Functions — github.com/bagh2178/UniGoal

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Functions241 in github.com/bagh2178/UniGoal

⨍ Functions 241◇ Types & classes 26

↓ 15 callersMethodclear_line

(self, line_num=1)

src/graph/graph.py:745

↓ 8 callersFunctionget_r_matrix

(ax_, angle)

src/utils/fmm/rotation_utils.py:27

↓ 7 callersFunctionnormalize

(v)

src/utils/fmm/rotation_utils.py:23

↓ 6 callersMethodget_stacked_values_torch

(self, key, idx:int=None)

src/graph/utils/slam_classes.py:30

↓ 5 callersMethodadd_boundary

(self, mat, value=1)

src/agent/unigoal/agent.py:583

↓ 5 callersMethodadd_edge

(self, edge)

src/graph/graph.py:107

↓ 4 callersFunctionto_scalar

Convert the d to a scalar

src/graph/utils/utils.py:107

↓ 3 callersMethodcompute_temp_goal_distance

(self, grid, goal_map, start, planning_window)

src/agent/unigoal/agent.py:589

↓ 3 callersMethodget_agent_pose

(self)

src/envs/instanceimagegoal_env.py:201

↓ 3 callersFunctionget_config

()

main.py:18

↓ 3 callersMethodget_local_map_boundaries

(self, agent_loc)

src/map/bev_mapping.py:269

↓ 3 callersMethodremove_edge

(self, edge)

src/graph/graph.py:110

↓ 3 callersMethodset_goal

(self, goal, auto_improve=False)

src/utils/fmm/fmm_planner.py:86

↓ 3 callersMethodset_relation

(self, relation)

src/graph/graph.py:140

↓ 3 callersMethodset_text_goal

(self, text_goal)

src/graph/graph.py:292

↓ 3 callersFunctionto_numpy

(tensor)

src/graph/utils/slam_classes.py:10

↓ 3 callersFunctionto_tensor

(numpy_array, device=None)

src/graph/utils/slam_classes.py:15

↓ 2 callersMethod_find_nearest_goal

find the nearest traversible place

src/utils/fmm/fmm_planner.py:179

↓ 2 callersMethoddelete

(self)

src/graph/graph.py:143

↓ 2 callersFunctionexpand_3d_box

Expand the side of 3D boxes such that each side has at least eps length. Assumes the bbox cornder order in open3d convention. bbox:

src/graph/utils/iou.py:5

↓ 2 callersFunctionfilter_objects

(cfg, objects: MapObjectList)

src/graph/utils/utils.py:12

↓ 2 callersMethodget_agent_location

Returns x, y, o pose of the agent.

src/envs/instanceimagegoal_env.py:208

↓ 2 callersFunctionget_bounding_box

(cfg, pcd)

src/graph/utils/utils.py:421

↓ 2 callersFunctionget_camera_matrix

Returns a camera matrix from image size and fov.

src/utils/camera.py:5

↓ 2 callersFunctionget_dist

(sx, sy, scale, step_size)

src/utils/fmm/fmm_planner_policy.py:29

↓ 2 callersFunctionget_l2_distance

Computes the L2 distance between two points.

src/utils/fmm/pose_utils.py:142

↓ 2 callersFunctionget_mask

(sx, sy, scale, step_size)

src/utils/fmm/fmm_planner_policy.py:10

↓ 2 callersMethodget_observation

(self)

src/envs/real_world_env.py:21

↓ 2 callersMethodget_prediction

(self, img)

src/utils/visualization/semantic_prediction.py:28

↓ 2 callersMethodget_relations

(self, llm_response, objects)

src/graph/graphbuilder.py:12

↓ 2 callersMethodget_short_term_goal

(self, state, found_goal = 0, decrease_stop_cond=0)

src/utils/fmm/fmm_planner.py:119

↓ 2 callersMethodget_values

(self, key, idx:int=None)

src/graph/utils/slam_classes.py:24

↓ 2 callersMethodgraph_to_text

(self, nodes, edges)

src/graph/graph.py:86

↓ 2 callersMethodinit_room_nodes

(self)

src/graph/graph.py:361

↓ 2 callersMethodlocal_feature_match_lightglue

(self, re_key2=False)

src/agent/unigoal/agent.py:137

↓ 2 callersMethodmapping

(self, obs, infos)

