def get_observation(self, *args: Any, observations, episode,
**kwargs: Any):
agent_state = self._sim.get_agent_state()
if self.config.GT_TYPE == "grown_occupancy":
sim_depth = observations["depth"]
ego_map_gt_anticipated = self._get_grown_depth_projection(
episode,
agent_state,
sim_depth,
)
elif self.config.GT_TYPE == "full_occupancy":
ego_map_gt_anticipated = self._get_mesh_occupancy(
episode,
agent_state,
)
elif self.config.GT_TYPE == "wall_occupancy":
sim_depth = observations["depth"]
full_occupancy = self._get_mesh_occupancy(
episode,
agent_state,
)
wall_occupancy = self._get_wall_occupancy(
episode,
agent_state,
)
# Invalid points are zeros
wall_top_down = ((1 - wall_occupancy[..., 0]).T).astype(np.uint8)
current_mask = np.zeros_like(wall_top_down)
current_point = np.array([
(wall_top_down.shape[0] + 1) // 2,
(wall_top_down.shape[1] - 1),
])
current_angle = -np.radians(90)
current_mask = fog_of_war.reveal_fog_of_war(
wall_top_down,
current_mask,
current_point,
current_angle,
self.config.WALL_FOV,
max_line_len=100.0,
).T
# Add the GT ego map to this
ego_map_gt = self._get_depth_projection(sim_depth)
current_mask = np.maximum(current_mask, ego_map_gt[..., 1])
dilation_mask = np.ones((5, 5))
current_mask = cv2.dilate(
current_mask.astype(np.float32),
dilation_mask,
iterations=2,
).astype(np.float32)
ego_map_gt_anticipated = full_occupancy * current_mask[:, :,
np.newaxis]
return ego_map_gt_anticipated
def update_fog_of_war_mask(self, agent_position):
if self._config.FOG_OF_WAR.DRAW:
self._fog_of_war_mask = fog_of_war.reveal_fog_of_war(
self._top_down_map,
self._fog_of_war_mask,
agent_position,
self.get_polar_angle(),
fov=self._config.FOG_OF_WAR.FOV,
max_line_len=self._config.FOG_OF_WAR.VISIBILITY_DIST /
maps.calculate_meters_per_pixel(self._map_resolution,
sim=self._sim),
)
def update_fog_of_war_mask(self, agent_position):
if self._config.FOG_OF_WAR.DRAW:
self._fog_of_war_mask = fog_of_war.reveal_fog_of_war(
self._top_down_map,
self._fog_of_war_mask,
agent_position,
self.get_polar_angle(),
fov=self._config.FOG_OF_WAR.FOV,
max_line_len=self._config.FOG_OF_WAR.VISIBILITY_DIST *
max(self._map_resolution) /
(self._coordinate_max - self._coordinate_min),
)
