def testRender(self):
env = BasicEnvironment("0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
depth=True)
env.agent.setPos(LVector3f(42, -39, 1))
env.agent.setHpr(LVector3f(60.0, 0.0, 0.0))
env.step()
image = env.renderWorld.getRgbImages()['agent-0']
depth = env.renderWorld.getDepthImages(mode='distance')['agent-0']
fig = plt.figure(figsize=(16, 8))
plt.axis("off")
ax = plt.subplot(121)
ax.imshow(image)
ax = plt.subplot(122)
ax.imshow(depth / np.max(depth), cmap='binary')
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
env.destroy()
def worker():
env = BasicEnvironment("0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
depth=False,
debug=True)
env.agent.setPos(LVector3f(45, -42, 1))
env.agent.setHpr(LVector3f(45.0, 0.0, 0.0))
# Simulation loop
for _ in range(nbSteps):
env.step()
_ = env.getObservation()
env.destroy()
def testStep(self):
try:
env = BasicEnvironment(houseId="0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
realtime=True)
env.setAgentOrientation((60.0, 0.0, 0.0))
env.setAgentPosition((42, -39, 1.1))
controller = Controller(env.scene, showPosition=True)
for _ in range(10):
controller.step()
time.sleep(1.0)
finally:
env.destroy()
controller.destroy()
def testGenerateSpawnPositions(self):
env = BasicEnvironment("0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
depth=False)
occupancyMap, occupancyMapCoord, positions = env.generateSpawnPositions(
n=10)
xmin, ymin = np.min(occupancyMapCoord, axis=(0, 1))
xmax, ymax = np.max(occupancyMapCoord, axis=(0, 1))
fig = plt.figure()
plt.axis("on")
ax = plt.subplot(111)
ax.imshow(occupancyMap, cmap='gray', extent=[xmin, xmax, ymin, ymax])
ax.scatter(positions[:, 0], positions[:, 1], s=40, c=[1.0, 0.0, 0.0])
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
env.destroy()