src/map/bev_mapping.py:222

↓ 2 callersMethodpred_sem

(self, rgb, depth=None, use_seg=True, pred_bbox=False)

src/agent/unigoal/agent.py:661

↓ 2 callersMethodpreprocess_obs

(self, obs, use_seg=True)

src/agent/unigoal/agent.py:623

↓ 2 callersFunctionprocess_pcd

(pcd, cfg, run_dbscan=True)

src/graph/utils/utils.py:408

↓ 2 callersMethodreset

(self)

src/graph/graph.py:908

↓ 2 callersMethodreset

(self)

src/agent/unigoal/agent.py:88

↓ 2 callersMethodset_caption

(self, new_caption)

src/graph/graph.py:113

↓ 2 callersMethodset_image_goal

(self, image)

src/graph/graph.py:285

↓ 2 callersMethodset_multi_goal

(self, goal_map, state)

src/utils/fmm/fmm_planner.py:100

↓ 2 callersMethodset_obj_goal

(self, obj_goal)

src/graph/graph.py:282

↓ 2 callersMethodstep

Function responsible for planning, taking the action and preprocessing observations Args: planner_inputs (dict):

src/agent/unigoal/agent.py:345

↓ 2 callersMethodupdate_intrinsic_rew

(self, env_idx=0)

src/map/bev_mapping.py:339

↓ 1 callersMethod_find_nearest_goal

(self, goal)

src/utils/fmm/fmm_planner_policy.py:179

↓ 1 callersFunctionadd_text_list

(image: np.ndarray, text_list: list, position=(10, 20), font=cv2.FONT_HERSHEY_SIMPLEX, font_scale=0.5, color=(

src/utils/visualization/visualization.py:107

↓ 1 callersMethodbuild_graph

(self, objects, relations)

src/graph/graphbuilder.py:57

↓ 1 callersMethodbuild_graph_from_text

(self, text_goal)

src/graph/graphbuilder.py:64

↓ 1 callersMethodcalculate_relative_positions

Calculate relative positions of nodes within a graph using LLM for unknown positions

src/graph/overlap.py:94

↓ 1 callersMethodclean_edges

(self, subgraphs)

src/graph/goalgraphdecomposer.py:15

↓ 1 callersFunctioncompute_3d_iou_accuracte_batch

Compute IoU between two sets of oriented (or axis-aligned) 3D bounding boxes. bbox1: (M, 8, D), e.g. (M, 8, 3) bbox2: (N, 8, D), e.g

src/graph/utils/iou.py:45

↓ 1 callersMethodcompute_ins_dis_v1

analyze the maxium depth points's pos make sure the object is within the range of 10m

src/agent/unigoal/agent.py:162

↓ 1 callersMethodcompute_ins_goal_map

(self, whwh, start, start_o)

src/agent/unigoal/agent.py:177

↓ 1 callersFunctioncompute_iou_batch

Compute IoU between two sets of axis-aligned 3D bounding boxes. bbox1: (M, V, D), e.g. (M, 8, 3) bbox2: (N, V, D), e.g. (N, 8, 3)

src/graph/utils/iou.py:68

↓ 1 callersFunctioncompute_overlap_matrix_2set

compute pairwise overlapping between two set of objects in terms of point nearest neighbor. objects_map is the existing objects in the map,

src/graph/utils/utils.py:296

↓ 1 callersFunctioncompute_spatial_similarities

Compute the spatial similarities between the detections and the objects Args: detection_list: a list of M detections obj

src/graph/utils/mapping.py:7

↓ 1 callersFunctionconstruct_envs

(args)

src/envs/__init__.py:8

↓ 1 callersMethodcorrect_scene_graph

(self, scene_graph, start_node)

src/graph/scenegraphcorrector.py:54

↓ 1 callersFunctioncreate_object_pcd

(depth_array, mask, cam_K, image, obj_color=None, is_navigation=False)

src/graph/utils/utils.py:139

↓ 1 callersFunctiondraw_line

(start, end, mat, steps=25, w=1)

src/utils/visualization/visualization.py:25

↓ 1 callersFunctiondraw_rectangle

obstacle_map: indicates shape start: line start goal: line end width: half width of the rectangle

src/utils/fmm/pose_utils.py:80

↓ 1 callersMethodedge_similarity

(self, G1, G2)

src/graph/overlap.py:54

↓ 1 callersMethodexplore

(self)

