diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..49ac69a --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,201 @@ +cmake_minimum_required(VERSION 2.8.3) +project(semnav_ros) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + gibson-ros +) + +find_package(catkin REQUIRED genmsg actionlib_msgs actionlib) +add_action_files(DIRECTORY action FILES NavCommand.action) +generate_messages(DEPENDENCIES actionlib_msgs) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES semnav_ros +# CATKIN_DEPENDS gibson-ros +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/semnav_ros.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/semnav_ros_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_semnav_ros.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..ce8d79c --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2018 Kevin Chen + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index d30962b..2348b9e 100644 --- a/README.md +++ b/README.md @@ -1 +1,168 @@ -# Coming Soon +# A Behavioral Approach to Visual Navigation with Graph Localization Networks + +![GraphNav Overview](https://graphnav.stanford.edu/images/graphnav-architecture-overview.jpeg) + +Paper: [A Behavioral Approach to Visual Navigation with Graph Localization Networks](http://arxiv.org/abs/1903.00445) +Website: https://graphnav.stanford.edu/ +Video: https://youtu.be/nN3B1F90CFM + +**Citing** +``` +@INPROCEEDINGS{Savarese-RSS-19, + AUTHOR = {Kevin Chen AND Juan Pablo de Vicente AND Gabriel Sepulveda AND Fei Xia AND Alvaro Soto AND Marynel Vázquez AND Silvio Savarese}, + TITLE = {A Behavioral Approach to Visual Navigation with Graph Localization Networks}, + BOOKTITLE = {Proceedings of Robotics: Science and Systems}, + YEAR = {2019}, + ADDRESS = {FreiburgimBreisgau, Germany}, + MONTH = {June}, + DOI = {10.15607/RSS.2019.XV.010} +} +``` + +## Environment Setup + +### GraphNav Setup + +```bash +# Need python 2 when using ROS +conda create -n graphnav python=3.7 + +# Install requirements +pip install -r requirements.txt + +# Add graphnav +export PYTHONPATH=$PYTHONPATH:/src +``` + +### Gibson Setup + +Install Gibson v2. Follow the directions [here](https://github.com/StanfordVL/GibsonEnvV2/tree/master/examples/ros/gibson2-ros) for ROS-specific instructions. + +Example Gibson installation below using Anaconda. For more details, see [Gibson](https://github.com/StanfordVL/GibsonEnvV2). +```bash +conda create -n graphnav-gibson-py2 python=2.7 +conda activate graphnav-gibson-py2 +pip install -e . # From GibsonEnvV2 directory +conda deactivate +``` + +If not done already, execute the [ROS-specific Gibson instructions](https://github.com/StanfordVL/GibsonEnvV2/tree/master/examples/ros/gibson2-ros). + +Example of path setup below. Put these in a script if you would like. +```bash +export PYTHONPATH=$PYTHONPATH: +export PYTHONPATH=$PYTHONPATH:/lib/python2.7/site-packages # Path to virtual env if you used one (use Python 2) +export PYTHONPATH=$PYTHONPATH:/src + +# Make sure to remove these from PATH as specified in the Gibson ROS instructions (if using Anaconda) +echo $PATH | grep -oP "[^:;]+" | grep conda +``` + +Add ROS packages for Gibson and graphnav, just like the [ROS-specific Gibson instructions](https://github.com/StanfordVL/GibsonEnvV2/tree/master/examples/ros/gibson2-ros). +```bash +# Gibson +ln -s /examples/ros/gibson-ros/ ~/catkin_ws/src/ +cd ~/catkin_ws && catkin_make + +ln -s ~/catkin_ws/src/semnav_ros +cd ~/catkin_ws && catkin_make +``` + +## Dataset Setup + +Download the data (collected from Gibson 1) from [here](http://download.cs.stanford.edu/downloads/graphnav/v0.2.zip). This data is used for training the behaviors networks. + +Replace the following in `graphnav/config.py`: +```bash +DATASET_ROOT = '/data/graphnav/trajectory-data' +LOG_ROOT = '/data/graphnav/experiments' +STANFORD_JSON = '/data/semantic_labels.json' +MAPS_ROOT = '/maps/v0.2' + ``` + +For faster data loader initialization in each run: +```bash +# Edit the directory in build_dataset_cache.py +python build_dataset_cache.py --dataset_type frame_by_frame +``` + +## Behavior Networks + +### Training + +Example train command: +```bash +python learning/behavior_net/behavior_trainer.py \ + --batch_size 32 \ + --learning_rate 0.0001 \ + --dataset v0.2 \ + --n_workers 3 \ + --behaviornet_type behavior_rnn \ + --dataset_type temporal \ + --print_freq 250 \ + --val_freq 1000 \ + --ckpt_freq 1000 \ + --n_epochs 500 \ + --log_dir v0.2/behavior_rnn/tl \ + --behavior_id tl \ + --n_frames_per_sample 20 +``` + +An example config for different behavior networks: +``` +# behaviornet_type, behavior_id, dataset_type +behaviornets = [ + ('behavior_rnn', 'tl', 'temporal'), + ('behavior_rnn', 'tr', 'temporal'), + ('behavior_cnn', 'cf', 'temporal'), + ('behavior_rnn', 's', 'temporal'), + ('behavior_cnn', 'fd', 'temporal'), + ] +``` + +## Graph Localization Network + +### Training + +```bash +python learning/graph_net/graph_net_trainer.py \ + --dataset v0.2 \ + --learning_rate 1e-4 \ + --n_workers 3 \ + --behaviornet_type graph_net \ + --dataset_type graph_net \ + --print_freq 100 \ + --val_freq 2000 \ + --ckpt_freq 2000 \ + --n_epochs 500 \ + --n_frames_per_sample 20 \ + --log_dir v0.2/graph_net \ + --aggregate_method sum \ + --use_gn_augmentation +``` + +## Rollouts in Gibson + +The code has been tested with ROS Kinetic (Python 2.7). + +### Setup for each run + +#### Yaml + +Edit the Gibson configuration [yaml file](https://github.com/StanfordVL/GibsonEnvV2/blob/master/examples/ros/gibson2-ros/turtlebot_rgbd.yaml). Pay particular attention to the model ID. Also make sure `fov: 2.62` or `150` degrees (depending on Gibson 1 or Gibson 2) and `resolution: 320`. + +#### Launch file + +Edit the ROS [launch file](https://github.com/StanfordVL/GibsonEnvV2/blob/master/examples/ros/gibson2-ros/launch/turtlebot_gt_navigation.launch). Make sure the [area yaml](https://github.com/StanfordVL/GibsonEnvV2/blob/9dfc340d85e167983df7abfd7425d4ba78ab8524/examples/ros/gibson2-ros/launch/turtlebot_gt_navigation.launch#L42) matches with the model ID specified in the `turtlebot_rgbd.yaml` and points to a yaml from the **this repo**. + +#### Load checkpointed models + +Edit `graph_net_navigation_brain.py` to load the desired checkpointed models. + +### Launching Gibson + ROS + +```bash +roslaunch gibson2-ros turtlebot_gt_navigation.launch +rosrun semnav_ros navigation_planner.py +rosrun semnav_ros graph_net_navigation_brain.py --dataset_type graph_net # No particle filter +``` diff --git a/action/NavCommand.action b/action/NavCommand.action new file mode 100644 index 0000000..d5442c4 --- /dev/null +++ b/action/NavCommand.action @@ -0,0 +1,13 @@ +# Define the goal +uint32 episode_idx +string nav_plan +--- +# Define the result +uint8 episode_result +float32 percentage_plan_completed +--- +# Define a feedback message +string cur_node_name +string cur_room_name +string gt_behavior_id +string exec_behavior_id diff --git a/data/semantic_labels.json b/data/semantic_labels.json new file mode 100644 index 0000000..84d1400 --- /dev/null +++ b/data/semantic_labels.json @@ -0,0 +1 @@ +["_0__0_0", "beam_10_hallway_6_1", "beam_10_storage_4_2", "beam_10_office_9_3", "beam_10_hallway_2_6", "beam_11_hallway_7_1", "beam_11_storage_8_2", "beam_11_office_10_3", "beam_11_hallway_2_6", "beam_12_hallway_7_1", "beam_12_WC_1_3", "beam_12_hallway_2_6", "beam_13_hallway_7_1", "beam_13_WC_2_3", "beam_13_hallway_2_6", "beam_14_hallway_7_1", "beam_14_hallway_2_6", "beam_15_hallway_7_1", "beam_15_hallway_2_6", "beam_16_hallway_7_1", "beam_16_hallway_2_6", "beam_17_hallway_7_1", "beam_17_hallway_6_6", "beam_18_hallway_7_1", "beam_18_lounge_1_6", "beam_19_office_1_1", "beam_19_office_1_6", "beam_1_conferenceRoom_1_1", "beam_1_conferenceRoom_1_2", "beam_1_conferenceRoom_1_3", "beam_1_hallway_13_4", "beam_1_office_39_5", "beam_1_conferenceRoom_1_6", "beam_20_office_2_1", "beam_20_office_2_6", "beam_21_office_3_1", "beam_21_office_3_6", "beam_22_office_3_1", "beam_22_office_4_6", "beam_23_office_4_1", "beam_23_office_5_6", "beam_24_office_5_1", "beam_24_office_6_6", "beam_25_office_6_1", "beam_25_office_7_6", "beam_26_office_7_1", "beam_26_office_8_6", "beam_27_office_8_1", "beam_27_office_8_6", "beam_28_office_8_1", "beam_28_office_9_6", "beam_29_office_9_1", "beam_29_office_9_6", "beam_2_conferenceRoom_2_1", "beam_2_hallway_4_2", "beam_2_office_1_3", "beam_2_lobby_1_4", "beam_2_office_39_5", "beam_2_hallway_1_6", "beam_30_office_10_1", "beam_30_office_9_6", "beam_31_office_11_1", "beam_31_office_10_6", "beam_32_office_11_1", "beam_32_office_11_6", "beam_33_office_12_1", "beam_33_office_12_6", "beam_34_office_13_1", "beam_34_office_13_6", "beam_35_office_16_1", "beam_35_office_14_6", "beam_36_office_17_1", "beam_36_office_14_6", "beam_37_office_18_1", "beam_37_office_15_6", "beam_38_office_19_1", "beam_38_office_16_6", "beam_39_office_20_1", "beam_39_office_17_6", "beam_3_copyRoom_1_1", "beam_3_hallway_8_2", "beam_3_office_2_3", "beam_3_lobby_1_4", "beam_3_storage_1_5", "beam_3_hallway_1_6", "beam_40_office_21_1", "beam_40_office_18_6", "beam_41_office_22_1", "beam_41_office_19_6", "beam_42_office_23_1", "beam_42_office_20_6", "beam_43_office_24_1", "beam_43_office_21_6", "beam_44_office_25_1", "beam_44_office_22_6", "beam_45_office_26_1", "beam_45_office_23_6", "beam_46_office_26_1", "beam_46_office_24_6", "beam_47_office_28_1", "beam_47_office_25_6", "beam_48_office_29_1", "beam_48_office_26_6", "beam_49_office_29_1", "beam_49_office_27_6", "beam_4_hallway_6_1", "beam_4_hallway_9_2", "beam_4_office_3_3", "beam_4_hallway_1_6", "beam_50_office_30_1", "beam_50_office_28_6", "beam_51_office_30_1", "beam_51_office_29_6", "beam_52_office_30_1", "beam_52_office_30_6", "beam_53_office_30_1", "beam_53_office_31_6", "beam_54_office_31_1", "beam_54_office_32_6", "beam_55_office_31_1", "beam_55_office_33_6", "beam_56_office_31_1", "beam_56_office_33_6", "beam_57_office_31_1", "beam_57_office_34_6", "beam_58_office_31_1", "beam_58_office_35_6", "beam_59_office_31_1", "beam_59_office_36_6", "beam_5_hallway_6_1", "beam_5_office_5_2", "beam_5_office_4_3", "beam_5_hallway_1_6", "beam_60_pantry_1_1", "beam_60_office_37_6", "beam_61_pantry_1_1", "beam_61_openspace_1_6", "beam_62_openspace_1_6", "beam_63_openspace_1_6", "beam_64_openspace_1_6", "beam_65_copyRoom_1_6", "beam_66_copyRoom_1_6", "beam_67_pantry_1_6", "beam_68_pantry_1_6", "beam_6_hallway_6_1", "beam_6_office_14_2", "beam_6_office_5_3", "beam_6_hallway_1_6", "beam_7_hallway_6_1", "beam_7_office_14_2", "beam_7_office_6_3", "beam_7_hallway_1_6", "beam_8_hallway_6_1", "beam_8_storage_2_2", "beam_8_office_7_3", "beam_8_hallway_1_6", "beam_9_hallway_6_1", "beam_9_storage_3_2", "beam_9_office_8_3", "beam_9_hallway_1_6", "board_10_office_14_1", "board_10_hallway_3_2", "board_10_office_7_3", "board_10_office_18_4", 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"clutter_102_lounge_1_6", "clutter_103_hallway_7_1", "clutter_103_hallway_2_2", "clutter_103_office_2_3", "clutter_103_hallway_7_4", "clutter_103_hallway_7_5", "clutter_103_lounge_1_6", "clutter_104_hallway_7_1", "clutter_104_hallway_2_2", "clutter_104_office_2_3", "clutter_104_hallway_7_4", "clutter_104_hallway_7_5", "clutter_104_lounge_1_6", "clutter_105_hallway_7_1", "clutter_105_hallway_2_2", "clutter_105_office_2_3", "clutter_105_hallway_7_4", "clutter_105_hallway_7_5", "clutter_105_lounge_1_6", "clutter_106_hallway_7_1", "clutter_106_hallway_2_2", "clutter_106_office_2_3", "clutter_106_hallway_7_4", "clutter_106_hallway_7_5", "clutter_106_lounge_1_6", "clutter_107_hallway_7_1", "clutter_107_hallway_2_2", "clutter_107_office_2_3", "clutter_107_hallway_7_4", "clutter_107_hallway_8_5", "clutter_107_lounge_1_6", "clutter_108_hallway_7_1", "clutter_108_hallway_2_2", "clutter_108_office_2_3", "clutter_108_hallway_7_4", "clutter_108_hallway_8_5", "clutter_108_lounge_1_6", "clutter_109_hallway_7_1", "clutter_109_hallway_2_2", "clutter_109_office_2_3", "clutter_109_hallway_7_4", "clutter_109_hallway_9_5", "clutter_109_lounge_1_6", "clutter_10_conferenceRoom_2_1", "clutter_10_auditorium_1_2", "clutter_10_hallway_1_3", "clutter_10_conferenceRoom_2_4", "clutter_10_conferenceRoom_2_5", "clutter_10_hallway_1_6", "clutter_110_office_1_1", "clutter_110_hallway_2_2", "clutter_110_office_2_3", "clutter_110_hallway_7_4", "clutter_110_hallway_9_5", "clutter_110_lounge_1_6", "clutter_111_office_1_1", "clutter_111_hallway_2_2", "clutter_111_office_2_3", "clutter_111_hallway_7_4", "clutter_111_hallway_9_5", "clutter_111_lounge_1_6", "clutter_112_office_1_1", "clutter_112_hallway_2_2", "clutter_112_office_2_3", "clutter_112_hallway_7_4", "clutter_112_hallway_10_5", "clutter_112_lounge_1_6", "clutter_113_office_1_1", "clutter_113_hallway_2_2", "clutter_113_office_2_3", "clutter_113_hallway_7_4", "clutter_113_hallway_12_5", "clutter_113_lounge_1_6", "clutter_114_office_1_1", "clutter_114_hallway_2_2", "clutter_114_office_2_3", "clutter_114_hallway_7_4", "clutter_114_hallway_12_5", "clutter_114_lounge_1_6", "clutter_115_office_1_1", "clutter_115_hallway_2_2", "clutter_115_office_2_3", "clutter_115_hallway_7_4", "clutter_115_hallway_13_5", "clutter_115_lounge_1_6", "clutter_116_office_1_1", "clutter_116_hallway_2_2", "clutter_116_office_2_3", "clutter_116_hallway_7_4", "clutter_116_hallway_14_5", "clutter_116_lounge_1_6", "clutter_117_office_1_1", "clutter_117_hallway_2_2", "clutter_117_office_2_3", "clutter_117_hallway_7_4", "clutter_117_hallway_14_5", "clutter_117_lounge_1_6", "clutter_118_office_1_1", "clutter_118_hallway_2_2", "clutter_118_office_3_3", "clutter_118_hallway_7_4", "clutter_118_hallway_14_5", "clutter_118_lounge_1_6", "clutter_119_office_2_1", "clutter_119_hallway_2_2", "clutter_119_office_3_3", "clutter_119_hallway_7_4", "clutter_119_hallway_14_5", "clutter_119_lounge_1_6", "clutter_11_copyRoom_1_1", "clutter_11_auditorium_1_2", "clutter_11_hallway_1_3", "clutter_11_conferenceRoom_2_4", "clutter_11_conferenceRoom_2_5", "clutter_11_hallway_1_6", "clutter_120_office_2_1", "clutter_120_hallway_2_2", "clutter_120_office_3_3", "clutter_120_hallway_7_4", "clutter_120_hallway_14_5", "clutter_120_lounge_1_6", "clutter_121_office_2_1", "clutter_121_hallway_3_2", "clutter_121_office_3_3", "clutter_121_hallway_7_4", "clutter_121_hallway_14_5", "clutter_121_office_1_6", "clutter_122_office_2_1", "clutter_122_hallway_3_2", "clutter_122_office_3_3", "clutter_122_hallway_7_4", "clutter_122_hallway_15_5", "clutter_122_office_1_6", "clutter_123_office_2_1", "clutter_123_hallway_3_2", "clutter_123_office_3_3", "clutter_123_hallway_8_4", "clutter_123_hallway_15_5", "clutter_123_office_1_6", "clutter_124_office_2_1", "clutter_124_hallway_3_2", "clutter_124_office_3_3", "clutter_124_hallway_8_4", "clutter_124_hallway_15_5", "clutter_124_office_1_6", "clutter_125_office_2_1", "clutter_125_hallway_3_2", "clutter_125_office_3_3", "clutter_125_hallway_8_4", "clutter_125_office_1_5", "clutter_125_office_1_6", "clutter_126_office_2_1", "clutter_126_hallway_3_2", "clutter_126_office_3_3", "clutter_126_hallway_8_4", "clutter_126_office_1_5", "clutter_126_office_1_6", "clutter_127_office_3_1", "clutter_127_hallway_3_2", "clutter_127_office_3_3", "clutter_127_hallway_9_4", "clutter_127_office_1_5", "clutter_127_office_1_6", "clutter_128_office_3_1", "clutter_128_hallway_3_2", "clutter_128_office_3_3", "clutter_128_hallway_9_4", "clutter_128_office_1_5", "clutter_128_office_1_6", "clutter_129_office_3_1", "clutter_129_hallway_3_2", "clutter_129_office_3_3", "clutter_129_hallway_9_4", "clutter_129_office_1_5", "clutter_129_office_1_6", "clutter_12_copyRoom_1_1", "clutter_12_auditorium_1_2", "clutter_12_hallway_1_3", "clutter_12_conferenceRoom_2_4", "clutter_12_conferenceRoom_2_5", "clutter_12_hallway_1_6", "clutter_130_office_3_1", "clutter_130_hallway_3_2", "clutter_130_office_3_3", "clutter_130_hallway_9_4", "clutter_130_office_1_5", "clutter_130_office_1_6", "clutter_131_office_3_1", "clutter_131_hallway