def make_graph(scene_name):
#print("making ",scene_name)
datadir = '../mixed_offline_data/'
with open(os.path.join(datadir, scene_name, 'graph.json'),"r",) as f:
graph_json = json.load(f)
graph = netx.node_link_graph(graph_json).to_directed()
all_states = list(graph.nodes())
data = {x:0 for x in all_states}
save_str = os.path.join(datadir, scene_name, 'trans.json')
for k in all_states:
#coor_str = get_coor_str(k)
x, z, rot, hor = k.split('|')
x,z,rot,hor = float(x),float(z),int(rot),int(hor)
x += move_list[(rot//45)%8]
z += move_list[((rot//45)+2)%8]
neighbors = graph.neighbors(k)
#neighbor_coor = [get_coor_str(n) for n in neighbors]
if "{:0.2f}|{:0.2f}|{:d}|{:d}".format(x,z,rot,hor) in neighbors:
data[k] = 1
write_to_json(data, save_str)
p = tqdm(total=len(scene_names))
for scene_name in scene_names:
p.update(1)
with open(
os.path.join(datadir, scene_name, graph_name),
"r",
) as f:
graph_json = json.load(f)
with open(
os.path.join(datadir, scene_name, visible_file_name),
"r",
) as f:
visible_data = json.load(f)
graph = netx.node_link_graph(graph_json).to_directed()
all_states = list(graph.nodes())
all_objects_id = visible_data.keys()
save_str = os.path.join(datadir, scene_name, out_name)
data = {x: [] for x in all_objects_id}
data['map'] = {k: all_states.index(k) for k in all_states}
pd = tqdm(total=len(all_states) * len(all_objects_id))
for obs_id in all_objects_id:
all_visible_states = visible_data[obs_id]
#可视状态可能包含当前动作对应的图中不包含的状态
all_visible_states = [x for x in all_visible_states if x in all_states]
for start_state in all_states:
best_path_len = 9999
for k in all_visible_states:
def from_json(json):
return nxparser.node_link_graph(json)