mirror of
https://github.com/SikongJueluo/Mini-Nav.git
synced 2026-07-13 04:25:32 +08:00
85 lines
2.5 KiB
Python
85 lines
2.5 KiB
Python
from __future__ import annotations
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from dataclasses import dataclass, field
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from importlib import import_module
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from typing import Any, Sequence
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@dataclass(frozen=True)
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class TopDownSceneElements:
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room_nodes: Sequence[Any]
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object_nodes: Sequence[Any] = field(default_factory=tuple)
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edges: Sequence[tuple[str, str]] = field(default_factory=tuple)
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@dataclass(frozen=True)
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class TopDownRenderStyle:
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room_color: str = "red"
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room_label_color: str = "yellow"
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room_marker_size: int = 50
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room_label_offset: int = 2
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figure_size: tuple[int, int] = (8, 8)
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map_cmap: str = "gray"
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title: str = "RoomNode Top-Down Map"
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def render_topdown_scene_map(
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pathfinder: Any,
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elements: TopDownSceneElements,
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meters_per_pixel: float,
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style: TopDownRenderStyle | None = None,
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maps_module: Any | None = None,
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plt_module: Any | None = None,
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) -> Any:
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if not elements.room_nodes:
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raise ValueError("room_nodes must not be empty")
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if meters_per_pixel <= 0:
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raise ValueError("meters_per_pixel must be greater than 0")
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if elements.object_nodes:
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raise NotImplementedError("object_nodes overlay is not implemented yet")
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if elements.edges:
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raise NotImplementedError("edge overlay is not implemented yet")
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if style is None:
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style = TopDownRenderStyle()
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if maps_module is None:
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maps_module = import_module("habitat.utils.visualizations.maps")
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if plt_module is None:
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plt_module = import_module("matplotlib.pyplot")
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map_height = float(elements.room_nodes[0].center[1])
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top_down_map = maps_module.get_topdown_map(
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pathfinder,
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height=map_height,
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meters_per_pixel=meters_per_pixel,
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)
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plt_module.figure(figsize=style.figure_size)
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plt_module.imshow(top_down_map, cmap=style.map_cmap)
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for room_node in elements.room_nodes:
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grid_y, grid_x = maps_module.to_grid(
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float(room_node.center[2]),
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float(room_node.center[0]),
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top_down_map.shape,
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pathfinder=pathfinder,
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)
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plt_module.scatter(grid_x, grid_y, c=style.room_color, s=style.room_marker_size)
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plt_module.text(
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grid_x + style.room_label_offset,
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grid_y + style.room_label_offset,
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room_node.room_id,
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color=style.room_label_color,
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fontsize=8,
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)
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plt_module.title(style.title)
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plt_module.axis("off")
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plt_module.show()
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return top_down_map
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