_3_2", "clutter_131_office_3_3", "clutter_131_hallway_9_4", "clutter_131_office_1_5", "clutter_131_office_1_6", "clutter_132_office_3_1", "clutter_132_hallway_3_2", "clutter_132_office_4_3", "clutter_132_hallway_9_4", "clutter_132_office_1_5", "clutter_132_office_1_6", "clutter_133_office_3_1", "clutter_133_hallway_3_2", "clutter_133_office_4_3", "clutter_133_hallway_9_4", "clutter_133_office_1_5", "clutter_133_office_1_6", "clutter_134_office_3_1", "clutter_134_hallway_3_2", "clutter_134_office_4_3", "clutter_134_hallway_9_4", "clutter_134_office_1_5", "clutter_134_office_1_6", "clutter_135_office_3_1", "clutter_135_hallway_3_2", "clutter_135_office_4_3", "clutter_135_hallway_9_4", "clutter_135_office_1_5", "clutter_135_office_1_6", "clutter_136_office_3_1", "clutter_136_hallway_3_2", "clutter_136_office_4_3", "clutter_136_hallway_10_4", "clutter_136_office_1_5", "clutter_136_office_1_6", "clutter_137_office_3_1", "clutter_137_hallway_3_2", "clutter_137_office_4_3", "clutter_137_hallway_10_4", "clutter_137_office_1_5", "clutter_137_office_1_6", "clutter_138_office_3_1", "clutter_138_hallway_3_2", "clutter_138_office_4_3", "clutter_138_hallway_10_4", "clutter_138_office_1_5", "clutter_138_office_2_6", "clutter_139_office_3_1", "clutter_139_hallway_3_2", "clutter_139_office_4_3", "clutter_139_hallway_10_4", "clutter_139_office_1_5", "clutter_139_office_2_6", "clutter_13_copyRoom_1_1", "clutter_13_auditorium_1_2", "clutter_13_hallway_1_3", "clutter_13_conferenceRoom_2_4", "clutter_13_conferenceRoom_2_5", "clutter_13_hallway_1_6", "clutter_140_office_3_1", "clutter_140_hallway_3_2", "clutter_140_office_4_3", "clutter_140_hallway_10_4", "clutter_140_office_1_5", "clutter_140_office_2_6", "clutter_141_office_3_1", "clutter_141_hallway_3_2", "clutter_141_office_4_3", "clutter_141_hallway_10_4", "clutter_141_office_1_5", "clutter_141_office_2_6", "clutter_142_office_3_1", "clutter_142_hallway_3_2", "clutter_142_office_4_3", "clutter_142_hallway_10_4", "clutter_142_office_2_5", "clutter_142_office_2_6", "clutter_143_office_4_1", "clutter_143_hallway_3_2", "clutter_143_office_4_3", "clutter_143_hallway_10_4", "clutter_143_office_2_5", "clutter_143_office_2_6", "clutter_144_office_4_1", "clutter_144_hallway_3_2", "clutter_144_office_4_3", "clutter_144_hallway_10_4", "clutter_144_office_2_5", "clutter_144_office_2_6", "clutter_145_office_4_1", "clutter_145_hallway_4_2", "clutter_145_office_4_3", "clutter_145_hallway_10_4", "clutter_145_office_2_5", "clutter_145_office_2_6", "clutter_146_office_4_1", "clutter_146_hallway_4_2", "clutter_146_office_4_3", "clutter_146_hallway_10_4", "clutter_146_office_2_5", "clutter_146_office_2_6", "clutter_147_office_4_1", "clutter_147_hallway_4_2", "clutter_147_office_4_3", "clutter_147_hallway_10_4", "clutter_147_office_2_5", "clutter_147_office_2_6", "clutter_148_office_4_1", "clutter_148_hallway_4_2", "clutter_148_office_4_3", "clutter_148_hallway_10_4", "clutter_148_office_2_5", "clutter_148_office_2_6", "clutter_149_office_4_1", "clutter_149_hallway_5_2", "clutter_149_office_4_3", "clutter_149_hallway_11_4", "clutter_149_office_2_5", "clutter_149_office_2_6", "clutter_14_copyRoom_1_1", "clutter_14_auditorium_1_2", "clutter_14_hallway_1_3", "clutter_14_conferenceRoom_2_4", "clutter_14_conferenceRoom_2_5", "clutter_14_hallway_1_6", "clutter_150_office_4_1", "clutter_150_hallway_5_2", "clutter_150_office_4_3", "clutter_150_hallway_11_4", "clutter_150_office_2_5", "clutter_150_office_2_6", "clutter_151_office_4_1", "clutter_151_hallway_5_2", "clutter_151_office_4_3", "clutter_151_hallway_11_4", "clutter_151_office_2_5", "clutter_151_office_2_6", "clutter_152_office_4_1", "clutter_152_hallway_5_2", "clutter_152_office_4_3", "clutter_152_hallway_11_4", "clutter_152_office_2_5", "clutter_152_office_2_6", "clutter_153_office_4_1", "clutter_153_hallway_5_2", "clutter_153_office_4_3", "clutter_153_hallway_11_4", "clutter_153_office_2_5", "clutter_153_office_2_6", "clutter_154_office_4_1", "clutter_154_hallway_5_2", "clutter_154_office_4_3", "clutter_154_hallway_11_4", "clutter_154_office_3_5", "clutter_154_office_2_6", "clutter_155_office_4_1", "clutter_155_hallway_5_2", "clutter_155_office_4_3", "clutter_155_hallway_12_4", "clutter_155_office_3_5", "clutter_155_office_3_6", "clutter_156_office_4_1", "clutter_156_hallway_5_2", "clutter_156_office_4_3", "clutter_156_hallway_12_4", "clutter_156_office_3_5", "clutter_156_office_3_6", "clutter_157_office_4_1", "clutter_157_hallway_5_2", "clutter_157_office_4_3", "clutter_157_hallway_12_4", "clutter_157_office_3_5", "clutter_157_office_3_6", "clutter_158_office_5_1", "clutter_158_hallway_5_2", "clutter_158_office_4_3", "clutter_158_hallway_12_4", "clutter_158_office_3_5", "clutter_158_office_3_6", "clutter_159_office_5_1", "clutter_159_hallway_5_2", "clutter_159_office_4_3", "clutter_159_hallway_12_4", "clutter_159_office_3_5", "clutter_159_office_3_6", "clutter_15_copyRoom_1_1", "clutter_15_auditorium_1_2", "clutter_15_hallway_1_3", "clutter_15_conferenceRoom_2_4", "clutter_15_conferenceRoom_2_5", "clutter_15_hallway_1_6", "clutter_160_office_5_1", "clutter_160_hallway_5_2", "clutter_160_office_5_3", "clutter_160_hallway_12_4", "clutter_160_office_3_5", "clutter_160_office_3_6", "clutter_161_office_5_1", "clutter_161_hallway_5_2", "clutter_161_office_5_3", "clutter_161_hallway_12_4", "clutter_161_office_3_5", "clutter_161_office_3_6", "clutter_162_office_5_1", "clutter_162_hallway_5_2", "clutter_162_office_5_3", "clutter_162_hallway_12_4", "clutter_162_office_3_5", "clutter_162_office_3_6", "clutter_163_office_5_1", "clutter_163_hallway_5_2", "clutter_163_office_5_3", "clutter_163_hallway_12_4", "clutter_163_office_3_5", "clutter_163_office_3_6", "clutter_164_office_5_1", "clutter_164_hallway_5_2", "clutter_164_office_5_3", "clutter_164_hallway_12_4", "clutter_164_office_3_5", "clutter_164_office_3_6", "clutter_165_office_5_1", "clutter_165_hallway_5_2", "clutter_165_office_5_3", "clutter_165_hallway_12_4", "clutter_165_office_3_5", "clutter_165_office_3_6", "clutter_166_office_5_1", "clutter_166_hallway_5_2", "clutter_166_office_5_3", "clutter_166_hallway_13_4", "clutter_166_office_3_5", "clutter_166_office_3_6", "clutter_167_office_5_1", "clutter_167_hallway_6_2", "clutter_167_office_5_3", "clutter_167_hallway_13_4", "clutter_167_office_3_5", "clutter_167_office_3_6", "clutter_168_office_5_1", "clutter_168_hallway_6_2", "clutter_168_office_5_3", "clutter_168_hallway_13_4", "clutter_168_office_3_5", "clutter_168_office_3_6", "clutter_169_office_5_1", "clutter_169_hallway_7_2", "clutter_169_office_5_3", "clutter_169_hallway_13_4", "clutter_169_office_3_5", "clutter_169_office_3_6", "clutter_16_copyRoom_1_1", "clutter_16_auditorium_1_2", "clutter_16_hallway_2_3", "clutter_16_conferenceRoom_2_4", "clutter_16_conferenceRoom_2_5", "clutter_16_hallway_1_6", "clutter_170_office_5_1", "clutter_170_hallway_8_2", "clutter_170_office_5_3", "clutter_170_hallway_13_4", "clutter_170_office_4_5", "clutter_170_office_3_6", "clutter_171_office_5_1", "clutter_171_hallway_8_2", "clutter_171_office_6_3", "clutter_171_hallway_13_4", "clutter_171_office_4_5", "clutter_171_office_3_6", "clutter_172_office_5_1", "clutter_172_hallway_8_2", "clutter_172_office_6_3", "clutter_172_hallway_14_4", "clutter_172_office_4_5", "clutter_172_office_3_6", "clutter_173_office_5_1", "clutter_173_hallway_9_2", "clutter_173_office_6_3", "clutter_173_hallway_14_4", "clutter_173_office_4_5", "clutter_173_office_4_6", "clutter_174_office_6_1", "clutter_174_hallway_9_2", "clutter_174_office_6_3", "clutter_174_hallway_14_4", "clutter_174_office_4_5", "clutter_174_office_4_6", "clutter_175_office_6_1", "clutter_175_hallway_9_2", "clutter_175_office_6_3", "clutter_175_hallway_14_4", "clutter_175_office_4_5", "clutter_175_office_4_6", "clutter_176_office_6_1", "clutter_176_hallway_9_2", "clutter_176_office_6_3", "clutter_176_hallway_14_4", "clutter_176_office_4_5", "clutter_176_office_4_6", "clutter_177_office_6_1", "clutter_177_hallway_9_2", "clutter_177_office_6_3", "clutter_177_lobby_1_4", "clutter_177_office_5_5", "clutter_177_office_4_6", "clutter_178_office_6_1", "clutter_178_hallway_10_2", "clutter_178_office_6_3", "clutter_178_lobby_1_4", "clutter_178_office_5_5", "clutter_178_office_4_6", "clutter_179_office_6_1", "clutter_179_hallway_10_2", "clutter_179_office_6_3", "clutter_179_lobby_1_4", "clutter_179_office_5_5", "clutter_179_office_4_6", "clutter_17_copyRoom_1_1", "clutter_17_auditorium_1_2", "clutter_17_hallway_2_3", "clutter_17_conferenceRoom_2_4", "clutter_17_conferenceRoom_2_5", "clutter_17_hallway_1_6", "clutter_180_office_6_1", "clutter_180_hallway_10_2", "clutter_180_office_6_3", "clutter_180_lobby_1_4", "clutter_180_office_6_5", "clutter_180_office_4_6", "clutter_181_office_6_1", "clutter_181_hallway_10_2", "clutter_181_office_6_3", "clutter_181_lobby_1_4", "clutter_181_office_6_5", "clutter_181_office_4_6", "clutter_182_office_6_1", "clutter_182_hallway_10_2", "clutter_182_office_6_3", "clutter_182_lobby_1_4", "clutter_182_office_6_5", "clutter_182_office_5_6", "clutter_183_office_6_1", "clutter_183_hallway_10_2", "clutter_183_office_6_3", "clutter_183_lobby_1_4", "clutter_183_office_6_5", "clutter_183_office_5_6", "clutter_184_office_6_1", "clutter_184_hallway_10_2", "clutter_184_office_6_3", "clutter_184_lobby_1_4", "clutter_184_office_6_5", "clutter_184_office_5_6", "clutter_185_office_6_1", "clutter_185_hallway_10_2", "clutter_185_office_6_3", "clutter_185_lobby_1_4", "clutter_185_office_6_5", "clutter_185_office_5_6", "clutter_186_office_7_1", "clutter_186_hallway_10_2", "clutter_186_office_6_3", "clutter_186_lobby_1_4", "clutter_186_office_6_5", "clutter_186_office_5_6", "clutter_187_office_7_1", "clutter_187_hallway_10_2", "clutter_187_office_6_3", "clutter_187_lobby_1_4", "clutter_187_office_6_5", "clutter_187_office_5_6", "clutter_188_office_7_1", "clutter_188_hallway_10_2", "clutter_188_office_6_3", "clutter_188_lobby_1_4", "clutter_188_office_6_5", "clutter_188_office_5_6", "clutter_189_office_7_1", "clutter_189_hallway_10_2", "clutter_189_office_6_3", "clutter_189_lobby_1_4", "clutter_189_office_6_5", "clutter_189_office_5_6", "clutter_18_copyRoom_1_1", "clutter_18_auditorium_1_2", "clutter_18_hallway_2_3", "clutter_18_conferenceRoom_2_4", "clutter_18_conferenceRoom_2_5", "clutter_18_hallway_1_6", "clutter_190_office_7_1", "clutter_190_hallway_10_2", "clutter_190_office_6_3", "clutter_190_lobby_1_4", "clutter_190_office_6_5", "clutter_190_office_5_6", "clutter_191_office_7_1", "clutter_191_hallway_10_2", "clutter_191_office_6_3", "clutter_191_lobby_1_4", "clutter_191_office_6_5", "clutter_191_office_5_6", "clutter_192_office_7_1", "clutter_192_hallway_10_2", "clutter_192_office_7_3", "clutter_192_lobby_1_4", "clutter_192_office_6_5", "clutter_192_office_6_6", "clutter_193_office_7_1", "clutter_193_hallway_10_2", "clutter_193_office_7_3", "clutter_193_lobby_1_4", "clutter_193_office_6_5", "clutter_193_office_6_6", "clutter_194_office_7_1", "clutter_194_hallway_10_2", "clutter_194_office_7_3", "clutter_194_lobby_1_4", "clutter_194_office_6_5", "clutter_194_office_6_6", "clutter_195_office_7_1", "clutter_195_hallway_10_2", "clutter_195_office_7_3", "clutter_195_lobby_1_4", "clutter_195_office_7_5", "clutter_195_office_6_6", "clutter_196_office_7_1", "clutter_196_hallway_10_2", "clutter_196_office_7_3", "clutter_196_lobby_1_4", "clutter_196_office_7_5", "clutter_196_office_6_6", "clutter_197_office_7_1", "clutter_197_hallway_10_2", "clutter_197_office_7_3", "clutter_197_lobby_1_4", "clutter_197_office_7_5", "clutter_197_office_6_6", "clutter_198_office_7_1", "clutter_198_hallway_10_2", "clutter_198_office_7_3", "clutter_198_lobby_1_4", "clutter_198_office_7_5", "clutter_198_office_6_6", "clutter_199_office_7_1", "clutter_199_hallway_10_2", "clutter_199_office_7_3", "clutter_199_lobby_1_4", "clutter_199_office_7_5", "clutter_199_office_6_6", "clutter_19_copyRoom_1_1", "clutter_19_auditorium_1_2", "clutter_19_hallway_2_3", "clutter_19_conferenceRoom_3_4", "clutter_19_conferenceRoom_2_5", "clutter_19_hallway_1_6", "clutter_1_conferenceRoom_1_1", "clutter_1_auditorium_1_2", "clutter_1_conferenceRoom_1_3", "clutter_1_conferenceRoom_1_4", "clutter_1_conferenceRoom_1_5", "clutter_1_conferenceRoom_1_6", "clutter_200_office_7_1", "clutter_200_hallway_10_2", "clutter_200_office_7_3", "clutter_200_lobby_1_4", "clutter_200_office_7_5", "clutter_200_office_6_6", "clutter_201_office_8_1", "clutter_201_hallway_11_2", "clutter_201_office_7_3", "clutter_201_lobby_1_4", "clutter_201_office_7_5", "clutter_201_office_6_6", "clutter_202_office_8_1", "clutter_202_hallway_11_2", "clutter_202_office_7_3", "clutter_202_lobby_1_4", "clutter_202_office_7_5", "clutter_202_office_6_6", "clutter_203_office_8_1", "clutter_203_hallway_12_2", "clutter_203_office_7_3", "clutter_203_lobby_1_4", "clutter_203_office_7_5", "clutter_203_office_7_6", "clutter_204_office_8_1", "clutter_204_hallway_12_2", "clutter_204_office_7_3", "clutter_204_lobby_1_4", "clutter_204_office_7_5", "clutter_204_office_7_6", "clutter_205_office_8_1", "clutter_205_hallway_12_2", "clutter_205_office_8_3", "clutter_205_lobby_1_4", "clutter_205_office_7_5", "clutter_205_office_7_6", "clutter_206_office_8_1", "clutter_206_hallway_12_2", "clutter_206_office_8_3", "clutter_206_lobby_1_4", "clutter_206_office_7_5", "clutter_206_office_7_6", "clutter_207_office_8_1", "clutter_207_hallway_12_2", "clutter_207_office_8_3", "clutter_207_lobby_2_4", "clutter_207_office_7_5", "clutter_207_office_7_6", "clutter_208_office_8_1", "clutter_208_hallway_12_2", "clutter_208_office_8_3", "clutter_208_lobby_2_4", "clutter_208_office_7_5", "clutter_208_office_7_6", "clutter_209_office_8_1", "clutter_209_office_1_2", "clutter_209_office_8_3", "clutter_209_lobby_2_4", "clutter_209_office_7_5", "clutter_209_office_7_6", "clutter_20_copyRoom_1_1", "clutter_20_auditorium_1_2", "clutter_20_hallway_2_3", "clutter_20_conferenceRoom_3_4", "clutter_20_conferenceRoom_2_5", "clutter_20_hallway_1_6", "clutter_210_office_8_1", "clutter_210_office_1_2", "clutter_210_office_8_3", "clutter_210_lobby_2_4", "clutter_210_office_7_5", "clutter_210_office_7_6", "clutter_211_office_8_1", "clutter_211_office_1_2", "clutter_211_office_8_3", "clutter_211_lobby_2_4", "clutter_211_office_7_5", "clutter_211_office_7_6", "clutter_212_office_8_1", "clutter_212_office_1_2", "clutter_212_office_8_3", "clutter_212_lobby_2_4", "clutter_212_office_7_5", "clutter_212_office_7_6", "clutter_213_office_8_1", "clutter_213_office_1_2", "clutter_213_office_8_3", "clutter_213_lobby_2_4", "clutter_213_office_7_5", "clutter_213_office_7_6", "clutter_214_office_8_1", "clutter_214_office_1_2", "clutter_214_office_8_3", "clutter_214_lobby_2_4", "clutter_214_office_7_5", "clutter_214_office_7_6", "clutter_215_office_8_1", "clutter_215_office_1_2", "clutter_215_office_8_3", "clutter_215_lobby_2_4", "clutter_215_office_7_5", "clutter_215_office_7_6", "clutter_216_office_8_1", "clutter_216_office_1_2", "clutter_216_office_8_3", "clutter_216_lobby_2_4", "clutter_216_office_7_5", "clutter_216_office_7_6", "clutter_217_office_8_1", "clutter_217_office_1_2", "clutter_217_office_8_3", "clutter_217_lobby_2_4", "clutter_217_office_7_5", "clutter_217_office_7_6", "clutter_218_office_9_1", "clutter_218_office_1_2", "clutter_218_office_8_3", "clutter_218_lobby_2_4", "clutter_218_office_7_5", "clutter_218_office_7_6", "clutter_219_office_9_1", "clutter_219_office_1_2", "clutter_219_office_8_3", "clutter_219_lobby_2_4", "clutter_219_office_7_5", "clutter_219_office_7_6", "clutter_21_hallway_1_1", "clutter_21_auditorium_1_2", "clutter_21_hallway_2_3", "clutter_21_conferenceRoom_3_4", "clutter_21_conferenceRoom_2_5", "clutter_21_hallway_1_6", "clutter_220_office_9_1", "clutter_220_office_1_2", "clutter_220_office_8_3", "clutter_220_lobby_2_4", "clutter_220_office_7_5", "clutter_220_office_7_6", "clutter_221_office_9_1", "clutter_221