src/graph/graph.py:695

↓ 1 callersMethodexplore_remaining

(self)

src/graph/graph.py:721

↓ 1 callersMethodexplore_subgraph

(self, goal=None)

src/graph/graph.py:708

↓ 1 callersFunctionfill_rectangle

(obstacle_map, vertices)

src/utils/fmm/pose_utils.py:103

↓ 1 callersFunctionfilter_gobs

( cfg: DictConfig, gobs: dict, image: np.ndarray, BG_CLASSES = ["wall", "floor", "ceiling"], )

src/graph/utils/utils.py:23

↓ 1 callersMethodfind_common_nodes

Find common nodes between two graphs

src/graph/overlap.py:90

↓ 1 callersMethodfind_edges_between_nodes

(self, graph, nodes)

src/graph/scenegraphcorrector.py:25

↓ 1 callersMethodfind_modes

(self, lst)

src/graph/graph.py:751

↓ 1 callersMethodfind_nodes_within_distance

(self, graph, start_node, max_distance=2)

src/graph/scenegraphcorrector.py:7

↓ 1 callersFunctionfrom_intrinsics_matrix

Get fx, fy, cx, cy from the intrinsics matrix return 4 scalars

src/graph/utils/utils.py:126

↓ 1 callersMethodget_action

Function responsible for planning Args: planner_inputs (dict): dict with following keys: 'map

src/agent/unigoal/agent.py:409

↓ 1 callersMethodget_caption

(self)

src/graph/graph.py:505

↓ 1 callersFunctionget_contour_points

(pos, origin, size=20)

src/utils/visualization/visualization.py:11

↓ 1 callersFunctionget_dist

(sx, sy, scale, step_size)

src/utils/fmm/fmm_planner.py:43

↓ 1 callersMethodget_edges

(self)

src/graph/graph.py:348

↓ 1 callersMethodget_goal

(self, goal=None)

src/graph/graph.py:779

↓ 1 callersMethodget_goal_cat_id

(self)

src/agent/unigoal/agent.py:677

↓ 1 callersMethodget_graph

(self)

src/graph/graph.py:75

↓ 1 callersFunctionget_grid

Input: `pose` FloatTensor(bs, 3) `grid_size` 4-tuple (bs, _, grid_h, grid_w) `device` torch.device (cpu or gpu) Outpu

src/utils/model.py:7

↓ 1 callersMethodget_grounded_sam

(self, device)

src/graph/graph.py:368

↓ 1 callersMethodget_joint_image

(self, node1, node2)

src/graph/graph.py:760

↓ 1 callersMethodget_local_goal

(self, grid, start, goal, planning_window)

src/agent/unigoal/agent.py:529

↓ 1 callersMethodget_location_change

Returns dx, dy, do pose change of the agent relative to the last timestep.

src/envs/instanceimagegoal_env.py:224

↓ 1 callersFunctionget_mask

using all the points on the edges as mask.

src/utils/fmm/fmm_planner.py:10

↓ 1 callersMethodget_metrics

This function computes evaluation metrics for the Object Goal task Returns: spl (float): Success weighted by Path Length

src/envs/instanceimagegoal_env.py:185

↓ 1 callersMethodget_most_common_class

(self)

src/graph/utils/slam_classes.py:76

↓ 1 callersMethodget_objects

(self, llm_response)

src/graph/graphbuilder.py:5

↓ 1 callersFunctionget_point_cloud_from_z_t

Projects the depth image Y into a 3D point cloud. Inputs: Y is ...xHxW camera_matrix Outputs: X is positive going righ

src/utils/fmm/depth_utils.py:131

↓ 1 callersMethodget_pose_matrix

(self)

src/graph/graph.py:410

↓ 1 callersMethodget_predictions

(self, img, visualize=0)

src/utils/visualization/semantic_prediction.py:83

↓ 1 callersFunctionget_rel_pose_change

(pos2, pos1)

src/utils/fmm/pose_utils.py:149

↓ 1 callersMethodget_scenegraph

(self)

src/graph/graph.py:308

↓ 1 callersFunctionget_seg_parser

()

src/utils/visualization/semantic_prediction.py:101

↓ 1 callersMethodget_segmentation

( self, model, image: np.ndarray )

src/graph/graph.py:373

↓ 1 callersMethodget_traversible

(self, map_pred, pose_pred)

src/graph/graph.py:850

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