Does the FMMPlanner work without a ground truth map?

[lihzh233]

Object-Goal-Navigation/envs/habitat/objectgoal_env.py

Line 122 in 5d76902

planner = FMMPlanner(traversible)

The FMMPlanner is initialized with a ground truth map here. Does it mean this work can't work without a ground truth map?

[ytx0323]

From my understanding, the project constructs two types of FMMPlanner instances. One is used during the generation of start points and getting the metric, utilizing the ground truth map. The other is for training, based on the generated obstacle map(in sem_exp.py ,the function _get_stg). Therefore, the project can operate without the ground truth map, as the start points are predefined.