def create_renderer_params():
from params.renderer_params import get_traversible_dir, get_sbpd_data_dir
p = DotMap()
p.dataset_name = 'sbpd'
p.building_name = 'area3'
p.flip = False
p.camera_params = DotMap(
modalities=['occupancy_grid'], # occupancy_grid, rgb, or depth
width=64,
height=64)
# The robot is modeled as a solid cylinder
# of height, 'height', with radius, 'radius',
# base at height 'base' above the ground
# The robot has a camera at height
# 'sensor_height' pointing at
# camera_elevation_degree degrees vertically
# from the horizontal plane.
p.robot_params = DotMap(
radius=18,
base=10,
height=100,
sensor_height=80,
camera_elevation_degree=-45, # camera tilt
delta_theta=1.0)
# Traversible dir
p.traversible_dir = get_traversible_dir()
# SBPD Data Directory
p.sbpd_data_dir = get_sbpd_data_dir()
return p
def create_renderer_params():
"""
Used to generate the parameters for the environment, building and traversibles
"""
from params.renderer_params import get_traversible_dir, get_sbpd_data_dir
p = DotMap()
p.dataset_name = 'sbpd' # Stanford Building Parser Dataset (SBPD)
p.building_name = 'area3' # Name of the building (change to whatever is downloaded on your system)
p.flip = False
p.camera_params = DotMap(
modalities=['occupancy_grid'], # occupancy_grid, rgb, or depth
width=64,
height=64)
# The robot is modeled as a solid cylinder
# of height, 'height', with radius, 'radius',
# base at height 'base' above the ground
# The robot has a camera at height
# 'sensor_height' pointing at
# camera_elevation_degree degrees vertically
# from the horizontal plane.
p.robot_params = DotMap(
radius=18,
base=10,
height=100,
sensor_height=80,
camera_elevation_degree=-45, # camera tilt
delta_theta=1.0)
# Traversible dir
p.traversible_dir = get_traversible_dir()
# SBPD Data Directory
p.sbpd_data_dir = get_sbpd_data_dir()
return p