_office_1_2", "clutter_221_office_8_3", "clutter_221_lobby_2_4", "clutter_221_office_7_5", "clutter_221_office_7_6", "clutter_222_office_9_1", "clutter_222_office_1_2", "clutter_222_office_8_3", "clutter_222_lobby_2_4", "clutter_222_office_7_5", "clutter_222_office_8_6", "clutter_223_office_9_1", "clutter_223_office_2_2", "clutter_223_office_8_3", "clutter_223_lobby_2_4", "clutter_223_office_8_5", "clutter_223_office_8_6", "clutter_224_office_9_1", "clutter_224_office_2_2", "clutter_224_office_8_3", "clutter_224_lobby_2_4", "clutter_224_office_8_5", "clutter_224_office_8_6", "clutter_225_office_9_1", "clutter_225_office_2_2", "clutter_225_office_8_3", "clutter_225_lobby_2_4", "clutter_225_office_8_5", "clutter_225_office_8_6", "clutter_226_office_9_1", "clutter_226_office_2_2", "clutter_226_office_8_3", "clutter_226_lobby_2_4", "clutter_226_office_9_5", "clutter_226_office_8_6", "clutter_227_office_9_1", "clutter_227_office_2_2", "clutter_227_office_8_3", "clutter_227_lobby_2_4", "clutter_227_office_9_5", "clutter_227_office_8_6", "clutter_228_office_9_1", "clutter_228_office_2_2", "clutter_228_office_8_3", "clutter_228_lobby_2_4", "clutter_228_office_9_5", "clutter_228_office_8_6", "clutter_229_office_9_1", "clutter_229_office_2_2", "clutter_229_office_8_3", "clutter_229_lobby_2_4", "clutter_229_office_9_5", "clutter_229_office_8_6", "clutter_22_hallway_1_1", "clutter_22_auditorium_1_2", "clutter_22_hallway_2_3", "clutter_22_conferenceRoom_3_4", "clutter_22_conferenceRoom_2_5", "clutter_22_hallway_1_6", "clutter_230_office_9_1", "clutter_230_office_2_2", "clutter_230_office_8_3", "clutter_230_lobby_2_4", "clutter_230_office_9_5", "clutter_230_office_8_6", "clutter_231_office_9_1", "clutter_231_office_2_2", "clutter_231_office_9_3", "clutter_231_lobby_2_4", "clutter_231_office_9_5", "clutter_231_office_8_6", "clutter_232_office_9_1", "clutter_232_office_2_2", "clutter_232_office_9_3", "clutter_232_lobby_2_4", "clutter_232_office_9_5", "clutter_232_office_8_6", "clutter_233_office_9_1", "clutter_233_office_2_2", "clutter_233_office_9_3", "clutter_233_lobby_2_4", "clutter_233_office_9_5", "clutter_233_office_8_6", "clutter_234_office_9_1", "clutter_234_office_3_2", "clutter_234_office_9_3", "clutter_234_lobby_2_4", "clutter_234_office_9_5", "clutter_234_office_8_6", "clutter_235_office_10_1", "clutter_235_office_3_2", "clutter_235_office_9_3", "clutter_235_lobby_2_4", "clutter_235_office_9_5", "clutter_235_office_8_6", "clutter_236_office_10_1", "clutter_236_office_3_2", "clutter_236_office_9_3", "clutter_236_lobby_2_4", "clutter_236_office_9_5", "clutter_236_office_8_6", "clutter_237_office_10_1", "clutter_237_office_3_2", "clutter_237_office_9_3", "clutter_237_office_1_4", "clutter_237_office_9_5", "clutter_237_office_8_6", "clutter_238_office_10_1", "clutter_238_office_3_2", "clutter_238_office_9_3", "clutter_238_office_1_4", "clutter_238_office_9_5", "clutter_238_office_8_6", "clutter_239_office_10_1", "clutter_239_office_3_2", "clutter_239_office_9_3", "clutter_239_office_1_4", "clutter_239_office_10_5", "clutter_239_office_8_6", "clutter_23_hallway_1_1", "clutter_23_auditorium_1_2", "clutter_23_hallway_2_3", "clutter_23_conferenceRoom_3_4", "clutter_23_conferenceRoom_2_5", "clutter_23_hallway_1_6", "clutter_240_office_10_1", "clutter_240_office_3_2", "clutter_240_office_9_3", "clutter_240_office_1_4", "clutter_240_office_10_5", "clutter_240_office_8_6", "clutter_241_office_10_1", "clutter_241_office_3_2", "clutter_241_office_9_3", "clutter_241_office_1_4", "clutter_241_office_10_5", "clutter_241_office_8_6", "clutter_242_office_10_1", "clutter_242_office_3_2", "clutter_242_office_9_3", "clutter_242_office_1_4", "clutter_242_office_10_5", "clutter_242_office_8_6", "clutter_243_office_10_1", "clutter_243_office_3_2", "clutter_243_office_9_3", "clutter_243_office_1_4", "clutter_243_office_10_5", "clutter_243_office_8_6", "clutter_244_office_10_1", "clutter_244_office_3_2", "clutter_244_office_9_3", "clutter_244_office_1_4", "clutter_244_office_10_5", "clutter_244_office_8_6", "clutter_245_office_10_1", "clutter_245_office_3_2", "clutter_245_office_10_3", "clutter_245_office_1_4", "clutter_245_office_10_5", "clutter_245_office_8_6", "clutter_246_office_10_1", "clutter_246_office_3_2", "clutter_246_office_10_3", "clutter_246_office_1_4", "clutter_246_office_10_5", "clutter_246_office_8_6", "clutter_247_office_10_1", "clutter_247_office_3_2", "clutter_247_office_10_3", "clutter_247_office_2_4", "clutter_247_office_10_5", "clutter_247_office_8_6", "clutter_248_office_10_1", "clutter_248_office_3_2", "clutter_248_office_10_3", "clutter_248_office_2_4", "clutter_248_office_10_5", "clutter_248_office_8_6", "clutter_249_office_11_1", "clutter_249_office_4_2", "clutter_249_office_10_3", "clutter_249_office_2_4", "clutter_249_office_10_5", "clutter_249_office_8_6", "clutter_24_hallway_1_1", "clutter_24_auditorium_1_2", "clutter_24_hallway_2_3", "clutter_24_conferenceRoom_3_4", "clutter_24_conferenceRoom_3_5", "clutter_24_hallway_1_6", "clutter_250_office_11_1", "clutter_250_office_4_2", "clutter_250_office_10_3", "clutter_250_office_2_4", "clutter_250_office_10_5", "clutter_250_office_8_6", "clutter_251_office_11_1", "clutter_251_office_4_2", "clutter_251_office_10_3", "clutter_251_office_2_4", "clutter_251_office_11_5", "clutter_251_office_8_6", "clutter_252_office_11_1", "clutter_252_office_4_2", "clutter_252_office_10_3", "clutter_252_office_2_4", "clutter_252_office_11_5", "clutter_252_office_8_6", "clutter_253_office_11_1", "clutter_253_office_4_2", "clutter_253_office_10_3", "clutter_253_office_2_4", "clutter_253_office_11_5", "clutter_253_office_8_6", "clutter_254_office_11_1", "clutter_254_office_4_2", "clutter_254_office_10_3", "clutter_254_office_2_4", "clutter_254_office_11_5", "clutter_254_office_8_6", "clutter_255_office_11_1", "clutter_255_office_4_2", "clutter_255_office_10_3", "clutter_255_office_2_4", "clutter_255_office_11_5", "clutter_255_office_8_6", "clutter_256_office_11_1", "clutter_256_office_4_2", "clutter_256_office_10_3", "clutter_256_office_2_4", "clutter_256_office_11_5", "clutter_256_office_9_6", "clutter_257_office_11_1", "clutter_257_office_4_2", "clutter_257_office_10_3", "clutter_257_office_2_4", "clutter_257_office_12_5", "clutter_257_office_9_6", "clutter_258_office_11_1", "clutter_258_office_4_2", "clutter_258_office_10_3", "clutter_258_office_2_4", "clutter_258_office_12_5", "clutter_258_office_9_6", "clutter_259_office_11_1", "clutter_259_office_4_2", "clutter_259_office_10_3", "clutter_259_office_2_4", "clutter_259_office_12_5", "clutter_259_office_9_6", "clutter_25_hallway_1_1", "clutter_25_auditorium_1_2", "clutter_25_hallway_2_3", "clutter_25_conferenceRoom_3_4", "clutter_25_conferenceRoom_3_5", "clutter_25_hallway_1_6", "clutter_260_office_12_1", "clutter_260_office_4_2", "clutter_260_office_10_3", "clutter_260_office_2_4", "clutter_260_office_12_5", "clutter_260_office_9_6", "clutter_261_office_12_1", "clutter_261_office_4_2", "clutter_261_office_10_3", "clutter_261_office_2_4", "clutter_261_office_12_5", "clutter_261_office_9_6", "clutter_262_office_12_1", "clutter_262_office_4_2", "clutter_262_office_10_3", "clutter_262_office_2_4", "clutter_262_office_12_5", "clutter_262_office_9_6", "clutter_263_office_12_1", "clutter_263_office_4_2", "clutter_263_office_10_3", "clutter_263_office_2_4", "clutter_263_office_12_5", "clutter_263_office_9_6", "clutter_264_office_12_1", "clutter_264_office_5_2", "clutter_264_office_10_3", "clutter_264_office_2_4", "clutter_264_office_12_5", "clutter_264_office_9_6", "clutter_265_office_12_1", "clutter_265_office_5_2", "clutter_265_office_10_3", "clutter_265_office_2_4", "clutter_265_office_12_5", "clutter_265_office_9_6", "clutter_266_office_12_1", "clutter_266_office_5_2", "clutter_266_office_10_3", "clutter_266_office_2_4", "clutter_266_office_12_5", "clutter_266_office_9_6", "clutter_267_office_12_1", "clutter_267_office_5_2", "clutter_267_office_10_3", "clutter_267_office_2_4", "clutter_267_office_12_5", "clutter_267_office_9_6", "clutter_268_office_12_1", "clutter_268_office_5_2", "clutter_268_office_10_3", "clutter_268_office_2_4", "clutter_268_office_12_5", "clutter_268_office_9_6", "clutter_269_office_12_1", "clutter_269_office_5_2", "clutter_269_office_10_3", "clutter_269_office_2_4", "clutter_269_office_12_5", "clutter_269_office_9_6", "clutter_26_hallway_2_1", "clutter_26_auditorium_1_2", "clutter_26_hallway_2_3", "clutter_26_conferenceRoom_3_4", "clutter_26_conferenceRoom_3_5", "clutter_26_hallway_1_6", "clutter_270_office_12_1", "clutter_270_office_5_2", "clutter_270_office_10_3", "clutter_270_office_2_4", "clutter_270_office_12_5", "clutter_270_office_9_6", "clutter_271_office_12_1", "clutter_271_office_5_2", "clutter_271_office_10_3", "clutter_271_office_3_4", "clutter_271_office_12_5", "clutter_271_office_9_6", "clutter_272_office_12_1", "clutter_272_office_5_2", "clutter_272_office_10_3", "clutter_272_office_3_4", "clutter_272_office_12_5", "clutter_272_office_9_6", "clutter_273_office_12_1", "clutter_273_office_5_2", "clutter_273_office_10_3", "clutter_273_office_3_4", "clutter_273_office_12_5", "clutter_273_office_9_6", "clutter_274_office_12_1", "clutter_274_office_5_2", "clutter_274_office_10_3", "clutter_274_office_3_4", "clutter_274_office_12_5", "clutter_274_office_9_6", "clutter_275_office_12_1", "clutter_275_office_5_2", "clutter_275_office_10_3", "clutter_275_office_3_4", "clutter_275_office_13_5", "clutter_275_office_9_6", "clutter_276_office_12_1", "clutter_276_office_5_2", "clutter_276_office_10_3", "clutter_276_office_3_4", "clutter_276_office_13_5", "clutter_276_office_9_6", "clutter_277_office_12_1", "clutter_277_office_5_2", "clutter_277_office_10_3", "clutter_277_office_3_4", "clutter_277_office_13_5", "clutter_277_office_9_6", "clutter_278_office_12_1", "clutter_278_office_5_2", "clutter_278_storage_1_3", "clutter_278_office_3_4", "clutter_278_office_13_5", "clutter_278_office_9_6", "clutter_279_office_12_1", "clutter_279_office_5_2", "clutter_279_storage_2_3", "clutter_279_office_3_4", "clutter_279_office_13_5", "clutter_279_office_9_6", "clutter_27_hallway_2_1", "clutter_27_auditorium_1_2", "clutter_27_hallway_3_3", "clutter_27_conferenceRoom_3_4", "clutter_27_conferenceRoom_3_5", "clutter_27_hallway_1_6", "clutter_280_office_12_1", "clutter_280_office_5_2", "clutter_280_storage_2_3", "clutter_280_office_3_4", "clutter_280_office_13_5", "clutter_280_office_9_6", "clutter_281_office_12_1", "clutter_281_office_6_2", "clutter_281_WC_1_3", "clutter_281_office_4_4", "clutter_281_office_13_5", "clutter_281_office_9_6", "clutter_282_office_12_1", "clutter_282_office_6_2", "clutter_282_WC_1_3", "clutter_282_office_4_4", "clutter_282_office_13_5", "clutter_282_office_9_6", "clutter_283_office_12_1", "clutter_283_office_6_2", "clutter_283_WC_1_3", "clutter_283_office_4_4", "clutter_283_office_13_5", "clutter_283_office_9_6", "clutter_284_office_12_1", "clutter_284_office_6_2", "clutter_284_WC_1_3", "clutter_284_office_4_4", "clutter_284_office_13_5", "clutter_284_office_9_6", "clutter_285_office_12_1", "clutter_285_office_6_2", "clutter_285_WC_1_3", "clutter_285_office_4_4", "clutter_285_office_13_5", "clutter_285_office_10_6", "clutter_286_office_12_1", "clutter_286_office_6_2", "clutter_286_WC_1_3", "clutter_286_office_4_4", "clutter_286_office_13_5", "clutter_286_office_10_6", "clutter_287_office_12_1", "clutter_287_office_6_2", "clutter_287_WC_1_3", "clutter_287_office_4_4", "clutter_287_office_13_5", "clutter_287_office_10_6", "clutter_288_office_12_1", "clutter_288_office_6_2", "clutter_288_WC_1_3", "clutter_288_office_4_4", "clutter_288_office_13_5", "clutter_288_office_10_6", "clutter_289_office_12_1", "clutter_289_office_6_2", "clutter_289_WC_1_3", "clutter_289_office_4_4", "clutter_289_office_13_5", "clutter_289_office_10_6", "clutter_28_hallway_2_1", "clutter_28_auditorium_1_2", "clutter_28_hallway_3_3", "clutter_28_conferenceRoom_3_4", "clutter_28_conferenceRoom_3_5", "clutter_28_hallway_1_6", "clutter_290_office_12_1", "clutter_290_office_6_2", "clutter_290_WC_1_3", "clutter_290_office_4_4", "clutter_290_office_13_5", "clutter_290_office_10_6", "clutter_291_office_12_1", "clutter_291_office_6_2", "clutter_291_WC_1_3", "clutter_291_office_4_4", "clutter_291_office_13_5", "clutter_291_office_10_6", "clutter_292_office_13_1", "clutter_292_office_6_2", "clutter_292_WC_1_3", "clutter_292_office_4_4", "clutter_292_office_13_5", "clutter_292_office_10_6", "clutter_293_office_13_1", "clutter_293_office_7_2", "clutter_293_WC_1_3", "clutter_293_office_4_4", "clutter_293_office_13_5", "clutter_293_office_10_6", "clutter_294_office_13_1", "clutter_294_office_7_2", "clutter_294_WC_1_3", "clutter_294_office_4_4", "clutter_294_office_13_5", "clutter_294_office_10_6", "clutter_295_office_13_1", "clutter_295_office_7_2", "clutter_295_WC_1_3", "clutter_295_office_4_4", "clutter_295_office_13_5", "clutter_295_office_10_6", "clutter_296_office_13_1", "clutter_296_office_7_2", "clutter_296_WC_1_3", "clutter_296_office_4_4", "clutter_296_office_13_5", "clutter_296_office_10_6", "clutter_297_office_13_1", "clutter_297_office_7_2", "clutter_297_WC_1_3", "clutter_297_office_4_4", "clutter_297_office_13_5", "clutter_297_office_10_6", "clutter_298_office_13_1", "clutter_298_office_7_2", "clutter_298_WC_1_3", "clutter_298_office_4_4", "clutter_298_office_13_5", "clutter_298_office_10_6", "clutter_299_office_13_1", "clutter_299_office_7_2", "clutter_299_WC_1_3", "clutter_299_office_4_4", "clutter_299_office_13_5", "clutter_299_office_10_6", "clutter_29_hallway_2_1", "clutter_29_auditorium_1_2", "clutter_29_hallway_3_3", "clutter_29_conferenceRoom_3_4", "clutter_29_conferenceRoom_3_5", "clutter_29_hallway_1_6", "clutter_2_conferenceRoom_1_1", "clutter_2_auditorium_1_2", "clutter_2_conferenceRoom_1_3", "clutter_2_conferenceRoom_1_4", "clutter_2_conferenceRoom_1_5", "clutter_2_conferenceRoom_1_6", "clutter_300_office_13_1", "clutter_300_office_7_2", "clutter_300_WC_1_3", "clutter_300_office_4_4", "clutter_300_office_13_5", "clutter_300_office_10_6", "clutter_301_office_13_1", "clutter_301_office_7_2", "clutter_301_WC_1_3", "clutter_301_office_5_4", "clutter_301_office_13_5", "clutter_301_office_10_6", "clutter_302_office_13_1", "clutter_302_office_7_2", "clutter_302_WC_1_3", "clutter_302_office_5_4", "clutter_302_office_13_5", "clutter_302_office_10_6", "clutter_303_office_13_1", "clutter_303_office_7_2", "clutter_303_WC_1_3", "clutter_303_office_5_4", "clutter_303_office_13_5", "clutter_303_office_11_6", "clutter_304_office_13_1", "clutter_304_office_7_2", "clutter_304_WC_1_3", "clutter_304_office_5_4", "clutter_304_office_13_5", "clutter_304_office_11_6", "clutter_305_office_14_1", "clutter_305_office_7_2", "clutter_305_WC_1_3", "clutter_305_office_5_4", "clutter_305_office_13_5", "clutter_305_office_11_6", "clutter_306_office_14_1", "clutter_306_office_7_2", "clutter_306_WC_1_3", "clutter_306_office_5_4", "clutter_306_office_13_5", "clutter_306_office_11_6", "clutter_307_office_14_1", "clutter_307_office_7_2", "clutter_307_WC_1_3", "clutter_307_office_5_4", "clutter_307_office_13_5", "clutter_307_office_11_6", "clutter_308_office_14_1", "clutter_308_office_7_2", "clutter_308_WC_1_3", "clutter_308_office_5_4", "clutter_308_office_13_5", "clutter_308_office_11_6", "clutter_309_office_14_1", "clutter_309_office_7_2", "clutter_309_WC_1_3", "clutter_309_office_5_4", "clutter_309_office_13_5", "clutter_309_office_11_6", "clutter_30_hallway_2_1", "clutter_30_auditorium_1_2", "clutter_30_hallway_4_3", "clutter_30_hallway_1_4", "clutter_30_conferenceRoom_3_5", "clutter_30_hallway_1_6", "clutter_310_office_14_1", "clutter_310_office_7_2", "clutter_310_WC_1_3", "clutter_310_office_5_4", "clutter_310_office_13_5", "clutter_310_office_11_6", "clutter_311_office_14_1", "clutter_311_office_7_2", "clutter_311_WC_2_3", "clutter_311_office_5_4", "clutter_311_office_13_5