From 4d7d8b32108ed177fb8fab07c46c5b51fa3ca2ac Mon Sep 17 00:00:00 2001
From: Oleksandr Maksymets <maksymets@gmail.com>
Date: Wed, 5 Feb 2020 18:47:44 -0800
Subject: [PATCH] Added doc to FloatJSON encoder, added color names, removed
mp3d mentioning from ObjectNavDataset
---
habitat/core/utils.py | 10 +++++-----
.../datasets/object_nav/object_nav_dataset.py | 13 +++++++++----
habitat/utils/visualizations/maps.py | 16 ++++++++--------
3 files changed, 22 insertions(+), 17 deletions(-)
diff --git a/habitat/core/utils.py b/habitat/core/utils.py
index e5b7f15bf..ff07b9219 100644
--- a/habitat/core/utils.py
+++ b/habitat/core/utils.py
@@ -12,6 +12,8 @@ import quaternion
from habitat.utils.geometry_utils import quaternion_to_list
+# Internals from inner json library needed for patching functionality in
+# DatasetFloatJSONEncoder.
try:
from _json import encode_basestring_ascii
except ImportError:
@@ -108,12 +110,10 @@ def center_crop(obs, new_shape):
class DatasetFloatJSONEncoder(json.JSONEncoder):
+ r"""JSON Encoder that sets a float precision for a space saving purpose and
+ encodes ndarray and quaternion. The encoder is compatible with JSON
+ version 2.0.9.
"""
- JSON Encoder that set float precision for space saving purpose.
- """
-
- # Version of JSON library that encoder is compatible with.
- __version__ = "2.0.9"
def default(self, object):
# JSON doesn't support numpy ndarray and quaternion
diff --git a/habitat/datasets/object_nav/object_nav_dataset.py b/habitat/datasets/object_nav/object_nav_dataset.py
index 79836cb4f..a595b26bd 100644
--- a/habitat/datasets/object_nav/object_nav_dataset.py
+++ b/habitat/datasets/object_nav/object_nav_dataset.py
@@ -25,7 +25,7 @@ class ObjectNavDatasetV1(PointNavDatasetV1):
r"""Class inherited from PointNavDataset that loads Object Navigation dataset.
"""
category_to_task_category_id: Dict[str, int]
- category_to_mp3d_category_id: Dict[str, int]
+ category_to_scene_annotation_category_id: Dict[str, int]
episodes: List[NavigationEpisode]
content_scenes_path: str = "{data_path}/content/{scene}.json.gz"
@@ -45,17 +45,22 @@ class ObjectNavDatasetV1(PointNavDatasetV1):
"category_to_task_category_id"
]
+ if "category_to_scene_annotation_category_id" in deserialized:
+ self.category_to_scene_annotation_category_id = deserialized[
+ "category_to_scene_annotation_category_id"
+ ]
+
if "category_to_mp3d_category_id" in deserialized:
- self.category_to_mp3d_category_id = deserialized[
+ self.category_to_scene_annotation_category_id = deserialized[
"category_to_mp3d_category_id"
]
assert len(self.category_to_task_category_id) == len(
- self.category_to_mp3d_category_id
+ self.category_to_scene_annotation_category_id
)
assert set(self.category_to_task_category_id.keys()) == set(
- self.category_to_mp3d_category_id.keys()
+ self.category_to_scene_annotation_category_id.keys()
), "category_to_task and category_to_mp3d must have the same keys"
for episode in deserialized["episodes"]:
diff --git a/habitat/utils/visualizations/maps.py b/habitat/utils/visualizations/maps.py
index b99033319..d9ab319c6 100644
--- a/habitat/utils/visualizations/maps.py
+++ b/habitat/utils/visualizations/maps.py
@@ -43,14 +43,14 @@ TOP_DOWN_MAP_COLORS = np.full((256, 3), 150, dtype=np.uint8)
TOP_DOWN_MAP_COLORS[10:] = cv2.applyColorMap(
np.arange(246, dtype=np.uint8), cv2.COLORMAP_JET
).squeeze(1)[:, ::-1]
-TOP_DOWN_MAP_COLORS[MAP_INVALID_POINT] = [255, 255, 255]
-TOP_DOWN_MAP_COLORS[MAP_VALID_POINT] = [150, 150, 150]
-TOP_DOWN_MAP_COLORS[MAP_BORDER_INDICATOR] = [50, 50, 50]
-TOP_DOWN_MAP_COLORS[MAP_SOURCE_POINT_INDICATOR] = [0, 0, 200]
-TOP_DOWN_MAP_COLORS[MAP_TARGET_POINT_INDICATOR] = [200, 0, 0]
-TOP_DOWN_MAP_COLORS[MAP_SHORTEST_PATH_COLOR] = [0, 200, 0]
-TOP_DOWN_MAP_COLORS[MAP_VIEW_POINT_INDICATOR] = [245, 150, 150]
-TOP_DOWN_MAP_COLORS[MAP_TARGET_BOUNDING_BOX] = [0, 175, 0]
+TOP_DOWN_MAP_COLORS[MAP_INVALID_POINT] = [255, 255, 255] # White
+TOP_DOWN_MAP_COLORS[MAP_VALID_POINT] = [150, 150, 150] # Light Grey
+TOP_DOWN_MAP_COLORS[MAP_BORDER_INDICATOR] = [50, 50, 50] # Grey
+TOP_DOWN_MAP_COLORS[MAP_SOURCE_POINT_INDICATOR] = [0, 0, 200] # Blue
+TOP_DOWN_MAP_COLORS[MAP_TARGET_POINT_INDICATOR] = [200, 0, 0] # Red
+TOP_DOWN_MAP_COLORS[MAP_SHORTEST_PATH_COLOR] = [0, 200, 0] # Green
+TOP_DOWN_MAP_COLORS[MAP_VIEW_POINT_INDICATOR] = [245, 150, 150] # Light Red
+TOP_DOWN_MAP_COLORS[MAP_TARGET_BOUNDING_BOX] = [0, 175, 0] # Green
def draw_agent(
--
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