debug_visualizer module
The DebugVisualizer (DBV) module provides a singleton class for quickly generating custom debug RGB images from an already instantiated Simulator instance. DebugObservation provides a wrapper class for accessing, saving, showing, and manipulating numpy image matrices with PIL. The module also provides some helper functions for highlighting objects with DebugLineRender and stitching images together into a matrix of images.
Classes
- class DebugObservation
- Observation wrapper to provide a simple interface for managing debug observations and caching the image.
- class DebugVisualizer
- 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).
Functions
- def dblr_draw_bb(debug_line_render: habitat_sim._ext.habitat_sim_bindings.DebugLineRender, bb: _magnum.Range3D, transform: typing.Optional[_magnum.Matrix4] = None, color: typing.Optional[_magnum.Color4] = None) -> None
- Draw an optionally transformed bounding box with the DebugLineRender interface.
- def draw_object_highlight(obj: typing.Union[habitat_sim._ext.habitat_sim_bindings.ManagedRigidObject, habitat_sim._ext.habitat_sim_bindings.ManagedArticulatedObject], debug_line_render: habitat_sim._ext.habitat_sim_bindings.DebugLineRender, camera_transform: _magnum.Matrix4, color: typing.Optional[_magnum.Color4] = None) -> None
- Draw a circle around the object to highlight it. The circle normal is oriented toward the camera_transform.
- def project_point(render_camera: habitat_sim._ext.habitat_sim_bindings.CameraSensor, point: _magnum.Vector3) -> _magnum.Vector2
- Project a 3D point into the render_camera’s 2D screen space.
- def stitch_image_matrix(images: typing.List[PIL.Image.Image], num_col: int = 8)
- Stitch together a set of images into a single image matrix.
Function documentation
def habitat.
Draw an optionally transformed bounding box with the DebugLineRender interface.
| Parameters | |
|---|---|
| debug_line_render | The DebugLineRender instance. |
| bb | The local bounding box to draw. |
| transform | The local to global transformation to apply to the local bb. |
| color | Optional color for the lines. Default is magenta. |
def habitat.
Draw a circle around the object to highlight it. The circle normal is oriented toward the camera_transform.
| Parameters | |
|---|---|
| obj | The ManagedObject |
| debug_line_render | The DebugLineRender instance for the Simulator. |
| camera_transform | The Matrix4 transform of the camera. Used to orient the circle normal. |
| color | The color of the circle. Default magenta. |
def habitat.
Project a 3D point into the render_camera’s 2D screen space.
| Parameters | |
|---|---|
| render_camera | The RenderCamera object. E.g. sensor._sensor_object.render_camera |
| point | The 3D global point to project. |
def habitat.
Stitch together a set of images into a single image matrix.
| Parameters | |
|---|---|
| images | The PIL.Image.Image objects |
| num_col | The number of columns in the matrix |
| Returns | A DebugObservation wrapper with the stitched image. |