def _make_maps(map_names):
def load_maps(datadir, map_names, **kwargs):
maps = []
for name in map_names:
maps.append(MakeGibsonMap(datadir, name, **kwargs))
return maps
map_names = [s.strip() for s in map_names]
map_param = {}
return load_maps(get_gibson_asset_dir(), map_names, **map_param)
common_kwargs = {
'overlap_ratio':
0.3,
'fov':
np.deg2rad(mp.g.get('hfov', 118.6)),
'distance_min':
-1.0,
'distance_max':
mp.g.dmax,
'agent_name':
'classic_240fov_minirccar',
'net_config':
EasyDict({'input_resolution': mp.g.get('resolution', 64)}),
'assets_dir':
get_gibson_asset_dir(),
'camera_z':
mp.g['camera_z'],
'camera_pos': (mp.g.get('camera_x', 0.065), mp.g.get('camera_y', 0.0)),
'h_fov':
np.deg2rad(mp.g.get('hfov', 118.6)),
'v_fov':
np.deg2rad(mp.g.get('vfov', 106.9)),
'n_filler_server':
0,
'n_sim_per_map':
0,
'persistent_server_cfg_file':
os.path.join(get_config_dir(), 'gibson_persistent_servers/local.yaml')
}
n_frame=g.n_frame,
frame_interval=g.frame_interval,
fov=np.deg2rad(g.hfov),
distance_min=g.dmin,
distance_max=g.dmax,
overlap_ratio=g.overlap_ratio,
use_gt_wp=g.use_gt_wp,
normalize_wp=g.normalize_wp,
check_wp=g.check_wp,
jitter=g.jitter,
future=g.future,
maps=None if g.maps == '' else g.maps.split(','),
agent_name='classic_240fov_minirccar',
net_config=EasyDict({'input_resolution': g.resolution}),
hd5_files=glob.glob(os.path.join(g.dataset_dir, dataset_files)),
assets_dir=get_gibson_asset_dir(),
camera_pos=(g.camera_x, g.camera_y),
camera_z=g.camera_z,
h_fov=np.deg2rad(g.hfov),
v_fov=np.deg2rad(g.vfov),
n_filler_server=0,
n_sim_per_map=0,
persistent_server_cfg_file=g.persistent_server_cfg)
train_funcs = {
'attention': train_fixture.train_multiframedst,
'concat_early': train_fixture.train_multiframedst,
'future': train_fixture.train_multiframedst,
'future_stack': train_fixture.train_multiframedst,
'future_stack_v2': train_fixture.train_multiframedst,
'future_pair': train_fixture.train_multiframedst,