def construct_training_scene(): speaker = Speaker(Vec2(0,0)) scene = Scene(3) table = Landmark('table', RectangleRepresentation(rect=BoundingBox([Vec2(-0.4,0.4), Vec2(0.4,1.0)])), None, ObjectClass.TABLE) obj1 = Landmark('green_cup', RectangleRepresentation(rect=BoundingBox([Vec2(0.05-0.035,0.9-0.035), Vec2(0.05+0.035,0.9+0.035)]), landmarks_to_get=[]), None, ObjectClass.CUP, Color.GREEN) obj2 = Landmark('blue_cup', RectangleRepresentation(rect=BoundingBox([Vec2(0.05-0.035,0.7-0.035), Vec2(0.05+0.035,0.7+0.035)]), landmarks_to_get=[]), None, ObjectClass.CUP, Color.BLUE) obj3 = Landmark('pink_cup', RectangleRepresentation(rect=BoundingBox([Vec2(0-0.035,0.55-0.035), Vec2(0+0.035,0.55+0.035)]), landmarks_to_get=[]), None, ObjectClass.CUP, Color.PINK) obj4 = Landmark('purple_prism', RectangleRepresentation(rect=BoundingBox([Vec2(-0.3-0.03,0.7-0.05), Vec2(-0.3+0.03,0.7+0.05)]), landmarks_to_get=[]), None, ObjectClass.PRISM, Color.PURPLE) obj5 = Landmark('orange_prism', RectangleRepresentation(rect=BoundingBox([Vec2(0.3-0.03,0.7-0.05), Vec2(0.3+0.03,0.7+0.05)]), landmarks_to_get=[]), None, ObjectClass.PRISM, Color.ORANGE) obj6 = Landmark('narrow_prism', RectangleRepresentation(rect=BoundingBox([Vec2(0.2-0.04,0.5-0.02), Vec2(0.4+0.03,0.4+0.03)]), landmarks_to_get=[]), None, ObjectClass.PRISM, Color.ORANGE) scene.add_landmark(table) for obj in (obj1, obj2, obj3, obj4, obj5,obj6): obj.representation.alt_representations = [] scene.add_landmark(obj) return scene, speaker
def construct_training_scene(): speaker = Speaker(Vec2(0, 0)) scene = Scene(3) table = Landmark( 'table', RectangleRepresentation( rect=BoundingBox([Vec2(-0.4, 0.4), Vec2(0.4, 1.0)])), None, ObjectClass.TABLE) obj1 = Landmark( 'green_cup', RectangleRepresentation(rect=BoundingBox( [Vec2(0.05 - 0.035, 0.9 - 0.035), Vec2(0.05 + 0.035, 0.9 + 0.035)]), landmarks_to_get=[]), None, ObjectClass.CUP, Color.GREEN) obj2 = Landmark( 'blue_cup', RectangleRepresentation(rect=BoundingBox( [Vec2(0.05 - 0.035, 0.7 - 0.035), Vec2(0.05 + 0.035, 0.7 + 0.035)]), landmarks_to_get=[]), None, ObjectClass.CUP, Color.BLUE) obj3 = Landmark( 'pink_cup', RectangleRepresentation(rect=BoundingBox( [Vec2(0 - 0.035, 0.55 - 0.035), Vec2(0 + 0.035, 0.55 + 0.035)]), landmarks_to_get=[]), None, ObjectClass.CUP, Color.PINK) obj4 = Landmark( 'purple_prism', RectangleRepresentation(rect=BoundingBox( [Vec2(-0.3 - 0.03, 0.7 - 0.05), Vec2(-0.3 + 0.03, 0.7 + 0.05)]), landmarks_to_get=[]), None, ObjectClass.PRISM, Color.PURPLE) obj5 = Landmark( 'orange_prism', RectangleRepresentation(rect=BoundingBox( [Vec2(0.3 - 0.03, 0.7 - 0.05), Vec2(0.3 + 0.03, 0.7 + 0.05)]), landmarks_to_get=[]), None, ObjectClass.PRISM, Color.ORANGE) scene.add_landmark(table) for obj in (obj1, obj2, obj3, obj4, obj5): obj.representation.alt_representations = [] scene.add_landmark(obj) return scene, speaker
if __name__ == '__main__': # poi = Vec2(float(sys.argv[1]), 0) # l = LineRepresentation() # f = l.get_line_features(poi) # print 'dist_start = {dist_start}, dist_end = {dist_end}, dist_mid = {dist_mid}'.format(**f) # print 'dir_start = {dir_start}, dir_end = {dir_end}, dir_mid = {dir_mid}'.format(**f) # print 'Distance from POI to Start landmark is %f' % l.landmarks['start'].distance_to(poi) # print 'Distance from POI to End landmark is %f' % l.landmarks['end'].distance_to(poi) # print 'Distance from POI to Mid landmark is %f' % l.landmarks['mid'].distance_to(poi) speaker = Speaker(Vec2(5.5,4.5)) scene = Scene(3) table = Landmark('table', RectangleRepresentation(rect=BoundingBox([Vec2(5,5), Vec2(6,7)])), None, Landmark.TABLE) obj1 = Landmark('obj1', RectangleRepresentation(rect=BoundingBox([Vec2(5,5), Vec2(5.1,5.1)])), None, Landmark.CUP) obj2 = Landmark('obj2', RectangleRepresentation(rect=BoundingBox([Vec2(5.5,6), Vec2(5.6,6.1)])), None, Landmark.BOTTLE)