Add track creation from path

f1tenth_gym/envs/track/track.py

@@ -153,6 +153,66 @@ def from_track_name(track: str):
             print(ex)
             raise FileNotFoundError(f"It could not load track {track}") from ex
 
+    @staticmethod
+    def from_track_path(path: pathlib.Path):
+        """
+        Load track from track path.
+
+        Parameters
+        ----------
+        path : pathlib.Path
+            path to the track yaml file
+
+        Returns
+        -------
+        Track
+            track object
+
+        Raises
+        ------
+        FileNotFoundError
+            if the track cannot be loaded
+        """
+        try:
+            if type(path) is str:
+                path = pathlib.Path(path)
+
+            track_spec = Track.load_spec(
+                track=path.stem, filespec=path
+            )
+
+            # load occupancy grid
+            # Image path is from path + image name from track_spec
+            image_path = path.parent / track_spec.image  
+            image = Image.open(image_path).transpose(Transpose.FLIP_TOP_BOTTOM)
+            occupancy_map = np.array(image).astype(np.float32)
+            occupancy_map[occupancy_map <= 128] = 0.0
+            occupancy_map[occupancy_map > 128] = 255.0
+
+            # if exists, load centerline
+            if (path / f"{path.stem}_centerline.csv").exists():
+                centerline = Raceline.from_centerline_file(path / f"{path.stem}_centerline.csv")
+            else:
+                centerline = None
+
+            # if exists, load raceline
+            if (path / f"{path.stem}_raceline.csv").exists():
+                raceline = Raceline.from_raceline_file(path / f"{path.stem}_raceline.csv")
+            else:
+                raceline = centerline
+
+            return Track(
+                spec=track_spec,
+                filepath=str(path.absolute()),
+                ext=image_path.suffix,
+                occupancy_map=occupancy_map,
+                centerline=centerline,
+                raceline=raceline,
+            )
+        except Exception as ex:
+            print(ex)
+            raise FileNotFoundError(f"It could not load track {path}") from ex
+
     @staticmethod
     def from_refline(x: np.ndarray, y: np.ndarray, velx: np.ndarray):
         """