def communicate(self, scene, visualize=False, max_level=-1, delimit_chunks=False):
all_landmarks = []
all_relations = []
for scene_lmk in scene.landmarks.values():
all_landmarks.append(scene_lmk)
representations = [scene_lmk.representation]
representations.extend(scene_lmk.representation.get_alt_representations())
for representation in representations:
all_landmarks.extend(representation.get_landmarks(max_level))
for rset in [DistanceRelationSet,ContainmentRelationSet, OrientationRelationSet]:
all_relations.extend(rset.relations)
sampled_landmark = choice(all_landmarks)
sampled_relation = choice(all_relations)
perspective = self.get_head_on_viewpoint(sampled_landmark)
self.set_orientations(sampled_landmark, perspective)
trajector = self.sample_point_trajector( scene.landmarks['table'].representation.get_geometry().bounding_box,
sampled_relation,
perspective,
sampled_landmark)
print sampled_landmark, self.get_landmark_probability( sampled_landmark, all_landmarks, trajector )
print sampled_relation, self.get_relation_probability( sampled_relation, trajector, scene.get_bounding_box(), perspective, sampled_landmark, step=0.1)
sampled_relation = sampled_relation(perspective, sampled_landmark, trajector)
description = str(trajector) + '; ' + language_generator.describe(perspective, trajector, sampled_landmark, sampled_relation, delimit_chunks)
print description
if visualize: self.visualize(scene, trajector, perspective, sampled_landmark, sampled_relation, description, 0.1)
def demo(self, poi, scene):
# Sentence 1
# [0.25562221863528939, 1.0, 3.9120230054287899, Scene(3), table, <landmark.RectangleRepresentation>,
# m_surf, <relations.on object at 0x35cb350>, ['on the middle of the table']]
'''
sampled_landmark = scene.landmarks['table'].representation.landmarks['ll_corner']
head_on = self.get_head_on_viewpoint(sampled_landmark)
relset = DistanceRelationSet
sampled_relation = relset.relations[0](head_on,sampled_landmark,poi)
print 'distance',sampled_landmark.distance_to(poi)
print 'probability', sampled_relation.is_applicable()
description = str(poi) + '; ' + language_generator.describe(head_on, sampled_landmark, sampled_relation)
print description
self.visualize(scene, poi, head_on, sampled_landmark, sampled_relation, description, step=0.1)
'''
sampled_landmark = scene.landmarks['obj2'].representation.landmarks['r_edge']
head_on = self.get_head_on_viewpoint(sampled_landmark)
relset = OrientationRelationSet
sampled_relation = relset.relations[0](head_on,sampled_landmark,poi)
print 'distance',sampled_landmark.distance_to(poi)
print 'probability', sampled_relation.is_applicable()
description = str(poi) + '; ' + language_generator.describe(head_on, sampled_landmark, sampled_relation)
print description
self.visualize(scene, poi, head_on, sampled_landmark, sampled_relation, description, step=0.1)
def describe(self, trajector, scene, visualize=False, max_level=-1, delimit_chunks=False):
sampled_landmark, sampled_relation, head_on = self.sample_meaning(trajector, scene, max_level)
description = str(trajector.representation.middle) + '; ' + language_generator.describe(head_on, trajector, sampled_landmark, sampled_relation, delimit_chunks)
print description
if visualize: self.visualize(scene, trajector, head_on, sampled_landmark, sampled_relation, description, 0.01)
return description
def describe(self, poi, scene, visualize=False, max_level=-1, delimit_chunks=False):
scenes = scene.get_child_scenes(poi) + [scene]
all_landmarks = []
for s in scenes:
for scene_lmk in s.landmarks.values():
all_landmarks.append([s, scene_lmk])
representations = [scene_lmk.representation]
representations.extend(scene_lmk.representation.get_alt_representations())
for representation in representations:
for lmk in representation.get_landmarks(max_level):
all_landmarks.append([s, lmk])
sceness, landmarks = zip( *all_landmarks )
sampled_landmark, sl_prob, sl_ent = self.sample_landmark( landmarks, poi )
print ' ',sampled_landmark, sl_prob, sl_ent
# relset = choice([DistanceRelationSet,ContainmentRelationSet, OrientationRelationSet])
# index = relset.sample_landmark(landmarks, poi)
# sampled_scene = sceness[index]
# sampled_landmark = landmarks[index]
head_on = self.get_head_on_viewpoint(sampled_landmark)
# self.set_orientations(sampled_landmark, head_on)
# sampled_relation = relset.sample_relation(head_on, sampled_landmark, poi)
self.set_orientations(sampled_landmark, head_on)
sampled_relation, sr_prob, sr_ent = self.sample_relation( poi, scene.get_bounding_box(), head_on, sampled_landmark, step=0.1 )
print ' ',sampled_relation, sr_prob, sr_ent
sampled_relation = sampled_relation( head_on, sampled_landmark, poi )
description = str(poi) + '; ' + language_generator.describe(head_on, sampled_landmark, sampled_relation, delimit_chunks)
print description
if visualize: self.visualize(sampled_scene, poi, head_on, sampled_landmark, sampled_relation, description, 0.1)