", "clutter_311_office_11_6", "clutter_312_office_14_1", "clutter_312_office_7_2", "clutter_312_WC_2_3", "clutter_312_office_5_4", "clutter_312_office_13_5", "clutter_312_office_11_6", "clutter_313_office_14_1", "clutter_313_office_7_2", "clutter_313_WC_2_3", "clutter_313_office_5_4", "clutter_313_office_13_5", "clutter_313_office_11_6", "clutter_314_office_14_1", "clutter_314_office_7_2", "clutter_314_WC_2_3", "clutter_314_office_5_4", "clutter_314_office_13_5", "clutter_314_office_11_6", "clutter_315_office_14_1", "clutter_315_office_7_2", "clutter_315_WC_2_3", "clutter_315_office_5_4", "clutter_315_office_13_5", "clutter_315_office_11_6", "clutter_316_office_14_1", "clutter_316_office_8_2", "clutter_316_WC_2_3", "clutter_316_office_5_4", "clutter_316_office_13_5", "clutter_316_office_11_6", "clutter_317_office_14_1", "clutter_317_office_8_2", "clutter_317_WC_2_3", "clutter_317_office_5_4", "clutter_317_office_13_5", "clutter_317_office_11_6", "clutter_318_office_14_1", "clutter_318_office_8_2", "clutter_318_WC_2_3", "clutter_318_office_5_4", "clutter_318_office_13_5", "clutter_318_office_12_6", "clutter_319_office_14_1", "clutter_319_office_8_2", "clutter_319_WC_2_3", "clutter_319_office_5_4", "clutter_319_office_13_5", "clutter_319_office_12_6", "clutter_31_hallway_3_1", "clutter_31_auditorium_1_2", "clutter_31_hallway_4_3", "clutter_31_hallway_1_4", "clutter_31_conferenceRoom_3_5", "clutter_31_hallway_1_6", "clutter_320_office_14_1", "clutter_320_office_8_2", "clutter_320_WC_2_3", "clutter_320_office_5_4", "clutter_320_office_13_5", "clutter_320_office_12_6", "clutter_321_office_14_1", "clutter_321_office_8_2", "clutter_321_WC_2_3", "clutter_321_office_5_4", "clutter_321_office_13_5", "clutter_321_office_12_6", "clutter_322_office_14_1", "clutter_322_office_8_2", "clutter_322_WC_2_3", "clutter_322_office_5_4", "clutter_322_office_13_5", "clutter_322_office_12_6", "clutter_323_office_14_1", "clutter_323_office_8_2", "clutter_323_WC_2_3", "clutter_323_office_5_4", "clutter_323_office_13_5", "clutter_323_office_12_6", "clutter_324_office_15_1", "clutter_324_office_8_2", "clutter_324_WC_2_3", "clutter_324_office_6_4", "clutter_324_office_13_5", "clutter_324_office_12_6", "clutter_325_office_15_1", "clutter_325_office_8_2", "clutter_325_WC_2_3", "clutter_325_office_6_4", "clutter_325_office_13_5", "clutter_325_office_12_6", "clutter_326_office_15_1", "clutter_326_office_8_2", "clutter_326_WC_2_3", "clutter_326_office_6_4", "clutter_326_office_13_5", "clutter_326_office_12_6", "clutter_327_office_15_1", "clutter_327_office_8_2", "clutter_327_WC_2_3", "clutter_327_office_6_4", "clutter_327_office_13_5", "clutter_327_office_12_6", "clutter_328_office_15_1", "clutter_328_office_8_2", "clutter_328_WC_2_3", "clutter_328_office_6_4", "clutter_328_office_14_5", "clutter_328_office_12_6", "clutter_329_office_15_1", "clutter_329_office_8_2", "clutter_329_WC_2_3", "clutter_329_office_6_4", "clutter_329_office_14_5", "clutter_329_office_12_6", "clutter_32_hallway_3_1", "clutter_32_auditorium_1_2", "clutter_32_hallway_4_3", "clutter_32_hallway_1_4", "clutter_32_conferenceRoom_3_5", "clutter_32_hallway_1_6", "clutter_330_office_16_1", "clutter_330_office_8_2", "clutter_330_WC_2_3", "clutter_330_office_6_4", "clutter_330_office_14_5", "clutter_330_office_12_6", "clutter_331_office_16_1", "clutter_331_office_8_2", "clutter_331_WC_2_3", "clutter_331_office_6_4", "clutter_331_office_14_5", "clutter_331_office_12_6", "clutter_332_office_16_1", "clutter_332_office_8_2", "clutter_332_WC_2_3", "clutter_332_office_6_4", "clutter_332_office_14_5", "clutter_332_office_12_6", "clutter_333_office_16_1", "clutter_333_office_8_2", "clutter_333_WC_2_3", "clutter_333_office_6_4", "clutter_333_office_14_5", "clutter_333_office_12_6", "clutter_334_office_16_1", "clutter_334_office_8_2", "clutter_334_WC_2_3", "clutter_334_office_6_4", "clutter_334_office_14_5", "clutter_334_office_12_6", "clutter_335_office_16_1", "clutter_335_office_8_2", "clutter_335_WC_2_3", "clutter_335_office_6_4", "clutter_335_office_14_5", "clutter_335_office_13_6", "clutter_336_office_16_1", "clutter_336_office_8_2", "clutter_336_office_6_4", "clutter_336_office_14_5", "clutter_336_office_13_6", "clutter_337_office_16_1", "clutter_337_office_8_2", "clutter_337_office_6_4", "clutter_337_office_14_5", "clutter_337_office_13_6", "clutter_338_office_16_1", "clutter_338_office_8_2", "clutter_338_office_7_4", "clutter_338_office_14_5", "clutter_338_office_14_6", "clutter_339_office_16_1", "clutter_339_office_8_2", "clutter_339_office_7_4", "clutter_339_office_14_5", "clutter_339_office_14_6", "clutter_33_hallway_3_1", "clutter_33_auditorium_1_2", "clutter_33_hallway_4_3", "clutter_33_hallway_1_4", "clutter_33_conferenceRoom_3_5", "clutter_33_hallway_1_6", "clutter_340_office_16_1", "clutter_340_office_8_2", "clutter_340_office_7_4", "clutter_340_office_14_5", "clutter_340_office_14_6", "clutter_341_office_16_1", "clutter_341_office_9_2", "clutter_341_office_7_4", "clutter_341_office_14_5", "clutter_341_office_14_6", "clutter_342_office_16_1", "clutter_342_office_9_2", "clutter_342_office_7_4", "clutter_342_office_14_5", "clutter_342_office_14_6", "clutter_343_office_16_1", "clutter_343_office_9_2", "clutter_343_office_7_4", "clutter_343_office_14_5", "clutter_343_office_14_6", "clutter_344_office_16_1", "clutter_344_office_9_2", "clutter_344_office_7_4", "clutter_344_office_14_5", "clutter_344_office_14_6", "clutter_345_office_16_1", "clutter_345_office_9_2", "clutter_345_office_7_4", "clutter_345_office_14_5", "clutter_345_office_14_6", "clutter_346_office_16_1", "clutter_346_office_9_2", "clutter_346_office_7_4", "clutter_346_office_14_5", "clutter_346_office_14_6", "clutter_347_office_16_1", "clutter_347_office_9_2", "clutter_347_office_7_4", "clutter_347_office_14_5", "clutter_347_office_15_6", "clutter_348_office_16_1", "clutter_348_office_9_2", "clutter_348_office_7_4", "clutter_348_office_14_5", "clutter_348_office_15_6", "clutter_349_office_16_1", "clutter_349_office_9_2", "clutter_349_office_7_4", "clutter_349_office_14_5", "clutter_349_office_15_6", "clutter_34_hallway_3_1", "clutter_34_auditorium_1_2", "clutter_34_hallway_4_3", "clutter_34_hallway_1_4", "clutter_34_conferenceRoom_3_5", "clutter_34_hallway_1_6", "clutter_350_office_16_1", "clutter_350_office_9_2", "clutter_350_office_7_4", "clutter_350_office_14_5", "clutter_350_office_15_6", "clutter_351_office_16_1", "clutter_351_office_10_2", "clutter_351_office_7_4", "clutter_351_office_14_5", "clutter_351_office_15_6", "clutter_352_office_16_1", "clutter_352_office_10_2", "clutter_352_office_7_4", "clutter_352_office_14_5", "clutter_352_office_15_6", "clutter_353_office_16_1", "clutter_353_office_10_2", "clutter_353_office_7_4", "clutter_353_office_15_5", "clutter_353_office_15_6", "clutter_354_office_16_1", "clutter_354_office_10_2", "clutter_354_office_7_4", "clutter_354_office_15_5", "clutter_354_office_15_6", "clutter_355_office_16_1", "clutter_355_office_10_2", "clutter_355_office_7_4", "clutter_355_office_15_5", "clutter_355_office_15_6", "clutter_356_office_16_1", "clutter_356_office_10_2", "clutter_356_office_7_4", "clutter_356_office_15_5", "clutter_356_office_15_6", "clutter_357_office_16_1", "clutter_357_office_11_2", "clutter_357_office_7_4", "clutter_357_office_15_5", "clutter_357_office_15_6", "clutter_358_office_16_1", "clutter_358_office_11_2", "clutter_358_office_7_4", "clutter_358_office_15_5", "clutter_358_office_15_6", "clutter_359_office_16_1", "clutter_359_office_11_2", "clutter_359_office_7_4", "clutter_359_office_15_5", "clutter_359_office_16_6", "clutter_35_hallway_4_1", "clutter_35_auditorium_2_2", "clutter_35_hallway_4_3", "clutter_35_hallway_1_4", "clutter_35_conferenceRoom_3_5", "clutter_35_hallway_1_6", "clutter_360_office_16_1", "clutter_360_office_11_2", "clutter_360_office_8_4", "clutter_360_office_15_5", "clutter_360_office_16_6", "clutter_361_office_16_1", "clutter_361_office_11_2", "clutter_361_office_8_4", "clutter_361_office_15_5", "clutter_361_office_16_6", "clutter_362_office_16_1", "clutter_362_office_11_2", "clutter_362_office_8_4", "clutter_362_office_15_5", "clutter_362_office_16_6", "clutter_363_office_16_1", "clutter_363_office_11_2", "clutter_363_office_8_4", "clutter_363_office_15_5", "clutter_363_office_16_6", "clutter_364_office_16_1", "clutter_364_office_11_2", "clutter_364_office_8_4", "clutter_364_office_15_5", "clutter_364_office_16_6", "clutter_365_office_16_1", "clutter_365_office_11_2", "clutter_365_office_8_4", "clutter_365_office_15_5", "clutter_365_office_16_6", "clutter_366_office_16_1", "clutter_366_office_11_2", "clutter_366_office_8_4", "clutter_366_office_15_5", "clutter_366_office_16_6", "clutter_367_office_16_1", "clutter_367_office_12_2", "clutter_367_office_8_4", "clutter_367_office_15_5", "clutter_367_office_16_6", "clutter_368_office_16_1", "clutter_368_office_12_2", "clutter_368_office_8_4", "clutter_368_office_15_5", "clutter_368_office_16_6", "clutter_369_office_16_1", "clutter_369_office_12_2", "clutter_369_office_8_4", "clutter_369_office_15_5", "clutter_369_office_16_6", "clutter_36_hallway_4_1", "clutter_36_auditorium_2_2", "clutter_36_hallway_4_3", "clutter_36_hallway_1_4", "clutter_36_hallway_1_5", "clutter_36_hallway_1_6", "clutter_370_office_17_1", "clutter_370_office_12_2", "clutter_370_office_8_4", "clutter_370_office_16_5", "clutter_370_office_16_6", "clutter_371_office_17_1", "clutter_371_office_12_2", "clutter_371_office_8_4", "clutter_371_office_16_5", "clutter_371_office_16_6", "clutter_372_office_17_1", "clutter_372_office_12_2", "clutter_372_office_8_4", "clutter_372_office_16_5", "clutter_372_office_16_6", "clutter_373_office_17_1", "clutter_373_office_12_2", "clutter_373_office_8_4", "clutter_373_office_16_5", "clutter_373_office_16_6", "clutter_374_office_17_1", "clutter_374_office_12_2", "clutter_374_office_8_4", "clutter_374_office_16_5", "clutter_374_office_16_6", "clutter_375_office_17_1", "clutter_375_office_12_2", "clutter_375_office_8_4", "clutter_375_office_16_5", "clutter_375_office_16_6", "clutter_376_office_17_1", "clutter_376_office_12_2", "clutter_376_office_8_4", "clutter_376_office_16_5", "clutter_376_office_17_6", "clutter_377_office_17_1", "clutter_377_office_12_2", "clutter_377_office_9_4", "clutter_377_office_16_5", "clutter_377_office_17_6", "clutter_378_office_17_1", "clutter_378_office_12_2", "clutter_378_office_9_4", "clutter_378_office_16_5", "clutter_378_office_17_6", "clutter_379_office_17_1", "clutter_379_office_12_2", "clutter_379_office_9_4", "clutter_379_office_16_5", "clutter_379_office_17_6", "clutter_37_hallway_5_1", "clutter_37_auditorium_2_2", "clutter_37_hallway_4_3", "clutter_37_hallway_1_4", "clutter_37_hallway_1_5", "clutter_37_hallway_1_6", "clutter_380_office_17_1", "clutter_380_office_13_2", "clutter_380_office_9_4", "clutter_380_office_16_5", "clutter_380_office_17_6", "clutter_381_office_17_1", "clutter_381_office_13_2", "clutter_381_office_9_4", "clutter_381_office_17_5", "clutter_381_office_17_6", "clutter_382_office_17_1", "clutter_382_office_13_2", "clutter_382_office_9_4", "clutter_382_office_17_5", "clutter_382_office_17_6", "clutter_383_office_17_1", "clutter_383_office_13_2", "clutter_383_office_9_4", "clutter_383_office_17_5", "clutter_383_office_18_6", "clutter_384_office_17_1", "clutter_384_office_13_2", "clutter_384_office_9_4", "clutter_384_office_17_5", "clutter_384_office_18_6", "clutter_385_office_17_1", "clutter_385_office_13_2", "clutter_385_office_9_4", "clutter_385_office_17_5", "clutter_385_office_18_6", "clutter_386_office_17_1", "clutter_386_office_13_2", "clutter_386_office_9_4", "clutter_386_office_17_5", "clutter_386_office_18_6", "clutter_387_office_17_1", "clutter_387_office_14_2", "clutter_387_office_9_4", "clutter_387_office_17_5", "clutter_387_office_18_6", "clutter_388_office_17_1", "clutter_388_office_14_2", "clutter_388_office_9_4", "clutter_388_office_17_5", "clutter_388_office_18_6", "clutter_389_office_17_1", "clutter_389_office_14_2", "clutter_389_office_9_4", "clutter_389_office_17_5", "clutter_389_office_18_6", "clutter_38_hallway_6_1", "clutter_38_auditorium_2_2", "clutter_38_hallway_4_3", "clutter_38_hallway_2_4", "clutter_38_hallway_2_5", "clutter_38_hallway_1_6", "clutter_390_office_17_1", "clutter_390_office_14_2", "clutter_390_office_9_4", "clutter_390_office_17_5", "clutter_390_office_18_6", "clutter_391_office_17_1", "clutter_391_office_14_2", "clutter_391_office_9_4", "clutter_391_office_17_5", "clutter_391_office_19_6", "clutter_392_office_17_1", "clutter_392_office_14_2", "clutter_392_office_9_4", "clutter_392_office_17_5", "clutter_392_office_19_6", "clutter_393_office_17_1", "clutter_393_office_14_2", "clutter_393_office_9_4", "clutter_393_office_17_5", "clutter_393_office_19_6", "clutter_394_office_17_1", "clutter_394_office_14_2", "clutter_394_office_10_4", "clutter_394_office_17_5", "clutter_394_office_19_6", "clutter_395_office_18_1", "clutter_395_office_14_2", "clutter_395_office_10_4", "clutter_395_office_17_5", "clutter_395_office_19_6", "clutter_396_office_18_1", "clutter_396_office_14_2", "clutter_396_office_10_4", "clutter_396_office_17_5", "clutter_396_office_19_6", "clutter_397_office_18_1", "clutter_397_office_14_2", "clutter_397_office_10_4", "clutter_397_office_17_5", "clutter_397_office_20_6", "clutter_398_office_18_1", "clutter_398_office_14_2", "clutter_398_office_10_4", "clutter_398_office_18_5", "clutter_398_office_20_6", "clutter_399_office_18_1", "clutter_399_office_14_2", "clutter_399_office_10_4", "clutter_399_office_18_5", "clutter_399_office_20_6", "clutter_39_hallway_6_1", "clutter_39_auditorium_2_2", "clutter_39_hallway_4_3", "clutter_39_hallway_2_4", "clutter_39_hallway_2_5", "clutter_39_hallway_1_6", "clutter_3_conferenceRoom_1_1", "clutter_3_auditorium_1_2", "clutter_3_conferenceRoom_1_3", "clutter_3_conferenceRoom_1_4", "clutter_3_conferenceRoom_1_5", "clutter_3_conferenceRoom_1_6", "clutter_400_office_18_1", "clutter_400_office_14_2", "clutter_400_office_10_4", "clutter_400_office_18_5", "clutter_400_office_20_6", "clutter_401_office_18_1", "clutter_401_office_14_2", "clutter_401_office_10_4", "clutter_401_office_18_5", "clutter_401_office_20_6", "clutter_402_office_18_1", "clutter_402_office_14_2", "clutter_402_office_10_4", "clutter_402_office_18_5", "clutter_402_office_20_6", "clutter_403_office_18_1", "clutter_403_office_14_2", "clutter_403_office_10_4", "clutter_403_office_18_5", "clutter_403_office_20_6", "clutter_404_office_18_1", "clutter_404_office_14_2", "clutter_404_office_10_4", "clutter_404_office_19_5", "clutter_404_office_20_6", "clutter_405_office_18_1", "clutter_405_office_14_2", "clutter_405_office_10_4", "clutter_405_office_19_5", "clutter_405_office_21_6", "clutter_406_office_18_1", "clutter_406_office_14_2", "clutter_406_office_10_4", "clutter_406_office_19_5", "clutter_406_office_21_6", "clutter_407_office_18_1", "clutter_407_office_14_2", "clutter_407_office_10_4", "clutter_407_office_19_5", "clutter_407_office_21_6", "clutter_408_office_18_1", "clutter_408_office_14_2", "clutter_408_office_10_4", "clutter_408_office_19_5", "clutter_408_office_21_6", "clutter_409_office_18_1", "clutter_409_office_14_2", "clutter_409_office_10_4", "clutter_409_office_19_5", "clutter_409_office_21_6", "clutter_40_hallway_6_1", "clutter_40_auditorium_2_2", "clutter_40_hallway_6_3", "clutter_40_hallway_2_4", "clutter_40_hallway_2_5", "clutter_40_hallway_1_6", "clutter_410_office_18_1", "clutter_410_office_14_2", "clutter_410_office_10_4", "clutter_410_office_19_5", "clutter_410_office_22_6", "clutter_411_office_18_1", "clutter_411_office_14_2", "clutter_411_office_10_4", "clutter_411_office_19_5", "clutter_411_office_22_6", "clutter_412_office_18_1", "clutter_412_storage_1_2", "clutter_412_office_10_4", "clutter_412_office_19_5", "clutter_412_office_22_6", "clutter_413_office_18_1", "clutter_413_storage_1_2", "clutter_413_office_10_4", "clutter_413_office_19_5", "clutter_413_office_22_6", "clutter_414_office_18_1", "clutter_414_storage_1_2", "clutter_414_office_10_4", "clutter_414_office_19_5", "clutter_414_office_22_6", "clutter_415_office_18_1", "clutter_415_storage_1_2", "clutter_415_office_10_4", "clutter_415_office_19_5", "clutter_415_office_22_6", "clutter_416_office_18_1", "clutter_416_storage_1_2", "clutter_416_office_10_4", "clutter_416_office_19_5", "clutter_416_office_22_6", "clutter_417_office_19_1", "clutter_417_storage_2_2", "clutter_417_office_10_4", "clutter_417_office_19_5", "clutter_417_office_22_6", "clutter_418_office_19_1", "clutter_418_storage_2_2", "clutter_418_office_10_4", "clutter_418_office_20_5", "clutter_418_office_22_6", "clutter_419_office_19_1", "clutter_419_storage_2_2", "clutter_419_office_10_4", "clutter_419_office_20_5", "clutter_419_office_22_6", "clutter_41_hallway_6_1", "clutter_41_auditorium_2_2", "clutter_41_lounge_1_3", "clutter_41_hallway_2_4", "clutter_41_hallway_2_5", "clutter_41_hallway_1_6", "clutter_420_office_19_1", "clutter_420_storage_2_2", "clutter_420_office_10_4", "clutter_420_office_21_5", "clutter_420_office_22_6", "clutter_421_office_19_1", "clutter_421_storage_2_2", "clutter_421_office_10_4", "clutter_421_office_21_5", "clutter_421_office_22_6", "clutter_422_office_19_1", "clutter_422_storage_2_2", "clutter_422_office_10_4", "clutter_422_office_21_5", "clutter_422_office_22_6", "clutter_423_office_19_1", "clutter_423_storage_2_2", "clutter_423_office_11_4", "clutter_423_office_21_5", "clutter_423_office_22_6", "clutter_424_office_19_1", "clutter_424_storage_2_2", "clutter_424_office_11_4", "clutter_424_office_21_5", "clutter_424_office_22_6", "clutter_425_office_19_1", "clutter_425_storage_2_2", "clutter_425_office_11_4", "clutter_425_office_21_5", "clutter_425_office_22_6", "clutter_426_office_19_1", "clutter_426_storage_3_2", "clutter_426_office_11_4", "clutter_426_office_22_5", "clutter_426_office_23_6", "clutter_427_office_19_1", "clutter_427_storage_3_2", "clutter_427_office_11_4", "clutter_427_office_22_5", "clutter_427_office_23_6", "clutter_428_office_19_1", "clutter_428_storage_3_2", "clutter_428_office_11_4", "clutter_428_office_22_5", "clutter_428_office_23_6", "clutter_429_office_19_1", "clutter_429_storage_3_2", "clutter_429_office_11_4", "clutter_429_office_22_5", "clutter_429_office_23_6", "clutter_42_hallway_6_1", "clutter_42_auditorium_2_2", "clutter_42_lounge_1_3", "clutter_42_hallway_2_4", "clutter_42_hallway_3_5", "clutter_42_hallway_1_6", "clutter_430_office_19_1", "clutter_430_storage_3_2", "clutter_430_office_11_4", "clutter_430_office_22_5", "clutter_430_office_23_6", "clutter_431_office_19_1", "clutter_431_storage_3_2", "clutter_431_office_11_4", "clutter_431_office_22_5", "clutter_431_office_23_6", "clutter_432_office_19_1", "clutter_432_storage_4_2", "clutter_432_office_11_4", "clutter_432_office_22_5", "clutter_432_office_23_6", "clutter_433_office_20_1", "clutter_433_storage_4_2", "clutter_433_office_11_4", "clutter_433_office_22_5", "clutter_433_office_23_6", "clutter_434_office_20_1", "clutter_434_storage_4_2", "clutter_434_office_11_4", "clutter_434_office_22_5", "clutter_434_office_23_6", "clutter_435_office_20_1", "clutter_435_storage_4_2", "clutter_435_office_11_4", "clutter_435_office_22_5", "clutter_435_office_23_6", "clutter_436_office_20_1", "clutter_436_storage_4_2", "clutter_436_office_11_4", "clutter_436_office_22_5", "clutter_436_office_23_6", "clutter_437_office_20_1", "clutter_437_storage_4_2", "clutter_437_office_11_4", "clutter_437_office_23_5", "clutter_437_office_24_6", "clutter_438_office_20_1", "clutter_438_storage_4_2", "clutter_438_office_11_4", "clutter_438_office_23_5", "clutter_438_office_24_6", "clutter_439_office_20_1", "clutter_439_storage_5_2", "clutter_439_office_11_4", "clutter_439_office_23_5", "clutter_439_office_24_6", "clutter_43_hallway_6_1", "clutter_43_auditorium_2_2", "clutter_43_lounge_1_3", "clutter_43_hallway_2_4", "clutter_43_hallway_3_5", "clutter_43_hallway_1_6", "clutter_440_office_20_1", "clutter_440_storage_5_2", "clutter_440_office_12_4", "clutter_440_office_23_5", "clutter_440_office_24_6", "clutter_441_office_20_1", "clutter_441_storage_5_2", "clutter_441_office_12_4", "clutter_441_office_23_5", "clutter_441_office_24_6", "clutter_442_office_20_1", "clutter_442_storage_5_2", "clutter_442_office_12_4", "clutter_442_office_23_5", "clutter_442_office_24_6", "clutter_443_office_20_1", "clutter_443_storage_5_2", "clutter_443_office_12_4", "clutter_443_office_23_5", "clutter_443_office_24_6", "clutter_444_office_20_1", "clutter_444_storage_5_2", "clutter_444_office_12_4", "clutter_444_office_23_5", "clutter_444_office_24_6", "clutter_445_office_20_1", "clutter_445_storage_5_2", "clutter_445_office_12_4", "clutter_445_office_23_5", "clutter_445_office_24_6", "clutter_446_office_20_1", "clutter_446_storage_5_2", "clutter_446_office_12_4", "clutter_446_office_23_5", "clutter_446_office_24_6", "clutter_447_office_20_1", "clutter_447_storage_5_2", "clutter_447_office_12_4", "clutter_447_office_23_5", "clutter_447_office_24_6", "clutter_448_office_20_1", "clutter_448_storage_5_2", "clutter_448_office_12_4", "clutter_448_office_24_5", "clutter_448_office_24_6", "clutter_449_office_20_1", "clutter_449_storage_6_2", "clutter_449_office_12_4", "clutter_449_office_24_5", "clutter_449_office_24_6", "clutter_44_hallway_6_1", "clutter_44_auditorium_2_2", "clutter_44_lounge_1_3", "clutter_44_hallway_2_4", "clutter_44_hallway_3_5", "clutter_44_hallway_1_6", "clutter_450_office_20_1", "clutter_450_storage_6_2", "clutter_450_office_12_4", "clutter_450_office_24_5", "clutter_450_office_24_6", "clutter_451_office_20_1", "clutter_451_storage_6_2", "clutter_451_office_12_4", "clutter_451_office_24_5", "clutter_451_office_24_6", "clutter_452_office_21_1", "clutter_452_storage_6_2", "clutter_452_office_12_4", "clutter_452_office_24_5", "clutter_452_office_24_6", "clutter_453_office_21_1", "clutter_453_storage_6_2", "clutter_453_office_12_4", "clutter_453_office_24_5", "clutter_453_office_24_6", "clutter_454_office_21_1", "clutter_454_storage_6_2", "clutter_454_office_12_4", "clutter_454_office_24_5", "clutter_454_office_24_6", "clutter_455_office_21_1", "clutter_455_storage_6_2", "clutter_455_office_12_4", "clutter_455_office_24_5", "clutter_455_office_24_6", "clutter_456_office_21_1", "clutter_456_storage_6_2", "clutter_456_office_12_4", "clutter_456_office_24_5", "clutter_456_office_25_6", "clutter_457_office_21_1", "clutter_457_storage_7_2", "clutter_457_office_12_4", "clutter_457_office_24_5", "clutter_457_office_25_6", "clutter_458_office_21_1", "clutter_458_storage_8_2", "clutter_458_office_12_4", "clutter_458_office_24_5", "clutter_458_office_25_6", "clutter_459_office_21_1", "clutter_459_storage_9_2", "clutter_459_office_12_4", "clutter_459_office_24_5", "clutter_459_office_25_6", "clutter_45_hallway_6_1", "clutter_45_auditorium_2_2", "clutter_45_lounge_1_3", "clutter_45_hallway_2_4", "clutter_45_hallway_4_5", "clutter_45_hallway_1_6", "clutter_460_office_21_1", "clutter_460_storage_9_2", "clutter_460_office_12_4", "clutter_460_office_24_5", "clutter_460_office_25_6", "clutter_461_office_21_1", "clutter_461_storage_9_2", "clutter_461_office_13_4", "clutter_461_office_24_5", "clutter_461_office_25_6", "clutter_462_office_21_1", "clutter_462_storage_9_2", "clutter_462_office_13_4", "clutter_462_office_24_5", "clutter_462_office_25_6", "clutter_463_office_21_1", "clutter_463_storage_9_2", "clutter_463_office_13_4", "clutter_463_office_24_5", "clutter_463_office_25_6", "clutter_464_office_21_1", "clutter_464_WC_1_2", "clutter_464_office_13_4", "clutter_464_office_24_5", "clutter_464_office_25_6", "clutter_465_office_21_1", "clutter_465_WC_1_2", "clutter_465_office_13_4", "clutter_465_office_24_5", "clutter_465_office_25_6", "clutter_466_office_21_1", "clutter_466_WC_1_2", "clutter_466_office_13_4", "clutter_466_office_24_5", "clutter_466_office_25_6", "clutter_467_office_21_1", "clutter_467_WC_1_2", "clutter_467_office_13_4", "clutter_467_office_24_5", "clutter_467_office_25_6", "clutter_468_office_21_1", "clutter_468_WC_1_2", "clutter_468_office_13_4", "clutter_468_office_24_5", "clutter_468_office_25_6", "clutter_469_office_21_1", "clutter_469_WC_1_2", "clutter_469_office_13_4", "clutter_469_office_24_5", "clutter_469_office_25_6", "clutter_46_hallway_6_1", "clutter_46_auditorium_2_2", "clutter_46_lounge_1_3", "clutter_46_hallway_2_4", "clutter_46_hallway_5_5", "clutter_46_hallway_1_6", "clutter_470_office_21_1", "clutter_470_WC_1_2", "clutter_470_office_13_4", "clutter_470_office_24_5", "clutter_470_office_25_6", "clutter_471_office_21_1", "clutter_471_WC_1_2", "clutter_471_office_13_4", "clutter_471_office_24_5", "clutter_471_office_26_6", "clutter_472_office_21_1", "clutter_472_WC_1_2", "clutter_472_office_13_4", "clutter_472_office_24_5", "clutter_472_office_26_6", "clutter_473_office_21_1", "clutter_473_WC_1_2", "clutter_473_office_13_4", "clutter_473_office_24_5", "clutter_473_office_26_6", "clutter_474_office_21_1", "clutter_474_WC_1_2", "clutter_474_office_13_4", "clutter_474_office_24_5", "clutter_474_office_26_6", "clutter_475_office_21_1", "clutter_475_WC_1_2", "clutter_475_office_13_4", "clutter_475_office_24_5", "clutter_475_office_26_6", "clutter_476_office_21_1", "clutter_476_WC_2_2", "clutter_476_office_13_4", "clutter_476_office_24_5", "clutter_476_office_26_6", "clutter_477_office_22_1", "clutter_477_WC_2_2", "clutter_477_office_13_4", "clutter_477_office_24_5", "clutter_477_office_26_6", "clutter_478_office_22_1", "clutter_478_WC_2_2", "clutter_478_office_14_4", "clutter_478_office_24_5", "clutter_478_office_26_6", "clutter_479_office_22_1", "clutter_479_WC_2_2", "clutter_479_office_14_4", "clutter_479_office_24_5", "clutter_479_office_26_6", "clutter_47_hallway_6_1", "clutter_47_auditorium_2_2", "clutter_47_lounge_1_3", "clutter_47_hallway_2_4", "clutter_47_hallway_5_5", "clutter_47_hallway_1_6", "clutter_480_office_22_1", "clutter_480_WC_2_2", "clutter_480_office_14_4", "clutter_480_office_24_5", "clutter_480_office_26_6", "clutter_481_office_22_1", "clutter_481_WC_2_2", "clutter_481_office_15_4", "clutter_481_office_24_5", "clutter_481_office_26_6", "clutter_482_office_22_1", "clutter_482_WC_2_2", "clutter_482_office_15_4", "clutter_482_office_24_5", "clutter_482_office_26_6", "clutter_483_office_22_1", "clutter_483_WC_2_2", "clutter_483_office_15_4", "clutter_483_office_24_5", "clutter_483_office_26_6", "clutter_484_office_22_1", "clutter_484_WC_2_2", "clutter_484_office_15_4", "clutter_484_office_24_5", "clutter_484_office_26_6", "clutter_485_office_22_1", "clutter_485_WC_2_2", "clutter_485_office_15_4", "clutter_485_office_24_5", "clutter_485_office_26_6", "clutter_486_office_22_1", "clutter_486_WC_2_2", "clutter_486_office_15_4", "clutter_486_office_24_5", "clutter_486_office_26_6", "clutter_487_office_22_1", "clutter_487_WC_2_2", "clutter_487_office_15_4", "clutter_487_office_24_5", "clutter_487_office_26_6", "clutter_488_office_22_1", "clutter_488_WC_2_2", "clutter_488_office_15_4", "clutter_488_office_24_5", "clutter_488_office_26_6", "clutter_489_office_22_1", "clutter_489_WC_2_2", "clutter_489_office_15_4", "clutter_489_office_24_5", "clutter_489_office_26_6", "clutter_48_hallway_6_1", "clutter_48_auditorium_2_2", "clutter_48_lounge_1_3", "clutter_48_hallway_2_4", "clutter_48_hallway_5_5", "clutter_48_hallway_1_6", "clutter_490_office_22_1", "clutter_490_WC_2_2", "clutter_490_office_15_4", "clutter_490_office_24_5", "clutter_490_office_26_6", "clutter_491_office_22_1", "clutter_491_WC_2_2", "clutter_491_office_15_4", "clutter_491_office_24_5", "clutter_491_office_26_6", "clutter_492_office_22_1", "clutter_492_WC_2_2", "clutter_492_office_15_4", "clutter_492_office_24_5", "clutter_492_office_26_6", "clutter_493_office_22_1", "clutter_493_WC_2_2", "clutter_493_office_15_4", "clutter_493_office_24_5", "clutter_493_office_27_6", "clutter_494_office_22_1", "clutter_494_WC_2_2", "clutter_494_office_15_4", "clutter_494_office_24_5", "clutter_494_office_27_6", "clutter_495_office_22_1", "clutter_495_WC_2_2", "clutter_495_office_15_4", "clutter_495_office_25_5", "clutter_495_office_27_6", "clutter_496_office_22_1", "clutter_496_office_15_4", "clutter_496_office_25_5", "clutter_496_office_27_6", "clutter_497_office_22_1", "clutter_497_office_15_4", "clutter_497_office_25_5", "clutter_497_office_27_6", "clutter_498_office_22_1", "clutter_498_office_15_4", "clutter_498_office_25_5", "clutter_498_office_27_6", "clutter_499_office_22_1", "clutter_499_office_15_4", "clutter_499_office_25_5", "clutter_499_office_27_6", "clutter_49_hallway_6_1", "clutter_49_auditorium_2_2", "clutter_49_lounge_1_3", "clutter_49_hallway_2_4", "clutter_49_hallway_5_5", "clutter_49_hallway_1_6", "clutter_4_conferenceRoom_1_1", "clutter_4_auditorium_1_2", "clutter_4_conferenceRoom_1_3", "clutter_4_conferenceRoom_1_4", "clutter_4_conferenceRoom_1_5", "clutter_4_conferenceRoom_1_6", "clutter_500_office_23_1", "clutter_500_office_15_4", "clutter_500_office_25_5", "clutter_500_office_27_6", "clutter_501_office_23_1", "clutter_501_office_15_4", "clutter_501_office_25_5", "clutter_501_office_27_6", "clutter_502_office_23_1", "clutter_502_office_15_4", "clutter_502_office_25_5", "clutter_502_office_27_6", "clutter_503_office_23_1", "clutter_503_office_15_4", "clutter_503_office_25_5", "clutter_503_office_27_6", "clutter_504_office_23_1", "clutter_504_office_16_4", "clutter_504_office_25_5", "clutter_504_office_27_6", "clutter_505_office_23_1", "clutter_505_office_16_4", "clutter_505_office_25_5", "clutter_505_office_27_6", "clutter_506_office_24_1", "clutter_506_office_16_4", "clutter_506_office_25_5", "clutter_506_office_27_6", "clutter_507_office_24_1", "clutter_507_office_16_4", "clutter_507_office_25_5", "clutter_507_office_27_6", "clutter_508_office_24_1", "clutter_508_office_16_4", "clutter_508_office_25_5", "clutter_508_office_27_6", "clutter_509_office_24_1", "clutter_509_office_16_4", "clutter_509_office_25_5", "clutter_509_office_27_6", "clutter_50_hallway_6_1", "clutter_50_auditorium_2_2", "clutter_50_lounge_1_3", "clutter_50_hallway_2_4", "clutter_50_hallway_5_5", "clutter_50_hallway_1_6", "clutter_510_office_24_1", "clutter_510_office_16_4", "clutter_510_office_26_5", "clutter_510_office_27_6", "clutter_511_office_24_1", "clutter_511_office_16_4", "clutter_511_office_26_5", "clutter_511_office_28_6", "clutter_512_office_24_1", "clutter_512_office_16_4", "clutter_512_office_26_5", "clutter_512_office_28_6", "clutter_513_office_24_1", "clutter_513_office_16_4", "clutter_513_office_26_5", "clutter_513_office_28_6", "clutter_514_office_24_1", "clutter_514_office_16_4", "clutter_514_office_26_5", "clutter_514_office_28_6", "clutter_515_office_24_1", "clutter_515_office_16_4", "clutter_515_office_26_5", "clutter_515_office_28_6", "clutter_516_office_24_1", "clutter_516_office_16_4", "clutter_516_office_26_5", "clutter_516_office_28_6", "clutter_517_office_24_1", "clutter_517_office_16_4", "clutter_517_office_26_5", "clutter_517_office_28_6", "clutter_518_office_24_1", "clutter_518_office_16_4", "clutter_518_office_26_5", "clutter_518_office_28_6", "clutter_519_office_24_1", "clutter_519_office_16_4", "clutter_519_office_26_5", "clutter_519_office_28_6", "clutter_51_hallway_6_1", "clutter_51_auditorium_2_2", "clutter_51_lounge_1_3", "clutter_51_hallway_2_4", "clutter_51_hallway_5_5", "clutter_51_hallway_2_6", "clutter_520_office_24_1", "clutter_520_office_16_4", "clutter_520_office_26_5", "clutter_520_office_28_6", "clutter_521_office_24_1", "clutter_521_office_16_4", "clutter_521_office_26_5", "clutter_521_office_28_6", "clutter_522_office_24_1", "clutter_522_office_16_4", "clutter_522_office_26_5", "clutter_522_office_28_6", "clutter_523_office_25_1", "clutter_523_office_16_4", "clutter_523_office_26_5", "clutter_523_office_28_6