def load_building(dataset_name, building_name):
dataset = factory.get_dataset(dataset_name)
navtask = get_args()
cp = navtask.camera_param
rgb_shader, d_shader = renderer.get_shaders(cp.modalities)
r_obj = SwiftshaderRenderer()
r_obj.init_display(width=cp.width,
height=cp.height,
fov=cp.fov,
z_near=cp.z_near,
z_far=cp.z_far,
rgb_shader=rgb_shader,
d_shader=d_shader)
r_obj.clear_scene()
b = VisualNavigationEnv(robot=navtask.robot,
env=navtask.env,
task_params=navtask.task_params,
building_name=building_name,
flip=False,
logdir=None,
building_loader=dataset,
r_obj=r_obj)
b.load_building_into_scene()
b.set_building_visibility(False)
return b
def load_building(dataset_name, building_name):
dataset = factory.get_dataset(dataset_name)
navtask = get_args()
cp = navtask.camera_param
rgb_shader, d_shader = renderer.get_shaders(cp.modalities)
r_obj = SwiftshaderRenderer()
r_obj.init_display(width=cp.width, height=cp.height,
fov=cp.fov, z_near=cp.z_near, z_far=cp.z_far,
rgb_shader=rgb_shader, d_shader=d_shader)
r_obj.clear_scene()
b = VisualNavigationEnv(robot=navtask.robot, env=navtask.env,
task_params=navtask.task_params,
building_name=building_name, flip=False,
logdir=None, building_loader=dataset,
r_obj=r_obj)
b.load_building_into_scene()
b.set_building_visibility(False)
return b