14 @@ def save_obs(
     save_dir = os.path.join(root_save_dir, "pose")
     os.makedirs(save_dir, exist_ok=True)
     save_path = os.path.join(save_dir, save_name)
-    with open(save_path, "wb") as f:
-        np.savetxt(f, pose)
+    # convert quaternion to rotation matrix
+    rot = R.from_quat(pose[3:])
+    pose_mat = np.eye(4)
+    pose_mat[:3, :3] = rot.as_matrix()
+    pose_mat[:3, 3] = pose[:3]
+    with open(save_path, "w") as f:
+        f.write("\t".join([str(x) for x in pose_mat.flatten()]))
+        f.write("\n")