DebugVisualizer class
Support class for simple visual debugging of a Simulator instance. Assumes the default agent (0) is a camera (i.e. there exists an RGB sensor coincident with agent 0 transformation).
Available for visual debugging from PDB! Example: from habitat.sims.habitat_simulator.debug_visualizer import DebugVisualizer dbv = DebugVisualizer(sim) dbv.get_observation().show() dbv.translate(mn.Vector3(1,0,0), show=True) dbv.peek(my_object, peek_all_axis=True).show()
Methods
- def _peek_bb(self, bb: _magnum.Range3D, world_transform: typing.Optional[_magnum.Matrix4] = None, cam_local_pos: typing.Optional[_magnum.Vector3] = None, peek_all_axis: bool = False, debug_lines: typing.Optional[typing.List[typing.Tuple[typing.List[_magnum.Vector3], _magnum.Color4]]] = None, debug_circles: typing.Optional[typing.List[typing.Tuple[_magnum.Vector3, float, _magnum.Vector3, _magnum.Color4]]] = None) -> DebugObservation
- Internal helper function to generate image(s) of any bb for contextual debugging purposes. Compute a camera placement to view the bb. Show/save an observation. Return the filepath.
- def create_dbv_agent(self, resolution: typing.Tuple[int, int] = (500, 500)) -> None
- Create an initialize a new DebugVisualizer agent with a color sensor.
- def get_observation(self, look_at: typing.Optional[_magnum.Vector3] = None, look_from: typing.Optional[_magnum.Vector3] = None) -> DebugObservation
- Render a debug observation of the current state and return it. Optionally configure the camera transform.
- def look_at(self, look_at: _magnum.Vector3, look_from: typing.Optional[_magnum.Vector3] = None, look_up: typing.Optional[_magnum.Vector3] = None) -> None
- Point the debug camera at a target. Standard look_at function syntax.
- def make_debug_video(self, output_path: typing.Optional[str] = None, prefix: str = '', fps: int = 4, obs_cache: typing.Optional[typing.List[DebugObservation]] = None) -> None
- Produce and save a video from a set of debug observations.
- def peek(self, subject = …, cam_local_pos: typing.Optional[_magnum.Vector3] = None, peek_all_axis: bool = False, debug_lines: typing.Optional[typing.List[typing.Tuple[typing.List[_magnum.Vector3], _magnum.Color4]]] = None, debug_circles: typing.Optional[typing.List[typing.Tuple[_magnum.Vector3, float, _magnum.Vector3, _magnum.Color4]]] = None) -> DebugObservation
- Generic “peek” function generating a DebugObservation image or a set of images centered on a subject and taking as input all reasonable ways to define a subject to peek. Use this function to quickly “peek” at an object or the top-down view of the full scene.
- def render_debug_circles(self, debug_circles: typing.Optional[typing.List[typing.Tuple[_magnum.Vector3, float, _magnum.Vector3, _magnum.Color4]]] = None) -> None
- Draw a set of debug circles with accompanying colors.
- def render_debug_frame(self, axis_length: float = 1.0, transformation: typing.Optional[_magnum.Matrix4] = None) -> None
- Render a coordinate frame of the configured length given a transformation. XYZ->RGB.
- def render_debug_lines(self, debug_lines: typing.Optional[typing.List[typing.Tuple[typing.List[_magnum.Vector3], _magnum.Color4]]] = None) -> None
- Draw a set of debug lines with accompanying colors.
- def rotate(self, angle: float, axis: typing.Optional[_magnum.Vector3] = None, local: bool = False, show: bool = True) -> typing.Optional[DebugObservation]
- Rotate the debug sensor agent by ‘angle’ radians about ‘axis’.
- def translate(self, vec: _magnum.Vector3, local: bool = False, show: bool = True) -> typing.Optional[DebugObservation]
- Translate the debug sensor agent by a delta vector.
Special methods
- def __init__(self, sim: habitat_sim.simulator.Simulator, output_path: str = 'visual_debug_output/', resolution: typing.Tuple[int, int] = (500, 500)) -> None
- Initialize the debugger provided a Simulator and the uuid of the debug sensor. NOTE: Expects the debug sensor attached to and coincident with agent 0’s frame.
Method documentation
def habitat.
