def get_dataset(self,
data=None,
envs=None,
dataset_names=None,
dataset_prefix=None,
eval=False):
# TODO: Maybe use eval here
#if self.fpv:
data_sources = []
# If we're running auxiliary objectives, we need to include the data sources for the auxiliary labels
#if self.use_aux_class_features or self.use_aux_class_on_map or self.use_aux_grounding_features or self.use_aux_grounding_on_map:
#if self.use_aux_goal_on_map:
data_sources.append(aup.PROVIDER_LM_POS_DATA)
data_sources.append(aup.PROVIDER_GOAL_POS)
#data_sources.append(aup.PROVIDER_LANDMARKS_MENTIONED)
data_sources.append(aup.PROVIDER_LANG_TEMPLATE)
#if self.use_rot_noise or self.use_pos_noise:
# data_sources.append(aup.PROVIDER_POSE_NOISE)
return SegmentDataset(data=data,
env_list=envs,
dataset_names=dataset_names,
dataset_prefix=dataset_prefix,
aux_provider_names=data_sources,
segment_level=True)
def get_dataset(self, data=None, envs=None, dataset_name=None, eval=False):
# TODO: Maybe use eval here
#if self.fpv:
return SegmentDataset(data=data,
env_list=envs,
dataset_name=dataset_name,
aux_provider_names=[],
segment_level=True)
def get_dataset(self, data=None, envs=None, dataset_name=None, eval=False):
# TODO: Maybe use eval here
data_sources = []
data_sources.append(aup.PROVIDER_TRAJECTORY_GROUND_TRUTH_STATIC)
return SegmentDataset(data=data,
env_list=envs,
dataset_name=dataset_name,
aux_provider_names=data_sources,
segment_level=True)
def get_dataset(self,
data=None,
envs=None,
domain=None,
dataset_names=None,
dataset_prefix=None,
eval=False,
halfway_only=False):
# TODO: Maybe use eval here
data_sources = []
# If we're running auxiliary objectives, we need to include the data sources for the auxiliary labels
#if self.use_aux_class_features or self.use_aux_class_on_map or self.use_aux_grounding_features or self.use_aux_grounding_on_map:
#if self.use_aux_goal_on_map:
if not halfway_only:
data_sources.append(aup.PROVIDER_LM_POS_DATA)
data_sources.append(aup.PROVIDER_GOAL_POS)
# Adding these in this order will compute poses with added noise and compute trajectory ground truth
# in the reference frame of these noisy poses
data_sources.append(aup.PROVIDER_START_POSES)
if self.do_perturb_maps:
print("PERTURBING MAPS!")
# TODO: The noisy poses from the provider are not actually used!! Those should replace states instead!
data_sources.append(aup.PROVIDER_NOISY_POSES)
# TODO: Think this through. Perhaps we actually want dynamic ground truth given a noisy start position
if self.params["predict_in_start_frame"]:
data_sources.append(
aup.PROVIDER_TRAJECTORY_GROUND_TRUTH_STATIC)
else:
data_sources.append(
aup.PROVIDER_TRAJECTORY_GROUND_TRUTH_DYNAMIC_NOISY)
else:
print("NOT Perturbing Maps!")
data_sources.append(aup.PROVIDER_NOISY_POSES)
if self.params["predict_in_start_frame"]:
data_sources.append(
aup.PROVIDER_TRAJECTORY_GROUND_TRUTH_STATIC)
else:
data_sources.append(
aup.PROVIDER_TRAJECTORY_GROUND_TRUTH_DYNAMIC)
data_sources.append(aup.PROVIDER_LANDMARKS_MENTIONED)
templates = get_current_parameters()["Environment"]["templates"]
if templates:
data_sources.append(aup.PROVIDER_LANG_TEMPLATE)
return SegmentDataset(data=data,
env_list=envs,
domain=domain,
dataset_names=dataset_names,
dataset_prefix=dataset_prefix,
aux_provider_names=data_sources,
segment_level=True)
def get_dataset(self, data=None, envs=None, dataset_name=None, eval=False):
# TODO: Maybe use eval here
#if self.fpv:
data_sources = []
data_sources.append(aup.PROVIDER_LM_POS_DATA)
data_sources.append(aup.PROVIDER_LANDMARKS_MENTIONED)
templates = get_current_parameters()["Environment"]["Templates"]
if templates:
data_sources.append(aup.PROVIDER_LANG_TEMPLATE)
return SegmentDataset(data=data, env_list=envs, dataset_name=dataset_name, aux_provider_names=data_sources, segment_level=True)