habitat_extensions/exploration_demo.py [18:69]:
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class DummyRLEnv(habitat.RLEnv):
    def __init__(self, config, dataset=None, env_ind=0):
        super(DummyRLEnv, self).__init__(config, dataset)
        self._env_ind = env_ind

    def get_reward_range(self):
        return -1.0, 1.0

    def get_reward(self, observations):
        return 0.0

    def get_done(self, observations):
        done = False
        if self._env.episode_over:
            done = True
        return done

    def get_info(self, observations):
        return self.habitat_env.get_metrics()

    def get_env_ind(self):
        return self._env_ind


def colorize_ego_map(ego_map):
    """
    ego_map - (V, V, 2) array where 1st channel represents prob(occupied space) an
              d 2nd channel represents prob(explored space)
    """
    explored_mask = ego_map[..., 1] > 0.5
    occupied_mask = np.logical_and(ego_map[..., 0] > 0.5, explored_mask)
    free_space_mask = np.logical_and(ego_map[..., 0] <= 0.5, explored_mask)
    unexplored_mask = ego_map[..., 1] <= 0.5

    ego_map_color = np.zeros((*ego_map.shape[:2], 3), np.uint8)

    # White unexplored map
    ego_map_color[unexplored_mask, 0] = 255
    ego_map_color[unexplored_mask, 1] = 255
    ego_map_color[unexplored_mask, 2] = 255

    # Blue occupied map
    ego_map_color[occupied_mask, 0] = 0
    ego_map_color[occupied_mask, 1] = 0
    ego_map_color[occupied_mask, 2] = 255

    # Green free space map
    ego_map_color[free_space_mask, 0] = 0
    ego_map_color[free_space_mask, 1] = 255
    ego_map_color[free_space_mask, 2] = 0

    return ego_map_color
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occant_baselines/generate_topdown_maps/generate_environment_layouts.py [27:78]:
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class DummyRLEnv(habitat.RLEnv):
    def __init__(self, config, dataset=None, env_ind=0):
        super(DummyRLEnv, self).__init__(config, dataset)
        self._env_ind = env_ind

    def get_reward_range(self):
        return -1.0, 1.0

    def get_reward(self, observations):
        return 0.0

    def get_done(self, observations):
        done = False
        if self._env.episode_over:
            done = True
        return done

    def get_info(self, observations):
        return self.habitat_env.get_metrics()

    def get_env_ind(self):
        return self._env_ind


def colorize_ego_map(ego_map):
    """
    ego_map - (V, V, 2) array where 1st channel represents prob(occupied space) an
              d 2nd channel represents prob(explored space)
    """
    explored_mask = ego_map[..., 1] > 0.5
    occupied_mask = np.logical_and(ego_map[..., 0] > 0.5, explored_mask)
    free_space_mask = np.logical_and(ego_map[..., 0] <= 0.5, explored_mask)
    unexplored_mask = ego_map[..., 1] <= 0.5

    ego_map_color = np.zeros((*ego_map.shape[:2], 3), np.uint8)

    # White unexplored map
    ego_map_color[unexplored_mask, 0] = 255
    ego_map_color[unexplored_mask, 1] = 255
    ego_map_color[unexplored_mask, 2] = 255

    # Blue occupied map
    ego_map_color[occupied_mask, 0] = 0
    ego_map_color[occupied_mask, 1] = 0
    ego_map_color[occupied_mask, 2] = 255

    # Green free space map
    ego_map_color[free_space_mask, 0] = 0
    ego_map_color[free_space_mask, 1] = 255
    ego_map_color[free_space_mask, 2] = 0

    return ego_map_color
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