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traversability_map_example

main(random_selection=False, headless=False, short_exec=False)

Traversable map demo Loads the floor plan and obstacles for the requested scene, and overlays them in a visual figure such that the highlighted area reflects the traversable (free-space) area

Source code in omnigibson/examples/scenes/traversability_map_example.py 
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def main(random_selection=False, headless=False, short_exec=False):
    """
    Traversable map demo
    Loads the floor plan and obstacles for the requested scene, and overlays them in a visual figure such that the
    highlighted area reflects the traversable (free-space) area
    """
    og.log.info(f"Demo {__file__}\n    " + "*" * 80 + "\n    Description:\n" + main.__doc__ + "*" * 80)

    scenes = get_available_og_scenes()
    scene_model = choose_from_options(options=scenes, name="scene model", random_selection=random_selection)
    print(f"Generating traversability map for scene {scene_model}")

    trav_map_size = 200
    trav_map_erosion = 2

    trav_map = cv2.imread(os.path.join(get_og_scene_path(scene_model), "layout", "floor_trav_0.png"))
    trav_map = cv2.resize(trav_map, (trav_map_size, trav_map_size))
    trav_map = cv2.erode(trav_map, th.ones((trav_map_erosion, trav_map_erosion)).cpu().numpy())

    if not headless:
        plt.figure(figsize=(12, 12))
        plt.imshow(trav_map)
        plt.title(f"Traversable area of {scene_model} scene")
        plt.show()