Internal helper function to generate image(s) of any bb for contextual debugging purposes. Compute a camera placement to view the bb. Show/save an observation. Return the filepath.
| Parameters | |
|---|---|
| bb | The entity’s local bounding box (provided by consumer functions.) |
| world_transform | The entity’s world transform provided by consumer functions, default identity. |
| cam_local_pos | Optionally provide a camera location in location local coordinates. Otherwise offset along local -Z axis from the object. |
| peek_all_axis | Optionally create a merged 3x2 matrix of images looking at the object from all angles. |
| debug_lines | Optionally provide a list of debug line render tuples, each with a list of points and a color. These will be displayed in all peek images. |
| debug_circles | Optionally provide a list of debug line render circle Tuples, each with (center, radius, normal, color). These will be displayed in all peek images. |
def habitat.
Create an initialize a new DebugVisualizer agent with a color sensor.
| Parameters | |
|---|---|
| resolution | The desired sensor resolution for the new debug agent. |
def habitat.
Render a debug observation of the current state and return it. Optionally configure the camera transform.
| Parameters | |
|---|---|
| look_at | 3D global position to point the camera towards. |
| look_from | 3D global position of the camera. |
def habitat.
Point the debug camera at a target. Standard look_at function syntax.
| Parameters | |
|---|---|
| look_at | 3D global position to point the camera towards. |
| look_from | 3D global position of the camera. |
| look_up | 3D global “up” vector for aligning the camera roll. |
def habitat.
Produce and save a video from a set of debug observations.
| Parameters | |
|---|---|
| output_path | Optional directory path for saving the video. Otherwise use self.output_path. |
| prefix | Optional prefix for output filename. Filename format: “<output_path><prefix><timestamp>” |
| fps | Framerate of the video. Defaults to 4FPS expecting disjoint still frames. |
| obs_cache | Optioanlly provide an external observation cache datastructure in place of self.debug_obs. |
def habitat.
Generic “peek” function generating a DebugObservation image or a set of images centered on a subject and taking as input all reasonable ways to define a subject to peek. Use this function to quickly “peek” at an object or the top-down view of the full scene.
| Parameters | |
|---|---|
| subject | The subject to visualize. One of: ManagedRigidObject, ManagedArticulatedObject, an object_id integer, a string “stage”, “scene”, or handle of an object instance. |
| cam_local_pos | Optionally provide a camera location in location local coordinates. Otherwise offset along local -Z axis from the object. |
| peek_all_axis | Optionally create a merged 3x2 matrix of images looking at the object from all angles. |
| debug_lines | Optionally provide a list of debug line render tuples, each with a list of points and a color. These will be displayed in all peek images. |
| debug_circles | Optionally provide a list of debug line render circle Tuples, each with (center, radius, normal, color). These will be displayed in all peek images. |
def habitat.
Draw a set of debug circles with accompanying colors.
| Parameters | |
|---|---|
| debug_circles | A list of debug line render circle Tuples, each with (center, radius, normal, color). |
def habitat.
Render a coordinate frame of the configured length given a transformation. XYZ->RGB.
| Parameters | |
|---|---|
| axis_length | The length of the axis lines. |
| transformation | The optional transform matrix of the axis. Identity if not provided. |
def habitat.
Draw a set of debug lines with accompanying colors.
| Parameters | |
|---|---|
| debug_lines | A set of debug line strips with accompanying colors. Each list entry contains a list of points and a color. |
def habitat.
Rotate the debug sensor agent by ‘angle’ radians about ‘axis’.
| Parameters | |
|---|---|
| angle | The angle of rotation in radians. |
| axis | The rotation axis. Default Y axis. |
| local | If True, the delta vector is applied in local space. |
| show | If True, show the image from the resulting state. |
def habitat.
Translate the debug sensor agent by a delta vector.
| Parameters | |
|---|---|
| vec | The delta vector to translate by. |
| local | If True, the delta vector is applied in local space. |
| show | If True, show the image from the resulting state. |
def habitat.
Initialize the debugger provided a Simulator and the uuid of the debug sensor. NOTE: Expects the debug sensor attached to and coincident with agent 0’s frame.
| Parameters | |
|---|---|
| sim | Simulator instance must be provided for attachment. |
| output_path | Directory path for saving debug images and videos. |
| resolution | The desired sensor resolution for any new debug agent. |