", "clutter_524_office_25_1", "clutter_524_office_16_4", "clutter_524_office_26_5", "clutter_524_office_28_6", "clutter_525_office_25_1", "clutter_525_office_16_4", "clutter_525_office_27_5", "clutter_525_office_28_6", "clutter_526_office_25_1", "clutter_526_office_16_4", "clutter_526_office_27_5", "clutter_526_office_28_6", "clutter_527_office_25_1", "clutter_527_office_16_4", "clutter_527_office_27_5", "clutter_527_office_28_6", "clutter_528_office_25_1", "clutter_528_office_16_4", "clutter_528_office_27_5", "clutter_528_office_29_6", "clutter_529_office_25_1", "clutter_529_office_16_4", "clutter_529_office_27_5", "clutter_529_office_29_6", "clutter_52_hallway_6_1", "clutter_52_auditorium_2_2", "clutter_52_lounge_1_3", "clutter_52_hallway_2_4", "clutter_52_hallway_5_5", "clutter_52_hallway_2_6", "clutter_530_office_25_1", "clutter_530_office_16_4", "clutter_530_office_27_5", "clutter_530_office_29_6", "clutter_531_office_25_1", "clutter_531_office_16_4", "clutter_531_office_27_5", "clutter_531_office_29_6", "clutter_532_office_25_1", "clutter_532_office_16_4", "clutter_532_office_27_5", "clutter_532_office_29_6", "clutter_533_office_25_1", "clutter_533_office_16_4", "clutter_533_office_27_5", "clutter_533_office_29_6", "clutter_534_office_25_1", "clutter_534_office_16_4", "clutter_534_office_27_5", "clutter_534_office_29_6", "clutter_535_office_25_1", "clutter_535_office_16_4", "clutter_535_office_27_5", "clutter_535_office_29_6", "clutter_536_office_25_1", "clutter_536_office_16_4", "clutter_536_office_27_5", "clutter_536_office_29_6", "clutter_537_office_25_1", "clutter_537_office_16_4", "clutter_537_office_27_5", "clutter_537_office_29_6", "clutter_538_office_25_1", "clutter_538_office_16_4", "clutter_538_office_27_5", "clutter_538_office_29_6", "clutter_539_office_25_1", "clutter_539_office_16_4", "clutter_539_office_27_5", "clutter_539_office_29_6", "clutter_53_hallway_6_1", "clutter_53_auditorium_2_2", "clutter_53_lounge_1_3", "clutter_53_hallway_2_4", "clutter_53_hallway_5_5", "clutter_53_hallway_2_6", "clutter_540_office_25_1", "clutter_540_office_16_4", "clutter_540_office_27_5", "clutter_540_office_30_6", "clutter_541_office_25_1", "clutter_541_office_16_4", "clutter_541_office_28_5", "clutter_541_office_30_6", "clutter_542_office_26_1", "clutter_542_office_16_4", "clutter_542_office_28_5", "clutter_542_office_30_6", "clutter_543_office_26_1", "clutter_543_office_16_4", "clutter_543_office_28_5", "clutter_543_office_30_6", "clutter_544_office_26_1", "clutter_544_office_16_4", "clutter_544_office_28_5", "clutter_544_office_30_6", "clutter_545_office_26_1", "clutter_545_office_16_4", "clutter_545_office_28_5", "clutter_545_office_30_6", "clutter_546_office_26_1", "clutter_546_office_16_4", "clutter_546_office_28_5", "clutter_546_office_30_6", "clutter_547_office_26_1", "clutter_547_office_16_4", "clutter_547_office_28_5", "clutter_547_office_30_6", "clutter_548_office_26_1", "clutter_548_office_16_4", "clutter_548_office_28_5", "clutter_548_office_30_6", "clutter_549_office_26_1", "clutter_549_office_16_4", "clutter_549_office_28_5", "clutter_549_office_30_6", "clutter_54_hallway_6_1", "clutter_54_auditorium_2_2", "clutter_54_lounge_1_3", "clutter_54_hallway_2_4", "clutter_54_hallway_5_5", "clutter_54_hallway_2_6", "clutter_550_office_26_1", "clutter_550_office_17_4", "clutter_550_office_28_5", "clutter_550_office_30_6", "clutter_551_office_26_1", "clutter_551_office_17_4", "clutter_551_office_28_5", "clutter_551_office_30_6", "clutter_552_office_26_1", "clutter_552_office_17_4", "clutter_552_office_28_5", "clutter_552_office_30_6", "clutter_553_office_26_1", "clutter_553_office_17_4", "clutter_553_office_28_5", "clutter_553_office_30_6", "clutter_554_office_26_1", "clutter_554_office_17_4", "clutter_554_office_28_5", "clutter_554_office_30_6", "clutter_555_office_27_1", "clutter_555_office_17_4", "clutter_555_office_28_5", "clutter_555_office_31_6", "clutter_556_office_27_1", "clutter_556_office_17_4", "clutter_556_office_28_5", "clutter_556_office_31_6", "clutter_557_office_27_1", "clutter_557_office_17_4", "clutter_557_office_28_5", "clutter_557_office_31_6", "clutter_558_office_27_1", "clutter_558_office_17_4", "clutter_558_office_28_5", "clutter_558_office_31_6", "clutter_559_office_27_1", "clutter_559_office_17_4", "clutter_559_office_28_5", "clutter_559_office_31_6", "clutter_55_hallway_6_1", "clutter_55_auditorium_2_2", "clutter_55_lounge_1_3", "clutter_55_hallway_3_4", "clutter_55_hallway_6_5", "clutter_55_hallway_2_6", "clutter_560_office_27_1", "clutter_560_office_17_4", "clutter_560_office_28_5", "clutter_560_office_31_6", "clutter_561_office_27_1", "clutter_561_office_17_4", "clutter_561_office_28_5", "clutter_561_office_31_6", "clutter_562_office_27_1", "clutter_562_office_17_4", "clutter_562_office_28_5", "clutter_562_office_31_6", "clutter_563_office_27_1", "clutter_563_office_17_4", "clutter_563_office_28_5", "clutter_563_office_31_6", "clutter_564_office_27_1", "clutter_564_office_17_4", "clutter_564_office_28_5", "clutter_564_office_31_6", "clutter_565_office_27_1", "clutter_565_office_17_4", "clutter_565_office_29_5", "clutter_565_office_31_6", "clutter_566_office_27_1", "clutter_566_office_18_4", "clutter_566_office_29_5", "clutter_566_office_31_6", "clutter_567_office_27_1", "clutter_567_office_18_4", "clutter_567_office_29_5", "clutter_567_office_32_6", "clutter_568_office_27_1", "clutter_568_office_18_4", "clutter_568_office_29_5", "clutter_568_office_32_6", "clutter_569_office_27_1", "clutter_569_office_18_4", "clutter_569_office_29_5", "clutter_569_office_32_6", "clutter_56_hallway_6_1", "clutter_56_auditorium_2_2", "clutter_56_lounge_1_3", "clutter_56_hallway_3_4", "clutter_56_hallway_6_5", "clutter_56_hallway_2_6", "clutter_570_office_27_1", "clutter_570_office_18_4", "clutter_570_office_29_5", "clutter_570_office_32_6", "clutter_571_office_27_1", "clutter_571_office_18_4", "clutter_571_office_29_5", "clutter_571_office_32_6", "clutter_572_office_27_1", "clutter_572_office_18_4", "clutter_572_office_29_5", "clutter_572_office_32_6", "clutter_573_office_27_1", "clutter_573_office_18_4", "clutter_573_office_29_5", "clutter_573_office_32_6", "clutter_574_office_27_1", "clutter_574_office_18_4", "clutter_574_office_29_5", "clutter_574_office_32_6", "clutter_575_office_27_1", "clutter_575_office_18_4", "clutter_575_office_29_5", "clutter_575_office_32_6", "clutter_576_office_28_1", "clutter_576_office_18_4", "clutter_576_office_29_5", "clutter_576_office_32_6", 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"clutter_682_pantry_1_6", "clutter_683_office_31_1", "clutter_683_office_37_5", "clutter_683_pantry_1_6", "clutter_684_office_31_1", "clutter_684_office_37_5", "clutter_684_pantry_1_6", "clutter_685_office_31_1", "clutter_685_office_37_5", "clutter_686_office_31_1", "clutter_686_office_37_5", "clutter_687_office_31_1", "clutter_687_office_37_5", "clutter_688_office_31_1", "clutter_688_office_37_5", "clutter_689_office_31_1", "clutter_689_office_37_5", "clutter_68_hallway_6_1", "clutter_68_conferenceRoom_1_2", "clutter_68_office_1_3", "clutter_68_hallway_3_4", "clutter_68_hallway_6_5", "clutter_68_hallway_2_6", "clutter_690_office_31_1", "clutter_690_office_37_5", "clutter_691_office_31_1", "clutter_691_office_37_5", "clutter_692_office_31_1", "clutter_692_office_37_5", "clutter_693_office_31_1", "clutter_693_office_37_5", "clutter_694_office_31_1", "clutter_694_office_37_5", "clutter_695_office_31_1", "clutter_695_office_37_5", "clutter_696_office_31_1", "clutter_696_office_37_5", "clutter_697_office_31_1", "clutter_697_office_37_5", "clutter_698_office_31_1", "clutter_698_office_37_5", "clutter_699_office_31_1", "clutter_699_office_37_5", "clutter_69_hallway_6_1", "clutter_69_conferenceRoom_1_2", "clutter_69_office_1_3", "clutter_69_hallway_3_4", "clutter_69_hallway_6_5", "clutter_69_hallway_2_6", "clutter_6_conferenceRoom_1_1", "clutter_6_auditorium_1_2", "clutter_6_conferenceRoom_1_3", "clutter_6_conferenceRoom_1_4", "clutter_6_conferenceRoom_1_5", "clutter_6_conferenceRoom_1_6", "clutter_700_office_31_1", "clutter_700_office_37_5", "clutter_701_office_31_1", "clutter_701_office_37_5", "clutter_702_office_31_1", "clutter_702_office_37_5", "clutter_703_office_31_1", "clutter_703_office_37_5", "clutter_704_office_31_1", "clutter_704_office_37_5", "clutter_705_office_31_1", "clutter_705_office_37_5", "clutter_706_office_31_1", "clutter_706_office_37_5", "clutter_707_office_31_1", "clutter_707_office_37_5", "clutter_708_office_31_1", "clutter_708_office_37_5", "clutter_709_office_31_1", "clutter_709_office_37_5", "clutter_70_hallway_6_1", "clutter_70_conferenceRoom_1_2", "clutter_70_office_1_3", "clutter_70_hallway_3_4", "clutter_70_hallway_6_5", "clutter_70_hallway_2_6", "clutter_710_office_31_1", "clutter_710_office_37_5", "clutter_711_office_31_1", "clutter_711_office_37_5", "clutter_712_office_31_1", "clutter_712_office_37_5", "clutter_713_office_31_1", "clutter_713_office_37_5", "clutter_714_office_31_1", "clutter_714_office_37_5", "clutter_715_office_31_1", "clutter_715_office_38_5", "clutter_716_office_31_1", "clutter_716_office_38_5", "clutter_717_office_31_1", "clutter_717_office_38_5", "clutter_718_office_31_1", "clutter_718_office_38_5", "clutter_719_office_31_1", "clutter_719_office_38_5", "clutter_71_hallway_6_1", "clutter_71_conferenceRoom_1_2", "clutter_71_office_1_3", "clutter_71_hallway_3_4", "clutter_71_hallway_6_5", "clutter_71_hallway_2_6", "clutter_720_office_31_1", "clutter_720_office_38_5", "clutter_721_office_31_1", "clutter_721_office_38_5", "clutter_722_office_31_1", "clutter_722_office_38_5", "clutter_723_office_31_1", "clutter_723_office_38_5", "clutter_724_office_31_1", "clutter_724_office_38_5", "clutter_725_office_31_1", "clutter_725_office_38_5", "clutter_726_office_31_1", "clutter_726_office_38_5", "clutter_727_office_31_1", "clutter_727_office_38_5", "clutter_728_office_31_1", "clutter_728_office_38_5", "clutter_729_office_31_1", "clutter_729_office_38_5", "clutter_72_hallway_6_1", "clutter_72_conferenceRoom_1_2", "clutter_72_office_1_3", "clutter_72_hallway_3_4", "clutter_72_hallway_6_5", "clutter_72_hallway_2_6", "clutter_730_office_31_1", "clutter_730_office_38_5", "clutter_731_office_31_1", "clutter_731_office_38_5", "clutter_732_office_31_1", "clutter_732_office_38_5", "clutter_733_office_31_1", "clutter_733_office_38_5", "clutter_734_office_31_1", "clutter_734_office_38_5", "clutter_735_office_31_1", "clutter_735_office_38_5", "clutter_736_office_31_1", "clutter_736_office_38_5", "clutter_737_office_31_1", "clutter_737_office_38_5", "clutter_738_office_31_1", "clutter_738_office_38_5", "clutter_739_office_31_1", "clutter_739_office_38_5", "clutter_73_hallway_6_1", "clutter_73_conferenceRoom_1_2", "clutter_73_office_1_3", "clutter_73_hallway_3_4", "clutter_73_hallway_6_5", "clutter_73_hallway_2_6", "clutter_740_office_31_1", "clutter_740_office_38_5", "clutter_741_pantry_1_1", "clutter_741_office_38_5", "clutter_742_pantry_1_1", "clutter_742_office_38_5", "clutter_743_pantry_1_1", "clutter_743_office_38_5", "clutter_744_pantry_1_1", "clutter_744_office_38_5", "clutter_745_pantry_1_1", "clutter_745_office_38_5", "clutter_746_pantry_1_1", "clutter_746_office_38_5", "clutter_747_pantry_1_1", "clutter_747_office_38_5", "clutter_748_pantry_1_1", "clutter_748_office_38_5", "clutter_749_pantry_1_1", "clutter_749_office_38_5", "clutter_74_hallway_6_1", "clutter_74_conferenceRoom_1_2", "clutter_74_office_1_3", "clutter_74_hallway_3_4", "clutter_74_hallway_6_5", "clutter_74_hallway_2_6", "clutter_750_pantry_1_1", "clutter_750_office_38_5", "clutter_751_pantry_1_1", "clutter_751_office_38_5", "clutter_752_WC_1_1", "clutter_752_office_38_5", "clutter_753_WC_1_1", "clutter_753_office_38_5", "clutter_754_WC_1_1", "clutter_754_office_38_5", "clutter_755_WC_1_1", "clutter_755_office_38_5", "clutter_756_WC_1_1", "clutter_756_office_38_5", "clutter_757_WC_1_1", "clutter_757_office_38_5", "clutter_758_WC_1_1", "clutter_758_office_38_5", "clutter_759_WC_1_1", "clutter_759_office_38_5", "clutter_75_hallway_6_1", "clutter_75_conferenceRoom_1_2", "clutter_75_office_1_3", "clutter_75_hallway_3_4", "clutter_75_hallway_6_5", "clutter_75_hallway_2_6", "clutter_760_WC_1_1", "clutter_760_office_38_5", "clutter_761_WC_1_1", "clutter_761_office_38_5", "clutter_762_WC_1_1", "clutter_762_office_39_5", "clutter_763_WC_1_1", "clutter_763_office_39_5", "clutter_764_WC_1_1", "clutter_764_office_39_5", "clutter_765_WC_1_1", "clutter_765_office_39_5", "clutter_766_WC_1_1", "clutter_766_office_39_5", "clutter_767_WC_1_1", "clutter_767_office_39_5", "clutter_768_WC_1_1", "clutter_768_office_39_5", "clutter_769_WC_1_1", "clutter_769_office_39_5", "clutter_76_hallway_7_1", "clutter_76_conferenceRoom_1_2", "clutter_76_office_1_3", "clutter_76_hallway_3_4", "clutter_76_hallway_6_5", "clutter_76_hallway_2_6", "clutter_770_WC_1_1", "clutter_770_office_39_5", "clutter_771_WC_1_1", "clutter_771_office_39_5", "clutter_772_WC_1_1", "clutter_772_office_39_5", "clutter_773_WC_1_1", "clutter_773_office_40_5", "clutter_774_WC_1_1", "clutter_774_office_40_5", "clutter_775_WC_1_1", "clutter_775_office_40_5", "clutter_776_office_40_5", "clutter_777_office_40_5", "clutter_778_office_40_5", "clutter_779_office_40_5", "clutter_77_hallway_7_1", "clutter_77_conferenceRoom_1_2", "clutter_77_office_1_3", "clutter_77_hallway_3_4", "clutter_77_lobby_1_5", "clutter_77_hallway_2_6", "clutter_780_office_40_5", "clutter_781_office_40_5", "clutter_782_office_40_5", "clutter_783_office_40_5", "clutter_784_office_40_5", "clutter_785_office_40_5", "clutter_786_office_40_5", "clutter_787_office_40_5", "clutter_788_office_40_5", "clutter_789_office_40_5", "clutter_78_hallway_7_1", "clutter_78_conferenceRoom_1_2", "clutter_78_office_1_3", "clutter_78_hallway_3_4", "clutter_78_lobby_1_5", "clutter_78_hallway_2_6", "clutter_790_office_40_5", "clutter_791_office_40_5", "clutter_792_office_40_5", "clutter_793_office_40_5", "clutter_794_office_40_5", "clutter_795_office_40_5", "clutter_796_office_40_5", "clutter_797_office_40_5", "clutter_798_office_40_5", "clutter_799_office_40_5", "clutter_79_hallway_7_1", "clutter_79_conferenceRoom_1_2", "clutter_79_office_1_3", "clutter_79_hallway_3_4", "clutter_79_lobby_1_5", "clutter_79_hallway_2_6", "clutter_7_conferenceRoom_2_1", "clutter_7_auditorium_1_2", "clutter_7_conferenceRoom_1_3", "clutter_7_conferenceRoom_1_4", "clutter_7_conferenceRoom_1_5", "clutter_7_conferenceRoom_1_6", "clutter_800_office_40_5", "clutter_801_office_40_5", "clutter_802_office_40_5", "clutter_803_office_40_5", "clutter_804_office_40_5", "clutter_805_office_40_5", "clutter_806_office_40_5", "clutter_807_office_40_5", "clutter_808_office_40_5", "clutter_809_office_40_5", "clutter_80_hallway_7_1", "clutter_80_conferenceRoom_1_2", "clutter_80_office_1_3", "clutter_80_hallway_3_4", "clutter_80_lobby_1_5", "clutter_80_hallway_3_6", "clutter_810_office_40_5", "clutter_811_office_40_5", "clutter_812_office_41_5", "clutter_813_office_41_5", "clutter_814_office_41_5", "clutter_815_office_41_5", "clutter_816_office_41_5", "clutter_817_office_41_5", "clutter_818_office_41_5", "clutter_819_office_41_5", "clutter_81_hallway_7_1", "clutter_81_conferenceRoom_1_2", "clutter_81_office_1_3", "clutter_81_hallway_3_4", "clutter_81_lobby_1_5", "clutter_81_hallway_3_6", "clutter_820_office_41_5", "clutter_821_office_41_5", "clutter_822_office_41_5", "clutter_823_office_41_5", "clutter_824_office_41_5", "clutter_825_office_41_5", "clutter_826_office_41_5", "clutter_827_office_41_5", "clutter_828_office_41_5", "clutter_829_office_41_5", "clutter_82_hallway_7_1", "clutter_82_conferenceRoom_1_2", "clutter_82_office_1_3", "clutter_82_hallway_3_4", "clutter_82_lobby_1_5", "clutter_82_hallway_3_6", "clutter_830_office_41_5", "clutter_831_office_41_5", "clutter_832_office_41_5", "clutter_833_office_41_5", "clutter_834_office_42_5", "clutter_835_