Functions — github.com/bagh2178/UniGoal

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Functions241 in github.com/bagh2178/UniGoal

⨍ Functions 241◇ Types & classes 26

Methodget_agent_pose

(self)

src/envs/real_world_env.py:38

Functionget_camera_matrix

Returns a camera matrix from image size and fov.

src/utils/fmm/depth_utils.py:29

Functionget_l2_dis_point_map

(start, goal_map)

src/utils/fmm/pose_utils.py:190

Methodget_metrics

(self)

src/envs/real_world_env.py:30

Functionget_new_pose

(pose, rel_pose_change)

src/utils/fmm/pose_utils.py:162

Methodget_new_pose_batch

(pose, rel_pose_change)

src/map/bev_mapping.py:145

Methodget_nodes

(self)

src/graph/graph.py:345

Functionget_point_cloud_from_z

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

src/utils/fmm/depth_utils.py:39

Methodget_seg_caption

(self)

src/graph/graph.py:358

Methodget_seg_xyxy

(self)

src/graph/graph.py:355

Methodget_short_term_goal

(self, state, step_size=5)

src/utils/fmm/fmm_planner_policy.py:86

Methodget_short_term_goal_v1

(self, state, k)

src/utils/fmm/fmm_planner_policy.py:130

Methodget_stacked_values_numpy

(self, key, idx:int=None)

src/graph/utils/slam_classes.py:44

Methodget_subgraph_2_text

(self)

src/graph/graph.py:162

Methodgraph_edit_distance_heuristic

(self, G1, G2)

src/graph/overlap.py:64

Functionlist2qua

(li)

src/utils/fmm/pose_utils.py:74

Methodload_serializable

(self, s_obj_list)

src/graph/utils/slam_classes.py:148

Methodoverlap

(self)

src/graph/overlap.py:79

Functionqua2list

(qua)

src/utils/fmm/pose_utils.py:77

Functionquaternion_from_coeff

r"""Creates a quaternions from coeffs in [x, y, z, w] format

src/utils/fmm/pose_utils.py:17

Functionquaternion_rotate_vector

r"""Rotates a vector by a quaternion Args: quaternion: The quaternion to rotate by v: The vector to rotate Returns: np

src/utils/fmm/pose_utils.py:25

Functionquaternion_to_rotation

r""" ref: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation

src/utils/fmm/pose_utils.py:41

Methodreset

(self)

src/envs/real_world_env.py:14

Methodreset

Resets the environment to a new episode. Returns: obs (ndarray): RGBD observations (4 x H x W) info (dict): contains

src/envs/instanceimagegoal_env.py:57

Functionrotate_camera_to_point_at

(up_from, lookat_from, up_to, lookat_to)

src/utils/fmm/rotation_utils.py:48

Methodseed

(self, seed)

src/envs/real_world_env.py:11

Methodset_agent

(self, agent)

src/graph/graph.py:264

Methodset_fbe_free_map

(self, fbe_free_map)

src/graph/graph.py:273

Methodset_frontier_map

(self, frontier_map)

src/graph/graph.py:299

Methodset_multi_goal

(self, goal_map, visited=None)

src/utils/fmm/fmm_planner_policy.py:76

Methodset_room_map

(self, room_map)

src/graph/graph.py:270

Methodslice_by_indices

Return a sublist of the current list by indexing

src/graph/utils/slam_classes.py:57

Methodslice_by_mask

Return a sublist of the current list by masking

src/graph/utils/slam_classes.py:66

Methodstep

(self, action)

src/envs/real_world_env.py:17

Methodstep

Function to take an action in the environment. Args: action (dict): dict with following keys:

src/envs/instanceimagegoal_env.py:134

Methodtext

(self)

src/graph/graph.py:147

Functionthreshold_pose_map

(global_map, gx1, gx2, gy1, gy2)

src/utils/fmm/pose_utils.py:182

Functionthreshold_poses

(coords, shape)

src/utils/fmm/pose_utils.py:177

Methodto_serializable

(self)

src/graph/utils/slam_classes.py:129

Functiontransform_camera_view

Transforms the point cloud into geocentric frame to account for camera elevation and angle Input: XYZ : ...x3

src/utils/fmm/depth_utils.py:65

Functiontransform_pose

Transforms the point cloud into geocentric frame to account for camera position Input: XYZ : ...x3 cu

src/utils/fmm/depth_utils.py:83

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