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Fix: create results subdirectories before writing evaluation outputs #13

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Fix: create results subdirectories before writing evaluation outputs #13

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7 changes: 7 additions & 0 deletions eval/habitat_evaluator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,7 @@ def __init__(self,
self.logger = rerun_logger.RerunLogger(self.actor.mapper, False, "") if self.log_rerun else None
self.results_path = "/home/finn/active/MON/results_gibson" if self.is_gibson else "results/"


def load_scene(self, scene_id: str):
if self.sim is not None:
self.sim.close()
Expand Down Expand Up @@ -408,6 +409,12 @@ def evaluate(self):
results[n_ep] = Result.FAILURE_STUCK

num_frontiers = len(self.actor.mapper.nav_goals)

# Create directories to avoid missing path errors
os.makedirs(f"{self.results_path}/trajectories", exist_ok=True)
os.makedirs(f"{self.results_path}/similarities", exist_ok=True)
os.makedirs(f"{self.results_path}/state", exist_ok=True)

np.savetxt(f"{self.results_path}/trajectories/poses_{episode.episode_id}.csv", poses, delimiter=",")
# save final sim to image file
final_sim = (self.actor.mapper.get_map() + 1.0) / 2.0
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6 changes: 5 additions & 1 deletion eval/habitat_multi_evaluator.py
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Expand Up @@ -587,7 +587,11 @@ def evaluate(self):
final_sim = final_sim.transpose((1, 0, 2))
final_sim = np.flip(final_sim, axis=0) # get min and max x and y of confs


# Create directories to avoid missing path errors
os.makedirs(f"{self.results_path}/trajectories", exist_ok=True)
os.makedirs(f"{self.results_path}/similarities", exist_ok=True)
os.makedirs(f"{self.results_path}/state", exist_ok=True)

cv2.imwrite(f"{self.results_path}/similarities/final_sim_{episode.episode_id}_{sequence_id}.png", final_sim)
# Create the plot
plt.figure(figsize=(10, 10))
Expand Down