office_42_5", "clutter_836_office_42_5", "clutter_837_office_42_5", "clutter_838_office_42_5", "clutter_839_office_42_5", "clutter_83_hallway_7_1", "clutter_83_conferenceRoom_1_2", "clutter_83_office_1_3", "clutter_83_hallway_3_4", "clutter_83_lobby_1_5", "clutter_83_hallway_3_6", "clutter_840_office_42_5", "clutter_841_office_42_5", "clutter_842_office_42_5", "clutter_843_office_42_5", "clutter_844_office_42_5", "clutter_845_office_42_5", "clutter_846_office_42_5", "clutter_847_office_42_5", "clutter_848_office_42_5", "clutter_849_storage_1_5", "clutter_84_hallway_7_1", "clutter_84_conferenceRoom_1_2", "clutter_84_office_1_3", "clutter_84_hallway_3_4", "clutter_84_lobby_1_5", "clutter_84_hallway_4_6", "clutter_850_storage_1_5", "clutter_851_storage_1_5", "clutter_852_storage_1_5", "clutter_853_storage_1_5", "clutter_854_storage_1_5", "clutter_855_storage_1_5", "clutter_856_storage_1_5", "clutter_857_storage_1_5", "clutter_858_storage_2_5", "clutter_859_storage_2_5", "clutter_85_hallway_7_1", "clutter_85_conferenceRoom_1_2", "clutter_85_office_1_3", "clutter_85_hallway_3_4", "clutter_85_hallway_7_5", "clutter_85_hallway_4_6", "clutter_860_storage_2_5", "clutter_861_storage_2_5", "clutter_862_storage_2_5", "clutter_863_storage_2_5", "clutter_864_storage_2_5", "clutter_865_storage_2_5", "clutter_866_storage_2_5", "clutter_867_storage_2_5", "clutter_868_storage_2_5", "clutter_869_storage_2_5", "clutter_86_hallway_7_1", "clutter_86_conferenceRoom_1_2", "clutter_86_office_1_3", "clutter_86_hallway_3_4", "clutter_86_hallway_7_5", "clutter_86_hallway_4_6", "clutter_870_storage_2_5", "clutter_871_storage_2_5", "clutter_872_storage_2_5", "clutter_873_storage_2_5", "clutter_874_storage_3_5", "clutter_875_storage_3_5", "clutter_876_storage_3_5", "clutter_877_storage_3_5", "clutter_878_storage_3_5", "clutter_879_storage_3_5", "clutter_87_hallway_7_1", "clutter_87_conferenceRoom_1_2", "clutter_87_office_1_3", "clutter_87_hallway_4_4", "clutter_87_hallway_7_5", "clutter_87_hallway_4_6", "clutter_880_storage_4_5", "clutter_881_storage_4_5", "clutter_882_storage_4_5", "clutter_883_storage_4_5", "clutter_884_storage_4_5", "clutter_885_storage_4_5", "clutter_886_storage_4_5", "clutter_887_WC_1_5", "clutter_888_WC_1_5", "clutter_889_WC_1_5", "clutter_88_hallway_7_1", "clutter_88_conferenceRoom_1_2", "clutter_88_office_1_3", "clutter_88_hallway_4_4", "clutter_88_hallway_7_5", "clutter_88_hallway_5_6", "clutter_890_WC_1_5", "clutter_891_WC_1_5", "clutter_892_WC_1_5", "clutter_893_WC_1_5", "clutter_894_WC_1_5", "clutter_895_WC_1_5", "clutter_896_WC_1_5", "clutter_897_WC_1_5", "clutter_898_WC_1_5", "clutter_899_WC_2_5", "clutter_89_hallway_7_1", "clutter_89_conferenceRoom_1_2", "clutter_89_office_1_3", "clutter_89_hallway_4_4", "clutter_89_hallway_7_5", "clutter_89_hallway_5_6", "clutter_8_conferenceRoom_2_1", "clutter_8_auditorium_1_2", "clutter_8_conferenceRoom_1_3", "clutter_8_conferenceRoom_2_4", "clutter_8_conferenceRoom_1_5", "clutter_8_hallway_1_6", "clutter_900_WC_2_5", "clutter_901_WC_2_5", "clutter_902_WC_2_5", "clutter_903_WC_2_5", "clutter_904_WC_2_5", "clutter_905_WC_2_5", "clutter_906_WC_2_5", "clutter_907_WC_2_5", "clutter_908_WC_2_5", "clutter_909_WC_2_5", "clutter_90_hallway_7_1", "clutter_90_conferenceRoom_1_2", "clutter_90_office_1_3", "clutter_90_hallway_4_4", "clutter_90_hallway_7_5", "clutter_90_hallway_5_6", "clutter_910_WC_2_5", "clutter_911_WC_2_5", "clutter_912_pantry_1_5", "clutter_913_pantry_1_5", "clutter_914_pantry_1_5", "clutter_915_pantry_1_5", "clutter_916_pantry_1_5", "clutter_917_pantry_1_5", "clutter_918_pantry_1_5", "clutter_919_pantry_1_5", "clutter_91_hallway_7_1", "clutter_91_conferenceRoom_1_2", "clutter_91_office_1_3", "clutter_91_hallway_4_4", "clutter_91_hallway_7_5", "clutter_91_hallway_5_6", "clutter_920_pantry_1_5", "clutter_921_pantry_1_5", "clutter_922_pantry_1_5", "clutter_92_hallway_7_1", "clutter_92_conferenceRoom_1_2", "clutter_92_office_1_3", "clutter_92_hallway_4_4", "clutter_92_hallway_7_5", "clutter_92_hallway_5_6", "clutter_93_hallway_7_1", "clutter_93_hallway_1_2", "clutter_93_office_1_3", "clutter_93_hallway_4_4", "clutter_93_hallway_7_5", "clutter_93_hallway_5_6", "clutter_94_hallway_7_1", "clutter_94_hallway_1_2", "clutter_94_office_1_3", "clutter_94_hallway_4_4", "clutter_94_hallway_7_5", "clutter_94_hallway_5_6", "clutter_95_hallway_7_1", "clutter_95_hallway_1_2", "clutter_95_office_2_3", "clutter_95_hallway_5_4", "clutter_95_hallway_7_5", "clutter_95_hallway_6_6", "clutter_96_hallway_7_1", "clutter_96_hallway_1_2", "clutter_96_office_2_3", "clutter_96_hallway_5_4", "clutter_96_hallway_7_5", "clutter_96_hallway_6_6", "clutter_97_hallway_7_1", "clutter_97_hallway_1_2", "clutter_97_office_2_3", "clutter_97_hallway_5_4", "clutter_97_hallway_7_5", "clutter_97_hallway_6_6", "clutter_98_hallway_7_1", "clutter_98_hallway_1_2", "clutter_98_office_2_3", "clutter_98_hallway_5_4", "clutter_98_hallway_7_5", "clutter_98_hallway_6_6", "clutter_99_hallway_7_1", "clutter_99_hallway_2_2", "clutter_99_office_2_3", "clutter_99_hallway_6_4", "clutter_99_hallway_7_5", "clutter_99_hallway_6_6", "clutter_9_conferenceRoom_2_1", "clutter_9_auditorium_1_2", "clutter_9_conferenceRoom_1_3", "clutter_9_conferenceRoom_2_4", "clutter_9_conferenceRoom_2_5", "clutter_9_hallway_1_6", "column_10_hallway_6_1", "column_10_hallway_8_2", "column_10_office_8_3", "column_10_office_4_4", "column_10_hallway_1_5", "column_10_hallway_1_6", "column_11_hallway_6_1", "column_11_office_2_2", "column_11_storage_1_3", "column_11_office_6_4", "column_11_hallway_1_5", "column_11_hallway_1_6", "column_12_hallway_6_1", "column_12_office_4_2", "column_12_storage_2_3", "column_12_office_8_4", "column_12_hallway_1_5", "column_12_hallway_1_6", "column_13_hallway_6_1", "column_13_office_4_2", "column_13_office_9_4", "column_13_hallway_9_5", "column_13_hallway_2_6", "column_14_hallway_6_1", "column_14_office_4_2", "column_14_office_9_4", "column_14_hallway_15_5", "column_14_hallway_2_6", "column_15_hallway_6_1", "column_15_office_4_2", "column_15_office_10_4", "column_15_office_1_5", "column_15_hallway_2_6", "column_16_hallway_6_1", "column_16_office_5_2", "column_16_office_14_4", "column_16_office_1_5", "column_16_hallway_2_6", "column_17_hallway_7_1", "column_17_office_5_2", "column_17_office_15_4", "column_17_office_2_5", "column_17_hallway_2_6", "column_18_hallway_7_1", "column_18_office_5_2", "column_18_office_15_4", "column_18_office_4_5", "column_18_hallway_2_6", "column_19_hallway_7_1", "column_19_office_7_2", "column_19_office_15_4", "column_19_office_4_5", "column_19_hallway_2_6", "column_1_conferenceRoom_2_1", "column_1_auditorium_1_2", "column_1_hallway_2_3", "column_1_conferenceRoom_2_4", "column_1_conferenceRoom_1_5", "column_1_hallway_1_6", "column_20_hallway_7_1", "column_20_office_16_4", "column_20_office_7_5", "column_20_hallway_2_6", "column_21_hallway_7_1", "column_21_office_16_4", "column_21_office_8_5", "column_21_hallway_2_6", "column_22_hallway_7_1", "column_22_office_16_4", "column_22_office_8_5", "column_22_hallway_2_6", "column_23_hallway_7_1", "column_23_office_16_4", "column_23_office_10_5", "column_23_hallway_2_6", "column_24_hallway_7_1", "column_24_office_16_4", "column_24_office_10_5", "column_24_hallway_2_6", "column_25_hallway_7_1", "column_25_office_17_4", "column_25_office_11_5", "column_25_office_1_6", "column_26_hallway_7_1", "column_26_office_17_4", "column_26_office_12_5", "column_26_office_2_6", "column_27_hallway_7_1", "column_27_office_17_4", "column_27_office_13_5", "column_27_office_3_6", "column_28_hallway_7_1", "column_28_office_18_4", "column_28_office_13_5", "column_28_office_4_6", "column_29_office_1_1", "column_29_office_18_4", "column_29_office_14_5", "column_29_office_5_6", "column_2_conferenceRoom_2_1", "column_2_conferenceRoom_1_2", "column_2_hallway_2_3", "column_2_conferenceRoom_3_4", "column_2_conferenceRoom_2_5", "column_2_hallway_1_6", "column_30_office_2_1", "column_30_office_18_4", "column_30_office_14_5", "column_30_office_6_6", "column_31_office_3_1", "column_31_office_20_4", "column_31_office_14_5", "column_31_office_7_6", "column_32_office_4_1", "column_32_office_20_4", "column_32_office_15_5", "column_32_office_8_6", "column_33_office_5_1", "column_33_office_21_4", "column_33_office_15_5", "column_33_office_8_6", "column_34_office_6_1", "column_34_office_21_4", "column_34_office_16_5", "column_34_office_9_6", "column_35_office_7_1", "column_35_office_21_4", "column_35_office_18_5", "column_35_office_9_6", "column_36_office_8_1", "column_36_office_22_4", "column_36_office_20_5", "column_36_office_10_6", "column_37_office_9_1", "column_37_storage_1_4", "column_37_office_21_5", "column_37_office_12_6", "column_38_office_10_1", "column_38_storage_2_4", "column_38_office_21_5", "column_38_office_24_6", "column_39_office_11_1", "column_39_office_22_5", "column_39_office_25_6", "column_3_conferenceRoom_2_1", "column_3_conferenceRoom_1_2", "column_3_hallway_4_3", "column_3_conferenceRoom_3_4", "column_3_conferenceRoom_2_5", "column_3_hallway_1_6", "column_40_office_12_1", "column_40_office_22_5", "column_40_office_26_6", "column_41_office_17_1", "column_41_office_23_5", "column_41_office_27_6", "column_42_office_18_1", "column_42_office_24_5", "column_42_office_28_6", "column_43_office_19_1", "column_43_office_24_5", "column_43_office_29_6", "column_44_office_20_1", "column_44_office_24_5", "column_44_office_30_6", "column_45_office_21_1", "column_45_office_24_5", "column_45_office_32_6", "column_46_office_22_1", "column_46_office_26_5", "column_46_office_33_6", "column_47_office_23_1", "column_47_office_27_5", "column_47_office_34_6", "column_48_office_24_1", "column_48_office_27_5", "column_48_office_35_6", "column_49_office_25_1", "column_49_office_28_5", "column_49_office_36_6", "column_4_conferenceRoom_2_1", "column_4_conferenceRoom_1_2", "column_4_hallway_4_3", "column_4_conferenceRoom_3_4", "column_4_conferenceRoom_3_5", "column_4_hallway_1_6", "column_50_office_26_1", "column_50_office_29_5", "column_50_office_37_6", "column_51_office_27_1", "column_51_office_29_5", "column_51_openspace_1_6", "column_52_office_30_1", "column_52_office_29_5", "column_52_openspace_1_6", "column_53_office_30_1", "column_53_office_29_5", "column_53_openspace_1_6", "column_54_office_31_1", "column_54_office_31_5", "column_54_openspace_1_6", "column_55_office_31_1", "column_55_office_31_5", "column_56_office_31_1", "column_56_office_31_5", "column_57_office_31_1", "column_57_office_31_5", "column_58_office_32_5", "column_59_office_32_5", "column_5_hallway_6_1", "column_5_conferenceRoom_1_2", "column_5_hallway_4_3", "column_5_lobby_1_4", "column_5_conferenceRoom_3_5", "column_5_hallway_1_6", "column_60_office_33_5", "column_61_office_33_5", "column_62_office_34_5", "column_63_office_34_5", "column_64_office_34_5", "column_65_office_37_5", "column_66_office_38_5", "column_67_office_38_5", "column_68_office_40_5", "column_69_office_40_5", "column_6_hallway_6_1", "column_6_conferenceRoom_1_2", "column_6_hallway_4_3", "column_6_lobby_1_4", "column_6_hallway_1_5", "column_6_hallway_1_6", "column_70_office_41_5", "column_71_office_41_5", "column_72_office_42_5", "column_73_office_42_5", "column_74_storage_1_5", "column_7_hallway_6_1", "column_7_conferenceRoom_1_2", "column_7_hallway_4_3", "column_7_lobby_1_4", "column_7_hallway_1_5", "column_7_hallway_1_6", "column_8_hallway_6_1", "column_8_conferenceRoom_1_2", "column_8_hallway_4_3", "column_8_lobby_1_4", "column_8_hallway_1_5", "column_8_hallway_1_6", "column_9_hallway_6_1", "column_9_conferenceRoom_1_2", "column_9_office_3_3", "column_9_lobby_1_4", "column_9_hallway_1_5", "column_9_hallway_1_6", "door_100_storage_3_4", "door_100_office_25_5", "door_101_storage_3_4", "door_101_office_26_5", "door_102_storage_4_4", "door_102_office_27_5", "door_103_storage_4_4", "door_103_office_28_5", "door_104_WC_2_4", "door_104_office_29_5", "door_105_WC_3_4", "door_105_office_29_5", "door_106_WC_4_4", "door_106_office_30_5", "door_107_WC_4_4", "door_107_office_31_5", "door_108_office_32_5", "door_109_office_33_5", "door_10_hallway_3_1", "door_10_conferenceRoom_1_2", "door_10_hallway_2_3", "door_10_hallway_1_4", "door_10_hallway_2_5", "door_10_hallway_1_6", "door_110_office_34_5", "door_111_office_35_5", "door_112_office_36_5", "door_113_office_37_5", "door_114_office_38_5", "door_115_office_39_5", "door_116_office_40_5", "door_117_office_41_5", "door_118_office_41_5", "door_119_office_42_5", "door_11_hallway_4_1", "door_11_conferenceRoom_1_2", "door_11_hallway_2_3", "door_11_hallway_1_4", "door_11_hallway_2_5", "door_11_hallway_1_6", "door_120_storage_1_5", "door_121_storage_2_5", "door_122_storage_2_5", "door_123_storage_3_5", "door_124_storage_4_5", "door_125_storage_4_5", "door_126_WC_1_5", "door_127_WC_2_5", "door_12_hallway_4_1", "door_12_hallway_1_2", "door_12_hallway_2_3", "door_12_hallway_1_4", "door_12_hallway_2_5", "door_12_hallway_1_6", "door_13_hallway_5_1", "door_13_hallway_2_2", "door_13_hallway_3_3", "door_13_hallway_1_4", "door_13_hallway_2_5", "door_13_hallway_1_6", "door_14_hallway_5_1", "door_14_hallway_2_2", "door_14_hallway_3_3", "door_14_hallway_2_4", "door_14_hallway_2_5", "door_14_hallway_1_6", "door_15_hallway_5_1", "door_15_hallway_2_2", "door_15_hallway_3_3", "door_15_hallway_2_4", "door_15_hallway_2_5", "door_15_hallway_1_6", "door_16_hallway_5_1", "door_16_hallway_2_2", "door_16_hallway_4_3", "door_16_hallway_2_4", "door_16_hallway_2_5", "door_16_hallway_1_6", "door_17_hallway_6_1", "door_17_hallway_2_2", "door_17_hallway_4_3", "door_17_hallway_2_4", "door_17_hallway_2_5", "door_17_hallway_1_6", "door_18_hallway_6_1", "door_18_hallway_3_2", "door_18_hallway_4_3", "door_18_hallway_3_4", "door_18_hallway_2_5", "door_18_hallway_1_6", "door_19_hallway_6_1", "door_19_hallway_3_2", "door_19_hallway_4_3", "door_19_hallway_3_4", "door_19_hallway_2_5", "door_19_hallway_1_6", "door_1_conferenceRoom_1_1", "door_1_auditorium_1_2", "door_1_conferenceRoom_1_3", "door_1_conferenceRoom_1_4", "door_1_conferenceRoom_1_5", "door_1_conferenceRoom_1_6", "door_20_hallway_6_1", "door_20_hallway_3_2", "door_20_hallway_4_3", "door_20_hallway_3_4", "door_20_hallway_2_5", "door_20_hallway_1_6", "door_21_hallway_6_1", "door_21_hallway_3_2", "door_21_hallway_4_3", "door_21_hallway_3_4", "door_21_hallway_2_5", "door_21_hallway_1_6", "door_22_hallway_6_1", "door_22_hallway_3_2", "door_22_lounge_2_3", "door_22_hallway_3_4", "door_22_hallway_2_5", "door_22_hallway_1_6", "door_23_hallway_6_1", "door_23_hallway_5_2", "door_23_lounge_2_3", "door_23_hallway_3_4", "door_23_hallway_2_5", "door_23_hallway_1_6", "door_24_hallway_6_1", "door_24_hallway_5_2", "door_24_office_1_3", "door_24_hallway_3_4", "door_24_hallway_2_5", "door_24_hallway_1_6", "door_25_hallway_6_1", "door_25_hallway_5_2", "door_25_office_2_3", "door_25_hallway_3_4", "door_25_hallway_2_5", "door_25_hallway_2_6", "door_26_hallway_6_1", "door_26_hallway_5_2", "door_26_office_3_3", "door_26_hallway_3_4", "door_26_hallway_2_5", "door_26_hallway_2_6", "door_27_hallway_6_1", "door_27_hallway_5_2", "door_27_office_4_3", "door_27_hallway_3_4", "door_27_hallway_3_5", "door_27_hallway_2_6", "door_28_hallway_6_1", "door_28_hallway_5_2", "door_28_office_5_3", "door_28_hallway_3_4", "door_28_hallway_3_5", "door_28_hallway_2_6", "door_29_hallway_6_1", "door_29_hallway_5_2", "door_29_office_6_3", "door_29_hallway_3_4", "door_29_hallway_4_5", "door_29_hallway_2_6", "door_2_conferenceRoom_2_1", "door_2_auditorium_1_2", "door_2_conferenceRoom_1_3", "door_2_conferenceRoom_1_4", "door_2_conferenceRoom_2_5", "door_2_hallway_1_6", "door_30_hallway_6_1", "door_30_hallway_5_2", "door_30_office_7_3", "door_30_hallway_3_4", "door_30_hallway_4_5", "door_30_hallway_2_6", "door_31_hallway_6_1", "door_31_hallway_5_2", "door_31_office_8_3", "door_31_hallway_4_4", "door_31_hallway_4_5", "door_31_hallway_2_6", "door_32_hallway_6_1", "door_32_hallway_