'Saves traversible space along with nodes generated on the graph. Takes
the seed as input.'

def _debug_semantic_maps(self, seed):

    for (i, cls) in enumerate(self.task_params.semantic_task.class_map_names):
        img_path = os.path.join(self.logdir, '{:s}_flip{:d}_{:s}_graph.png'.format(self.building_name, seed, cls))
        maps = (self.traversible * 1.0)
        maps += (0.5 * self.task.class_maps_dilated[:, :, i])
        write_traversible = (((maps * 1.0) + 1.0) / 3.0)
        write_traversible = (write_traversible * 255.0).astype(np.uint8)[:, :, np.newaxis]
        write_traversible = (write_traversible + np.zeros((1, 1, 3), dtype=np.uint8))
        fu.write_image(img_path, write_traversible[::(-1), :, :])
