def get_args():
navtask = nec.nav_env_base_config()
navtask.task_params.type = 'rng_rejection_sampling_many'
navtask.task_params.rejection_sampling_M = 2000
navtask.task_params.min_dist = 10
sz = FLAGS.image_size
navtask.camera_param.fov = FLAGS.fov
navtask.camera_param.height = sz
navtask.camera_param.width = sz
navtask.task_params.img_height = sz
navtask.task_params.img_width = sz
# navtask.task_params.semantic_task.class_map_names = ['chair', 'door', 'table']
# navtask.task_params.type = 'to_nearest_obj_acc'
LOGGING.info('navtask: %s', navtask)
return navtask
def get_args():
navtask = nec.nav_env_base_config()
navtask.task_params.type = 'rng_rejection_sampling_many'
navtask.task_params.rejection_sampling_M = 2000
navtask.task_params.min_dist = 10
sz = FLAGS.image_size
navtask.camera_param.fov = FLAGS.fov
navtask.camera_param.height = sz
navtask.camera_param.width = sz
navtask.task_params.img_height = sz
navtask.task_params.img_width = sz
# navtask.task_params.semantic_task.class_map_names = ['chair', 'door', 'table']
# navtask.task_params.type = 'to_nearest_obj_acc'
logging.info('navtask: %s', navtask)
return navtask
def process_navtask_str(navtask_str):
navtask = nec.nav_env_base_config()
# Clobber with overrides from strings.
navtask_vars = get_navtask_vars(navtask_str)
navtask.task_params.n_ori = int(navtask_vars.n_ori)
navtask.task_params.max_dist = int(navtask_vars.max_dist)
navtask.task_params.num_steps = int(navtask_vars.num_steps)
navtask.task_params.step_size = int(navtask_vars.step_size)
navtask.task_params.data_augment.delta_xy = int(
navtask_vars.step_size) / 2.
n_aux_views_each = int(navtask_vars.aux_views[2])
aux_delta_thetas = np.concatenate(
(np.arange(n_aux_views_each) + 1, -1 - np.arange(n_aux_views_each)))
aux_delta_thetas = aux_delta_thetas * np.deg2rad(navtask.camera_param.fov)
navtask.task_params.aux_delta_thetas = aux_delta_thetas
if navtask_vars.data_aug == 'aug':
navtask.task_params.data_augment.structured = False
elif navtask_vars.data_aug == 'straug':
navtask.task_params.data_augment.structured = True
else:
logging.fatal('Unknown navtask_vars.data_aug %s.',
navtask_vars.data_aug)
assert (False)
navtask.task_params.num_history_frames = int(navtask_vars.history[1:])
navtask.task_params.n_views = 1 + navtask.task_params.num_history_frames
navtask.task_params.goal_channels = int(navtask_vars.n_ori)
if navtask_vars.task == 'hard':
navtask.task_params.type = 'rng_rejection_sampling_many'
navtask.task_params.rejection_sampling_M = 2000
navtask.task_params.min_dist = 10
elif navtask_vars.task == 'r2r':
navtask.task_params.type = 'room_to_room_many'
elif navtask_vars.task == 'ST':
# Semantic task at hand.
navtask.task_params.goal_channels = \
len(navtask.task_params.semantic_task.class_map_names)
navtask.task_params.rel_goal_loc_dim = \
len(navtask.task_params.semantic_task.class_map_names)
navtask.task_params.type = 'to_nearest_obj_acc'
else:
logging.fatal('navtask_vars.task: should be hard or r2r, ST')
assert (False)
if navtask_vars.modality == 'rgb':
navtask.camera_param.modalities = ['rgb']
navtask.camera_param.img_channels = 3
elif navtask_vars.modality == 'd':
navtask.camera_param.modalities = ['depth']
navtask.camera_param.img_channels = 2
navtask.task_params.img_height = navtask.camera_param.height
navtask.task_params.img_width = navtask.camera_param.width
navtask.task_params.modalities = navtask.camera_param.modalities
navtask.task_params.img_channels = navtask.camera_param.img_channels
navtask.task_params.img_fov = navtask.camera_param.fov
navtask.dataset = factory.get_dataset(navtask_vars.dataset_name)
return navtask
