def example_pointnav_draw_target_birdseye_view_agent_on_border():
goal_radius = 0.5
goal = NavigationGoal(position=[0, 0.25, 0], radius=goal_radius)
ii = 0
for x_edge in [-1, 0, 1]:
for y_edge in [-1, 0, 1]:
if not np.bitwise_xor(x_edge == 0, y_edge == 0):
continue
ii += 1
agent_position = np.array([7.8 * x_edge, 0.25, 7.8 * y_edge])
agent_rotation = np.pi / 2
dummy_episode = NavigationEpisode(
goals=[goal],
episode_id="dummy_id",
scene_id="dummy_scene",
start_position=agent_position,
start_rotation=agent_rotation,
)
target_image = maps.pointnav_draw_target_birdseye_view(
agent_position,
agent_rotation,
np.asarray(dummy_episode.goals[0].position),
goal_radius=dummy_episode.goals[0].radius,
agent_radius_px=25,
)
imageio.imsave(
os.path.join(IMAGE_DIR,
"pointnav_target_image_edge_%d.png" % ii),
target_image,
)
def example_pointnav_draw_target_birdseye_view():
goal_radius = 0.5
goal = NavigationGoal([10, 0.25, 10], goal_radius)
agent_position = np.array([0, 0.25, 0])
agent_rotation = -np.pi / 4
dummy_episode = NavigationEpisode(
[goal],
episode_id="dummy_id",
scene_id="dummy_scene",
start_position=agent_position,
start_rotation=agent_rotation,
)
target_image = maps.pointnav_draw_target_birdseye_view(
agent_position,
agent_rotation,
np.asarray(dummy_episode.goals[0].position),
goal_radius=dummy_episode.goals[0].radius,
agent_radius_px=25,
)
imageio.imsave("pointnav_target_image.png", target_image)