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Merge pull request facebookresearch#35 from abhshkdz/optional-debug-m…
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…essages

Adds a "silent" parameter to make debug messages optional
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@ppwwyyxx
ppwwyyxx authored Aug 6, 2018
2 parents c929f40 + 3502f2d commit d3ddf1b
Showing 1 changed file with 51 additions and 27 deletions.
78 changes: 51 additions & 27 deletions House3D/house.py
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,8 @@ def __init__(self, JsonFile, ObjFile, MetaDataFile,
CarpetHeight=0.15,
SetTarget=True,
ApproximateMovableMap=False,
_IgnoreSmallHouse=False # should be only set true when called by "cache_houses.py"
_IgnoreSmallHouse=False, # should be only set true when called by "cache_houses.py"
DebugMessages=True
):
"""Initialization and Robot Parameters
Expand All @@ -138,9 +139,11 @@ def __init__(self, JsonFile, ObjFile, MetaDataFile,
CarpetHeight (double, optional): maximum height of the obstacles that agent can directly go through (gennerally should not be changed)
SetTarget (bool, optional): whether or not to choose a default target room and pre-compute the valid locations
ApproximateMovableMap (bool, optional): Fast initialization of valid locations which are not as accurate or fine-grained. Requires OpenCV if true
DebugMessages=True (bool, optional): whether or not to show debug messages
"""
ts = time.time()
print('Data Loading ...')
if DebugMessages == True:
ts = time.time()
print('Data Loading ...')

self.metaDataFile = MetaDataFile
self.objFile = ObjFile
Expand All @@ -156,7 +159,7 @@ def __init__(self, JsonFile, ObjFile, MetaDataFile,
if abs(house['scaleToMeters'] - 1.0) > 1e-8:
print('[Error] Currently <scaleToMeters> must be 1.0!')
assert(False)
if len(house['levels']) > 1:
if len(house['levels']) > 1 and DebugMessages == True:
print('[Warning] Currently only support ground floor! <total floors = %d>' % (len(house['levels'])))

self.level = level = house['levels'][0] # only support ground floor now
Expand All @@ -178,74 +181,95 @@ def __init__(self, JsonFile, ObjFile, MetaDataFile,
self.all_desired_roomTypes.append(roomTp)
if self.default_roomTp is None: self.default_roomTp = roomTp
assert self.default_roomTp is not None, 'Cannot Find Any Desired Rooms!'
print('>> Default Target Room Type Selected = {}'.format(self.default_roomTp))

print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))
if DebugMessages == True:
print('>> Default Target Room Type Selected = {}'.format(self.default_roomTp))
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

if _IgnoreSmallHouse and ((len(self.all_desired_roomTypes) < 2) or ('kitchen' not in self.all_desired_roomTypes)):
self.all_desired_roomTypes=[]
return

print('Generating Low Resolution Obstacle Map ...')
ts = time.time()
if DebugMessages == True:
print('Generating Low Resolution Obstacle Map ...')
ts = time.time()
# generate a low-resolution obstacle map
self.tinyObsMap = np.ones((self.eagle_n_row, self.eagle_n_row), dtype=np.uint8)
self.genObstacleMap(MetaDataFile, gen_debug_map=False, dest=self.tinyObsMap, n_row=self.eagle_n_row-1)
self.eagleMap = np.zeros((4, self.eagle_n_row, self.eagle_n_row), dtype=np.uint8)
self.eagleMap[0, ...] = self.tinyObsMap
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

# load from cache
if CachedFile is not None:
assert not DebugInfoOn, 'Please set DebugInfoOn=True when loading data from cached file!'
print('Loading Obstacle Map and Movability Map From Cache File ...')
ts = time.time()

if DebugMessages == True:
print('Loading Obstacle Map and Movability Map From Cache File ...')
ts = time.time()
with open(CachedFile, 'rb') as f:
self.obsMap, self.moveMap = pickle.load(f)
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))
else:
# generate obstacle map
print('Generate High Resolution Obstacle Map (For Collision Check) ...')
ts = time.time()
if DebugMessages == True:
print('Generate High Resolution Obstacle Map (For Collision Check) ...')
ts = time.time()
# obsMap was indexed by (x, y), not (y, x)
self.obsMap = np.ones((self.n_row+1, self.n_row+1), dtype=np.uint8) # a small int is enough
if self._debugMap is not None:
self._debugMap = np.ones((self.n_row+1, self.n_row+1), dtype=np.float)
self.genObstacleMap(MetaDataFile)
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))
if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

# generate movability map for robots considering the radius
print('Generate Movability Map ...')
ts = time.time()
if DebugMessages == True:
print('Generate Movability Map ...')
ts = time.time()
self.moveMap = np.zeros((self.n_row+1, self.n_row+1), dtype=np.int8) # initially not movable
self.genMovableMap(ApproximateMovableMap)
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))
if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

if StorageFile is not None:
print('Storing Obstacle Map and Movability Map to Cache File ...')
ts = time.time()
if DebugMessages == True:
print('Storing Obstacle Map and Movability Map to Cache File ...')
ts = time.time()
with open(StorageFile, 'wb') as f:
pickle.dump([self.obsMap, self.moveMap], f)
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))
if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

# set target room connectivity
print('Generate Target connectivity Map (Default <{}>) ...'.format(self.default_roomTp))
ts = time.time()
if DebugMessages == True:
ts = time.time()
self.connMapDict = {}
self.roomTypeLocMap = {} # roomType -> feasible locations
self.targetRoomTp = None
self.targetRooms = []
self.connMap = None
self.inroomDist = None
if SetTarget:
if DebugMessages == True:
print('Generate Target connectivity Map (Default <{}>) ...'.format(self.default_roomTp))
self.setTargetRoom(self.default_roomTp, _setEagleMap=True)
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))
if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time()-ts))

self.roomTypeMap = None
if GenRoomTypeMap:
ts = time.time()
print('Generate Room Type Map ...')
if DebugMessages == True:
ts = time.time()
print('Generate Room Type Map ...')
self.roomTypeMap = np.zeros((self.n_row+1, self.n_row+1), dtype=np.uint16)
self._generate_room_type_map()
print(' --> Done! Elapsed = %.2fs' % (time.time() - ts))
if DebugMessages == True:
print(' --> Done! Elapsed = %.2fs' % (time.time() - ts))


def _generate_room_type_map(self):
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