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58 lines
1.6 KiB
Python
58 lines
1.6 KiB
Python
import habitat_sim
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import numpy as np
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import plotly.express as px
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# 配置场景
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scene_path = "data/scene_datasets/habitat-test-scenes/skokloster-castle.glb"
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sim_cfg = habitat_sim.SimulatorConfiguration()
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sim_cfg.scene_id = scene_path
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sim_cfg.enable_physics = False
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# 配置 agent
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agent_cfg = habitat_sim.agent.AgentConfiguration()
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rgb_sensor_spec = habitat_sim.CameraSensorSpec()
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rgb_sensor_spec.uuid = "color_sensor"
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rgb_sensor_spec.sensor_type = habitat_sim.SensorType.COLOR
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rgb_sensor_spec.resolution = [256, 256]
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rgb_sensor_spec.position = [0.0, 1.5, 0.0]
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agent_cfg.sensor_specifications = [rgb_sensor_spec]
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# 创建 simulator 实例
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cfg = habitat_sim.Configuration(sim_cfg, [agent_cfg])
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sim = habitat_sim.Simulator(cfg)
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# 初始化 agent
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agent = sim.initialize_agent(0)
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# 设置 agent 初始位置
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agent_state = habitat_sim.AgentState()
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agent_state.position = np.array([0.0, 0.0, 0.0])
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agent.set_state(agent_state)
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state = agent.get_state()
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print("位置:", state.position)
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print("旋转四元数:", state.rotation)
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observations = sim.get_sensor_observations()
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rgb_image = observations["color_sensor"] # numpy array
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print("RGB shape:", rgb_image.shape)
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# 假设 rgb_image 已经被定义（例如一个 numpy array 或 PIL Image）
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fig = px.imshow(rgb_image)
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# 隐藏坐标轴（等同于 plt.axis("off")）
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fig.update_xaxes(visible=False)
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fig.update_yaxes(visible=False)
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# 去除多余的边距，使图片填满画布
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fig.update_layout(
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margin=dict(l=0, r=0, t=0, b=0),
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coloraxis_showscale=False, # 如果是灰度图或带colorbar，这行可以隐藏色条
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)
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# 输出成 PNG 图片
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fig.write_html("outputs/output.html")
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