def get_original_map(self):
top_down_map = maps.get_topdown_map_from_sim(
self._sim,
map_resolution=self._map_resolution,
draw_border=self._config.DRAW_BORDER,
)
if self._config.FOG_OF_WAR.DRAW:
self._fog_of_war_mask = np.zeros_like(top_down_map)
else:
self._fog_of_war_mask = None
return top_down_map
def example_get_topdown_map():
config = habitat.get_config(config_paths="configs/tasks/pointnav.yaml")
dataset = habitat.make_dataset(id_dataset=config.DATASET.TYPE,
config=config.DATASET)
with habitat.Env(config=config, dataset=dataset) as env:
env.reset()
top_down_map = maps.get_topdown_map_from_sim(env.sim,
map_resolution=1024)
recolor_map = np.array([[255, 255, 255], [128, 128, 128], [0, 0, 0]],
dtype=np.uint8)
top_down_map = recolor_map[top_down_map]
imageio.imsave(os.path.join(IMAGE_DIR, "top_down_map.png"),
top_down_map)
def get_original_map(self):
top_down_map = maps.get_topdown_map_from_sim(
self._sim,
map_resolution=self._map_resolution,
draw_border=self._config.DRAW_BORDER,
)
# # DEBUG map sensor
# print (top_down_map.shape)
# print (self._ind_x_min, self._ind_x_max)
# print(self._ind_y_min, self._ind_y_max)
# import ipdb; ipdb.set_trace()
if self._config.FOG_OF_WAR.DRAW:
self._fog_of_war_mask = np.zeros_like(top_down_map)
else:
self._fog_of_war_mask = None
return top_down_map