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… topdown map getters.
… in habitat-sim and modify test
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| return topdownMap; | ||
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| typedef Eigen::Matrix<int, Eigen::Dynamic, Eigen::Dynamic> MatrixXi; |
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Should be use using, not typedef.
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Motivation and Context
It can be very useful to get a topdown map with island annotations and now after #1866 this is pretty easy.
In addition to binary maps of navigability (
PathFinder.get_topdown_view), the API now providesPathFinder.get_topdown_island_viewwhich returns an integer array containing island indices or-1for non-navigable cells.How Has This Been Tested
New pytests.
See the examples below for a scene with multiple islands due to low doorways:
Types of changes
Checklist