def queue_step(self):
search_state = self.queue.popleft()
# TODO: delete this flag when bug fixed
DEBUG_FLAG_search_state = str(search_state)
event = self.teleport_to_state(search_state)
# if search_state.y > 1.3:
# raise Exception("**** got big point ")
# iterate over all actions, push state after each action to the queue
# then identify the present state as searched
self.enqueue_states(search_state)
self.visited_seen_states.append(search_state)
# if present point is not closer to any of the point already saved in
# self.grid_points, then save it!
if self.make_grid and not any(
map(
lambda p: distance(p, search_state.position())
< self.distance_threshold,
self.grid_points,
)
):
self.grid_points.append(search_state.position())
if self.make_metadata:
self.metadata[str(search_state)] = event.metadata
if self.make_class: # False by default
class_detections = event.class_detections2D
for k, v in class_detections.items():
class_detections[k] = str(v)
self.classdata[str(search_state)] = class_detections
if self.make_images and str(search_state) not in self.images:
self.images.create_dataset(str(search_state), data=event.frame)
if self.make_seg and str(search_state) not in self.seg:
self.seg.create_dataset(
str(search_state), data=event.class_segmentation_frame
)
if self.make_depth and str(search_state) not in self.depth:
self.depth.create_dataset(str(search_state), data=event.depth_frame)
# this print shows that the
elif str(search_state) in self.images:
print(self.scene_name, str(search_state))
def pos_step(self, pos):
for rotation in self.rotations:
for horizon in self.horizons:
search_state = ThorAgentState(**pos,
rotation=rotation,
horizon=horizon,
state_decimal=self.state_decimal)
event = self.teleport_to_state(search_state)
if self.make_grid and not any(
map(
lambda p: distance(p, search_state.position()) <
self.distance_threshold,
self.grid_points,
)):
self.grid_points.append(search_state.position())
if self.make_metadata:
self.metadata[str(search_state)] = event.metadata
if self.make_class:
class_detections = event.class_detections2D
for k, v in class_detections.items():
class_detections[k] = str(v)
self.classdata[str(search_state)] = class_detections
if self.make_images and str(search_state) not in self.images:
self.images.create_dataset(str(search_state),
data=event.frame)
if self.make_seg and str(search_state) not in self.seg:
self.seg.create_dataset(
str(search_state), data=event.class_segmentation_frame)
if self.make_depth and str(search_state) not in self.depth:
self.depth.create_dataset(str(search_state),
data=event.depth_frame)
elif str(search_state) in self.images:
print(self.scene_name, str(search_state))
def queue_step(self):
search_state = self.queue.popleft()
event = self.teleport_to_state(search_state)
# if search_state.y > 1.3:
# raise Exception("**** got big point ")
self.enqueue_states(search_state)
self.visited_seen_states.append(search_state)
if self.make_grid and not any(
map(
lambda p: distance(p, search_state.position()) < self.
distance_threshold,
self.grid_points,
)):
self.grid_points.append(search_state.position())
if self.make_metadata:
self.metadata[str(search_state)] = event.metadata
if self.make_class:
class_detections = event.class_detections2D
for k, v in class_detections.items():
class_detections[k] = str(v)
self.classdata[str(search_state)] = class_detections
if self.make_images and str(search_state) not in self.images:
self.images.create_dataset(str(search_state), data=event.frame)
if self.make_seg and str(search_state) not in self.seg:
self.seg.create_dataset(str(search_state),
data=event.class_segmentation_frame)
if self.make_depth and str(search_state) not in self.depth:
self.depth.create_dataset(str(search_state),
data=event.depth_frame)
elif str(search_state) in self.images:
print(self.scene_name, str(search_state))