Skip to content

map_base

BaseMap

Base map class. Contains basic interface for converting from map to world frame, and vise-versa

Source code in omnigibson/maps/map_base.py 
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
class BaseMap:
    """
    Base map class.
    Contains basic interface for converting from map to world frame, and vise-versa
    """

    def __init__(
        self,
        map_resolution=0.1,
    ):
        """
        Args:
            map_resolution (float): map resolution
        """
        # Set internal values
        self.map_resolution = map_resolution
        self.map_size = None

    def load_map(self, *args, **kwargs):
        """
        Load's this map internally
        """
        # Run internal method and store map size
        self.map_size = self._load_map(*args, **kwargs)

    def _load_map(self, *args, **kwargs):
        """
        Arbitrary function to load this map. Should be implemented by subclass

        Returns:
            int: Size of the loaded map
        """
        raise NotImplementedError()

    def map_to_world(self, xy):
        """
        Transforms a 2D point in map reference frame into world (simulator) reference frame

        Args:
            xy (2-array or (N, 2)-array): 2D location(s) in map reference frame (in image pixel space)

        Returns:
            2-array or (N, 2)-array: 2D location(s) in world reference frame (in metric space)
        """
        dims = 0 if xy.dim() == 1 else 1
        return th.flip((xy - self.map_size / 2.0) * self.map_resolution, dims=(dims,))

    def world_to_map(self, xy):
        """
        Transforms a 2D point in world (simulator) reference frame into map reference frame

            xy: 2D location in world reference frame (metric)
        :return: 2D location in map reference frame (image)
        """

        xy = th.as_tensor(xy)
        point_wrt_map = xy / self.map_resolution + self.map_size / 2.0
        return th.flip(point_wrt_map, dims=tuple(range(point_wrt_map.dim()))).int()

__init__(map_resolution=0.1)

Parameters:

Name Type Description Default
map_resolution float

map resolution

 0.1
Source code in omnigibson/maps/map_base.py 
10
11
12
13
14
15
16
17
18
19
20
def __init__(
    self,
    map_resolution=0.1,
):
    """
    Args:
        map_resolution (float): map resolution
    """
    # Set internal values
    self.map_resolution = map_resolution
    self.map_size = None

load_map(*args, **kwargs)

Load's this map internally

Source code in omnigibson/maps/map_base.py 
22
23
24
25
26
27
def load_map(self, *args, **kwargs):
    """
    Load's this map internally
    """
    # Run internal method and store map size
    self.map_size = self._load_map(*args, **kwargs)

map_to_world(xy)

Transforms a 2D point in map reference frame into world (simulator) reference frame

Parameters:

Name Type Description Default
xy 2 - array or (N, 2) - array

2D location(s) in map reference frame (in image pixel space)

 required

Returns:

Type Description
2 - array or (N, 2) - array

2D location(s) in world reference frame (in metric space)
Source code in omnigibson/maps/map_base.py 
38
39
40
41
42
43
44
45
46
47
48
49
def map_to_world(self, xy):
    """
    Transforms a 2D point in map reference frame into world (simulator) reference frame

    Args:
        xy (2-array or (N, 2)-array): 2D location(s) in map reference frame (in image pixel space)

    Returns:
        2-array or (N, 2)-array: 2D location(s) in world reference frame (in metric space)
    """
    dims = 0 if xy.dim() == 1 else 1
    return th.flip((xy - self.map_size / 2.0) * self.map_resolution, dims=(dims,))

world_to_map(xy)

Transforms a 2D point in world (simulator) reference frame into map reference frame

xy: 2D location in world reference frame (metric)

:return: 2D location in map reference frame (image)

Source code in omnigibson/maps/map_base.py 
51
52
53
54
55
56
57
58
59
60
61
def world_to_map(self, xy):
    """
    Transforms a 2D point in world (simulator) reference frame into map reference frame

        xy: 2D location in world reference frame (metric)
    :return: 2D location in map reference frame (image)
    """

    xy = th.as_tensor(xy)
    point_wrt_map = xy / self.map_resolution + self.map_size / 2.0
    return th.flip(point_wrt_map, dims=tuple(range(point_wrt_map.dim()))).int()