mirror of
https://github.com/SikongJueluo/Mini-Nav.git
synced 2026-07-13 04:25:32 +08:00
SikongJueluo
7a1e1ccf3f
- Add bbox_depth_center position strategy in SceneGraphBuilder using depth at bbox centre and configurable camera_hfov_degrees for pinhole projection. - Add optional depth_sensor_uuid to HabitatSimulatorConfig; create depth sensor spec alongside RGB sensor. - Add camera_position/camera_rotation fields to RoomView; capture pose from sensor_states when depth sensor is available. - Update flatten_room_views for backward compatibility with legacy tuple format. - Wired in depth sensor and bbox_depth_center strategy in verification notebook. - Add tests for depth sensor support and new position strategies.
118 lines
3.5 KiB
Python
118 lines
3.5 KiB
Python
from __future__ import annotations
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from dataclasses import dataclass
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from importlib import import_module
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from typing import Any
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@dataclass(frozen=True)
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class HabitatSimulatorConfig:
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scene_path: str
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views_per_room: int = 6
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image_size: int = 512
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sensor_height: float = 1.5
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move_forward_step: float = 0.25
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enable_physics: bool = False
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sensor_uuid: str = "color_sensor"
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agent_id: int = 0
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depth_sensor_uuid: str | None = "depth_sensor"
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hfov_degrees: float = 90.0
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def _camera_sensor_spec(
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habitat_sim_module: Any,
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*,
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uuid: str,
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sensor_type: Any,
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image_size: int,
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sensor_height: float,
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hfov_degrees: float,
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) -> Any:
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spec = habitat_sim_module.CameraSensorSpec()
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spec.uuid = uuid
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spec.sensor_type = sensor_type
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spec.resolution = [image_size, image_size]
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spec.position = [0.0, sensor_height, 0.0]
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spec.hfov = float(hfov_degrees)
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return spec
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def create_habitat_simulator(
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config: HabitatSimulatorConfig,
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habitat_sim_module: Any | None = None,
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) -> tuple[Any, Any]:
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if config.views_per_room <= 0:
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raise ValueError("views_per_room must be greater than 0")
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if config.image_size <= 0:
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raise ValueError("image_size must be greater than 0")
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if config.move_forward_step <= 0:
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raise ValueError("move_forward_step must be greater than 0")
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if not (0 < config.hfov_degrees < 180):
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raise ValueError(
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f"hfov_degrees must be in (0, 180), got {config.hfov_degrees}"
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)
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if habitat_sim_module is None:
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habitat_sim_module = import_module("habitat_sim")
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sim_cfg = habitat_sim_module.SimulatorConfiguration()
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sim_cfg.scene_id = config.scene_path
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sim_cfg.enable_physics = config.enable_physics
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agent_cfg = habitat_sim_module.agent.AgentConfiguration()
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sensor_specs = [
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_camera_sensor_spec(
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habitat_sim_module,
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uuid=config.sensor_uuid,
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sensor_type=habitat_sim_module.SensorType.COLOR,
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image_size=config.image_size,
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sensor_height=config.sensor_height,
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hfov_degrees=config.hfov_degrees,
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),
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]
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if config.depth_sensor_uuid is not None:
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sensor_specs.append(
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_camera_sensor_spec(
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habitat_sim_module,
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uuid=config.depth_sensor_uuid,
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sensor_type=habitat_sim_module.SensorType.DEPTH,
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image_size=config.image_size,
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sensor_height=config.sensor_height,
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hfov_degrees=config.hfov_degrees,
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),
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)
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agent_cfg.sensor_specifications = sensor_specs
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turn_angle = 360.0 / config.views_per_room
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agent_cfg.action_space = {
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"move_forward": habitat_sim_module.agent.ActionSpec(
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"move_forward",
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habitat_sim_module.agent.ActuationSpec(amount=config.move_forward_step),
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),
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"turn_left": habitat_sim_module.agent.ActionSpec(
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"turn_left",
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habitat_sim_module.agent.ActuationSpec(amount=turn_angle),
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),
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"turn_right": habitat_sim_module.agent.ActionSpec(
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"turn_right",
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habitat_sim_module.agent.ActuationSpec(amount=turn_angle),
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),
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}
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simulator_cfg = habitat_sim_module.Configuration(sim_cfg, [agent_cfg])
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simulator = habitat_sim_module.Simulator(simulator_cfg)
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agent = simulator.initialize_agent(config.agent_id)
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return simulator, agent
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def close_habitat_simulator(simulator: Any) -> None:
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close = getattr(simulator, "close", None)
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if callable(close):
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close()
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