def init_perception(self):
self.geoscorer = None
self.perception_modules = {}
self.perception_modules["low_level"] = LowLevelMCPerception(
self, perceive_freq=1)
self.perception_modules[
"heuristic"] = heuristic_perception.PerceptionWrapper(self)
def init_perception(self):
self.perception_modules = {}
self.perception_modules["low_level"] = LowLevelMCPerception(self)
self.perception_modules[
"heuristic"] = heuristic_perception.PerceptionWrapper(self)
# set up the SubComponentClassifier model
if self.opts.semseg_model_path:
self.perception_modules["semseg"] = SubcomponentClassifierWrapper(
self, self.opts.semseg_model_path)
# set up the Geoscorer model
self.geoscorer = (Geoscorer(
merger_model_path=self.opts.geoscorer_model_path)
if self.opts.geoscorer_model_path else None)
def init_perception(self):
"""Initialize perception modules"""
self.perception_modules = {}
self.perception_modules["low_level"] = LowLevelMCPerception(self)
self.perception_modules[
"heuristic"] = heuristic_perception.PerceptionWrapper(self)
# set up the SubComponentClassifier model
if os.path.isfile(self.opts.semseg_model_path):
self.perception_modules["semseg"] = SubcomponentClassifierWrapper(
self, self.opts.semseg_model_path)
self.on_demand_perception = {}
# set up the Geoscorer model
self.on_demand_perception["geoscorer"] = (
Geoscorer(merger_model_path=self.opts.geoscorer_model_path)
if os.path.isfile(self.opts.geoscorer_model_path) else None)
self.on_demand_perception[
"check_inside"] = heuristic_perception.check_inside