def get_adjs(self, world_states):
def f(world_state):
query = '_'.join([world_state.scan_id,
world_state.viewpoint_id,
str(world_state.view_index)])
return self.adj_dict[query]
return structured_map(f, world_states)
def get_start_state(self, scan_ids, viewpoint_ids, headings):
def f(scan_id, viewpoint_id, heading):
elevation = 0
view_index = (12 * round(elevation / ANGLE_INC + 1) +
round(heading / ANGLE_INC) % 12)
return WorldState(scan_id=scan_id,
viewpoint_id=viewpoint_id,
view_index=view_index,
heading=heading,
elevation=elevation)
return structured_map(f, scan_ids, viewpoint_ids, headings)
def make_actions(self, world_states, actions, attrs):
def f(world_state, action, loc_attrs):
if action == 0:
return world_state
else:
loc_attr = loc_attrs[action]
return WorldState(
scan_id=world_state.scan_id,
viewpoint_id=loc_attr['nextViewpointId'],
view_index=loc_attr['absViewIndex'],
heading=(loc_attr['absViewIndex'] % 12) * ANGLE_INC,
elevation=(loc_attr['absViewIndex'] // 12 - 1) * ANGLE_INC)
return structured_map(f, world_states, actions, attrs)