5_2", "door_32_office_8_3", "door_32_hallway_4_4", "door_32_hallway_4_5", "door_32_hallway_2_6", "door_33_hallway_7_1", "door_33_hallway_5_2", "door_33_office_9_3", "door_33_hallway_4_4", "door_33_hallway_5_5", "door_33_hallway_2_6", "door_34_hallway_7_1", "door_34_hallway_5_2", "door_34_office_10_3", "door_34_hallway_6_4", "door_34_hallway_5_5", "door_34_hallway_2_6", "door_35_hallway_7_1", "door_35_hallway_6_2", "door_35_storage_1_3", "door_35_hallway_7_4", "door_35_hallway_5_5", "door_35_hallway_2_6", "door_36_hallway_7_1", "door_36_hallway_6_2", "door_36_WC_1_3", "door_36_hallway_7_4", "door_36_hallway_5_5", "door_36_hallway_2_6", "door_37_hallway_7_1", "door_37_hallway_7_2", "door_37_WC_2_3", "door_37_hallway_7_4", "door_37_hallway_5_5", "door_37_hallway_2_6", "door_38_hallway_7_1", "door_38_hallway_7_2", "door_38_hallway_7_4", "door_38_hallway_5_5", "door_38_hallway_2_6", "door_39_hallway_7_1", "door_39_hallway_8_2", "door_39_hallway_7_4", "door_39_hallway_5_5", "door_39_hallway_2_6", "door_3_copyRoom_1_1", "door_3_auditorium_1_2", "door_3_hallway_1_3", "door_3_conferenceRoom_2_4", "door_3_conferenceRoom_3_5", "door_3_hallway_1_6", "door_40_hallway_7_1", "door_40_hallway_8_2", "door_40_hallway_9_4", "door_40_hallway_5_5", "door_40_hallway_2_6", "door_41_hallway_7_1", "door_41_hallway_8_2", "door_41_hallway_9_4", "door_41_hallway_5_5", "door_41_hallway_2_6", "door_42_hallway_7_1", "door_42_hallway_8_2", "door_42_hallway_10_4", "door_42_hallway_5_5", "door_42_hallway_2_6", "door_43_hallway_7_1", "door_43_hallway_8_2", "door_43_hallway_10_4", "door_43_hallway_5_5", "door_43_hallway_2_6", "door_44_hallway_7_1", "door_44_hallway_8_2", "door_44_hallway_10_4", "door_44_hallway_5_5", "door_44_hallway_2_6", "door_45_hallway_7_1", "door_45_hallway_8_2", "door_45_hallway_10_4", "door_45_hallway_5_5", "door_45_hallway_2_6", "door_46_hallway_7_1", "door_46_hallway_8_2", "door_46_hallway_10_4", "door_46_hallway_6_5", "door_46_hallway_3_6", "door_47_hallway_7_1", "door_47_hallway_8_2", "door_47_hallway_10_4", "door_47_hallway_6_5", "door_47_hallway_3_6", "door_48_hallway_7_1", "door_48_hallway_8_2", "door_48_hallway_10_4", "door_48_hallway_6_5", "door_48_hallway_3_6", "door_49_hallway_7_1", "door_49_hallway_8_2", "door_49_hallway_10_4", "door_49_hallway_7_5", "door_49_hallway_4_6", "door_4_hallway_1_1", "door_4_auditorium_1_2", "door_4_hallway_1_3", "door_4_conferenceRoom_3_4", "door_4_hallway_1_5", "door_4_hallway_1_6", "door_50_hallway_7_1", "door_50_hallway_8_2", "door_50_hallway_11_4", "door_50_hallway_7_5", "door_50_hallway_4_6", "door_51_hallway_7_1", "door_51_hallway_8_2", "door_51_hallway_11_4", "door_51_hallway_8_5", "door_51_hallway_5_6", "door_52_hallway_8_1", "door_52_hallway_8_2", "door_52_hallway_11_4", "door_52_hallway_8_5", "door_52_hallway_5_6", "door_53_hallway_8_1", "door_53_hallway_8_2", "door_53_hallway_11_4", "door_53_hallway_9_5", "door_53_office_1_6", "door_54_office_1_1", "door_54_hallway_8_2", "door_54_hallway_12_4", "door_54_hallway_9_5", "door_54_office_2_6", "door_55_office_2_1", "door_55_hallway_8_2", "door_55_hallway_12_4", "door_55_hallway_9_5", "door_55_office_3_6", "door_56_office_3_1", "door_56_hallway_8_2", "door_56_hallway_12_4", "door_56_hallway_10_5", "door_56_office_4_6", "door_57_office_4_1", "door_57_hallway_8_2", "door_57_hallway_12_4", "door_57_hallway_10_5", "door_57_office_5_6", "door_58_office_5_1", "door_58_hallway_10_2", "door_58_hallway_12_4", "door_58_hallway_10_5", "door_58_office_6_6", "door_59_office_6_1", "door_59_hallway_10_2", "door_59_hallway_12_4", "door_59_hallway_10_5", "door_59_office_7_6", "door_5_hallway_1_1", "door_5_auditorium_2_2", "door_5_hallway_1_3", "door_5_hallway_1_4", "door_5_hallway_2_5", "door_5_hallway_1_6", "door_60_office_7_1", "door_60_hallway_10_2", "door_60_hallway_12_4", "door_60_hallway_10_5", "door_60_office_8_6", "door_61_office_8_1", "door_61_hallway_10_2", "door_61_hallway_13_4", "door_61_hallway_10_5", "door_61_office_8_6", "door_62_office_9_1", "door_62_hallway_10_2", "door_62_hallway_14_4", "door_62_hallway_11_5", "door_62_office_9_6", "door_63_office_10_1", "door_63_hallway_10_2", "door_63_lobby_1_4", "door_63_hallway_11_5", "door_63_office_9_6", "door_64_office_11_1", "door_64_hallway_11_2", "door_64_lobby_1_4", "door_64_hallway_12_5", "door_64_office_10_6", "door_65_office_12_1", "door_65_hallway_11_2", "door_65_lobby_1_4", "door_65_hallway_12_5", "door_65_office_11_6", "door_66_office_13_1", "door_66_hallway_11_2", "door_66_lobby_1_4", "door_66_hallway_13_5", "door_66_office_12_6", "door_67_office_14_1", "door_67_hallway_12_2", "door_67_lobby_2_4", "door_67_hallway_13_5", "door_67_office_13_6", "door_68_office_15_1", "door_68_hallway_12_2", "door_68_lobby_2_4", "door_68_hallway_13_5", "door_68_office_14_6", "door_69_office_16_1", "door_69_office_1_2", "door_69_lobby_2_4", "door_69_hallway_14_5", "door_69_office_15_6", "door_6_hallway_1_1", "door_6_auditorium_2_2", "door_6_hallway_1_3", "door_6_hallway_1_4", "door_6_hallway_2_5", "door_6_hallway_1_6", "door_70_office_17_1", "door_70_office_2_2", "door_70_lobby_2_4", "door_70_hallway_14_5", "door_70_office_16_6", "door_71_office_18_1", "door_71_office_3_2", "door_71_lobby_2_4", "door_71_hallway_14_5", "door_71_office_17_6", "door_72_office_19_1", "door_72_office_4_2", "door_72_lobby_2_4", "door_72_hallway_15_5", "door_72_office_18_6", "door_73_office_20_1", "door_73_office_5_2", "door_73_lobby_2_4", "door_73_hallway_15_5", "door_73_office_19_6", "door_74_office_21_1", "door_74_office_6_2", "door_74_office_1_4", "door_74_office_1_5", "door_74_office_20_6", "door_75_office_22_1", "door_75_office_7_2", "door_75_office_2_4", "door_75_office_2_5", "door_75_office_21_6", "door_76_office_23_1", "door_76_office_8_2", "door_76_office_3_4", "door_76_office_3_5", "door_76_office_22_6", "door_77_office_24_1", "door_77_office_9_2", "door_77_office_4_4", "door_77_office_4_5", "door_77_office_23_6", "door_78_office_25_1", "door_78_office_10_2", "door_78_office_5_4", "door_78_office_5_5", "door_78_office_24_6", "door_79_office_26_1", "door_79_office_11_2", "door_79_office_6_4", "door_79_office_6_5", "door_79_office_25_6", "door_7_hallway_2_1", "door_7_auditorium_2_2", "door_7_hallway_1_3", "door_7_hallway_1_4", "door_7_hallway_2_5", "door_7_hallway_1_6", "door_80_office_27_1", "door_80_office_12_2", "door_80_office_7_4", "door_80_office_7_5", "door_80_office_26_6", "door_81_office_28_1", "door_81_office_13_2", "door_81_office_8_4", "door_81_office_8_5", "door_81_office_27_6", "door_82_office_29_1", "door_82_storage_1_2", "door_82_office_9_4", "door_82_office_9_5", "door_82_office_28_6", "door_83_office_29_1", "door_83_storage_2_2", "door_83_office_10_4", "door_83_office_10_5", "door_83_office_29_6", "door_84_office_30_1", "door_84_storage_3_2", "door_84_office_11_4", "door_84_office_11_5", "door_84_office_30_6", "door_85_pantry_1_1", "door_85_storage_4_2", "door_85_office_12_4", "door_85_office_12_5", "door_85_office_31_6", "door_86_WC_1_1", "door_86_storage_5_2", "door_86_office_13_4", "door_86_office_13_5", "door_86_office_32_6", "door_87_storage_6_2", "door_87_office_14_4", "door_87_office_14_5", "door_87_office_33_6", "door_88_storage_7_2", "door_88_office_15_4", "door_88_office_15_5", "door_88_office_34_6", "door_89_storage_7_2", "door_89_office_16_4", "door_89_office_16_5", "door_89_office_35_6", "door_8_hallway_2_1", "door_8_auditorium_2_2", "door_8_hallway_1_3", "door_8_hallway_1_4", "door_8_hallway_2_5", "door_8_hallway_1_6", "door_90_storage_8_2", "door_90_office_16_4", "door_90_office_17_5", "door_90_office_36_6", "door_91_storage_9_2", "door_91_office_17_4", "door_91_office_18_5", "door_91_office_37_6", "door_92_WC_1_2", "door_92_office_18_4", "door_92_office_19_5", "door_92_copyRoom_1_6", "door_93_WC_2_2", "door_93_office_19_4", "door_93_office_19_5", "door_93_pantry_1_6", "door_94_office_20_4", "door_94_office_20_5", "door_95_office_21_4", "door_95_office_21_5", "door_96_office_22_4", "door_96_office_22_5", "door_97_storage_1_4", "door_97_office_23_5", "door_98_storage_2_4", "door_98_office_24_5", "door_99_storage_2_4", "door_99_office_24_5", "door_9_hallway_3_1", "door_9_auditorium_2_2", "door_9_hallway_2_3", "door_9_hallway_1_4", "door_9_hallway_2_5", "door_9_hallway_1_6", "floor_10_hallway_7_1", "floor_10_hallway_3_2", "floor_10_office_1_3", "floor_10_hallway_7_4", "floor_10_lobby_1_5", "floor_10_office_1_6", "floor_11_hallway_8_1", "floor_11_hallway_4_2", "floor_11_office_2_3", "floor_11_hallway_8_4", "floor_11_hallway_7_5", "floor_11_office_2_6", "floor_12_office_1_1", "floor_12_hallway_5_2", "floor_12_office_3_3", "floor_12_hallway_9_4", "floor_12_hallway_8_5", "floor_12_office_3_6", "floor_13_office_2_1", "floor_13_hallway_6_2", "floor_13_office_4_3", "floor_13_hallway_10_4", "floor_13_hallway_9_5", "floor_13_office_4_6", "floor_14_office_3_1", "floor_14_hallway_7_2", "floor_14_office_5_3", "floor_14_hallway_11_4", "floor_14_hallway_10_5", "floor_14_office_5_6", "floor_15_office_4_1", "floor_15_hallway_8_2", "floor_15_office_6_3", "floor_15_hallway_12_4", "floor_15_hallway_11_5", "floor_15_office_6_6", "floor_16_office_5_1", "floor_16_hallway_9_2", "floor_16_office_7_3", "floor_16_hallway_13_4", "floor_16_hallway_12_5", "floor_16_office_7_6", "floor_17_office_6_1", "floor_17_hallway_10_2", "floor_17_office_8_3", "floor_17_hallway_14_4", "floor_17_hallway_13_5", "floor_17_office_8_6", "floor_18_office_7_1", "floor_18_hallway_10_2", "floor_18_office_9_3", "floor_18_hallway_14_4", "floor_18_hallway_14_5", "floor_18_office_9_6", "floor_19_office_8_1", "floor_19_hallway_10_2", "floor_19_office_10_3", "floor_19_lobby_1_4", "floor_19_hallway_15_5", "floor_19_office_10_6", "floor_1_conferenceRoom_1_1", "floor_1_auditorium_1_2", "floor_1_conferenceRoom_1_3", "floor_1_conferenceRoom_1_4", "floor_1_conferenceRoom_1_5", "floor_1_conferenceRoom_1_6", "floor_20_office_9_1", "floor_20_hallway_10_2", "floor_20_storage_1_3", "floor_20_lobby_2_4", "floor_20_office_1_5", "floor_20_office_11_6", "floor_21_office_10_1", "floor_21_hallway_11_2", "floor_21_storage_2_3", "floor_21_office_1_4", "floor_21_office_2_5", "floor_21_office_12_6", "floor_22_office_11_1", "floor_22_hallway_11_2", "floor_22_WC_1_3", "floor_22_office_2_4", "floor_22_office_3_5", "floor_22_office_13_6", "floor_23_office_12_1", "floor_23_hallway_12_2", "floor_23_WC_2_3", "floor_23_office_3_4", "floor_23_office_4_5", "floor_23_office_14_6", "floor_24_office_13_1", "floor_24_hallway_12_2", "floor_24_office_4_4", "floor_24_office_5_5", "floor_24_office_15_6", "floor_25_office_14_1", "floor_25_office_1_2", "floor_25_office_5_4", "floor_25_office_6_5", "floor_25_office_16_6", "floor_26_office_15_1", "floor_26_office_2_2", "floor_26_office_6_4", "floor_26_office_7_5", "floor_26_office_17_6", "floor_27_office_16_1", "floor_27_office_3_2", "floor_27_office_7_4", "floor_27_office_8_5", "floor_27_office_18_6", "floor_28_office_17_1", "floor_28_office_4_2", "floor_28_office_8_4", "floor_28_office_9_5", "floor_28_office_19_6", "floor_29_office_18_1", "floor_29_office_4_2", "floor_29_office_9_4", "floor_29_office_10_5", "floor_29_office_20_6", "floor_2_conferenceRoom_2_1", "floor_2_auditorium_1_2", "floor_2_hallway_1_3", "floor_2_conferenceRoom_2_4", "floor_2_conferenceRoom_2_5", "floor_2_hallway_1_6", "floor_30_office_19_1", "floor_30_office_5_2", "floor_30_office_10_4", "floor_30_office_11_5", "floor_30_office_21_6", "floor_31_office_20_1", "floor_31_office_6_2", "floor_31_office_11_4", "floor_31_office_12_5", "floor_31_office_22_6", "floor_32_office_21_1", "floor_32_office_7_2", "floor_32_office_12_4", "floor_32_office_13_5", "floor_32_office_23_6", "floor_33_office_22_1", "floor_33_office_8_2", "floor_33_office_13_4", "floor_33_office_14_5", "floor_33_office_24_6", "floor_34_office_23_1", "floor_34_office_9_2", "floor_34_office_14_4", "floor_34_office_15_5", "floor_34_office_25_6", "floor_35_office_24_1", "floor_35_office_10_2", "floor_35_office_15_4", "floor_35_office_16_5", "floor_35_office_26_6", "floor_36_office_25_1", "floor_36_office_11_2", "floor_36_office_16_4", "floor_36_office_17_5", "floor_36_office_27_6", "floor_37_office_26_1", "floor_37_office_12_2", "floor_37_office_17_4", "floor_37_office_18_5", "floor_37_office_28_6", "floor_38_office_27_1", "floor_38_office_13_2", "floor_38_office_18_4", "floor_38_office_19_5", "floor_38_office_29_6", "floor_39_office_28_1", "floor_39_office_14_2", "floor_39_office_19_4", "floor_39_office_20_5", "floor_39_office_30_6", "floor_3_copyRoom_1_1", "floor_3_auditorium_1_2", "floor_3_hallway_2_3", "floor_3_conferenceRoom_3_4", "floor_3_conferenceRoom_3_5", "floor_3_hallway_2_6", "floor_40_office_29_1", "floor_40_storage_1_2", "floor_40_office_20_4", "floor_40_office_21_5", "floor_40_office_31_6", "floor_41_office_30_1", "floor_41_storage_2_2", "floor_41_office_21_4", "floor_41_office_22_5", "floor_41_office_32_6", "floor_42_office_31_1", "floor_42_storage_3_2", "floor_42_office_22_4", "floor_42_office_23_5", "floor_42_office_33_6", "floor_43_pantry_1_1", "floor_43_storage_4_2", "floor_43_storage_1_4", "floor_43_office_24_5", "floor_43_office_34_6", "floor_44_WC_1_1", "floor_44_storage_5_2", "floor_44_storage_2_4", "floor_44_office_25_5", "floor_44_office_35_6", "floor_45_storage_6_2", "floor_45_storage_3_4", "floor_45_office_26_5", "floor_45_office_36_6", "floor_46_storage_7_2", "floor_46_storage_4_4", "floor_46_office_27_5", "floor_46_office_37_6", "floor_47_storage_8_2", "floor_47_WC_1_4", "floor_47_office_28_5", "floor_47_openspace_1_6", "floor_48_storage_9_2", "floor_48_WC_2_4", "floor_48_office_29_5", "floor_48_copyRoom_1_6", "floor_49_WC_1_2", "floor_49_WC_3_4", "floor_49_office_30_5", "floor_49_pantry_1_6", "floor_4_hallway_1_1", "floor_4_auditorium_2_2", "floor_4_hallway_3_3", "floor_4_hallway_1_4", "floor_4_hallway_1_5", "floor_4_hallway_3_6", "floor_50_WC_2_2", "floor_50_WC_4_4", "floor_50_office_31_5", "floor_51_office_32_5", "floor_52_office_33_5", "floor_53_office_34_5", "floor_54_office_35_5", "floor_55_office_36_5", "floor_56_office_37_5", "floor_57_office_38_5", "floor_58_office_39_5", "floor_59_office_40_5", "floor_5_hallway_2_1", "floor_5_auditorium_2_2", "floor_5_hallway_4_3", "floor_5_hallway_2_4", "floor_5_hallway_2_5", "floor_5_hallway_4_6", "floor_60_office_41_5", "floor_61_office_42_5", "floor_62_storage_1_5", "floor_63_storage_2_5", "floor_64_storage_3_5", "floor_65_storage_4_5", "floor_66_WC_1_5", "floor_67_WC_2_5", "floor_68_pantry_1_5", "floor_6_hallway_3_1", "floor_6_conferenceRoom_1_2", "floor_6_hallway_5_3", "floor_6_hallway_3_4", "floor_6_hallway_3_5", "floor_6_hallway_5_6", "floor_7_hallway_4_1", "floor_7_hallway_1_2", "floor_7_hallway_6_3", "floor_7_hallway_4_4", "floor_7_hallway_4_5", "floor_7_hallway_6_6", "floor_8_hallway_5_1", "floor_8_hallway_2_2", "floor_8_lounge_1_3", "floor_8_hallway_5_4", "floor_8_hallway_5_5", "floor_8_hallway_6_6", "floor_9_hallway_6_1", "floor_9_hallway_2_2", "floor_9_lounge_2_3", "floor_9_hallway_6_4", "floor_9_hallway_6_5", "floor_9_lounge_1_6", "sofa_10_office_9_4", "sofa_10_office_24_5", "sofa_11_office_9_4", "sofa_11_office_38_5", "sofa_12_office_14_4", "sofa_13_office_18_4", "sofa_14_office_22_4", "sofa_1_conferenceRoom_2_1", "sofa_1_hallway_2_2", "sofa_1_lounge_1_3", "sofa_1_conferenceRoom_1_4", "sofa_1_conferenceRoom_2_5", "sofa_1_lounge_1_6", "sofa_2_office_2_1", "sofa_2_hallway_5_2", "sofa_2_lounge_1_3", "sofa_2_hallway_10_4", "sofa_2_hallway_1_5", "sofa_2_lounge_1_6", "sofa_3_office_3_1", "sofa_3_hallway_5_2", "sofa_3_lounge_1_3", "sofa_3_hallway_10_4", "sofa_3_hallway_1_5", "sofa_3_lounge_1_6", "sofa_4_office_8_1", "sofa_4_hallway_5_2", "sofa_4_lounge_1_3", "sofa_4_hallway_10_4", "sofa_4_hallway_1_5", "sofa_4_lounge_1_6", "sofa_5_office_8_1", "sofa_5_hallway_10_2", "sofa_5_office_3_3", "sofa_5_lobby_1_4", "sofa_5_hallway_1_5", "sofa_5_lounge_1_6", "sofa_6_office_10_1", "sofa_6_hallway_10_2", "sofa_6_office_3_3", "sofa_6_lobby_1_4", "sofa_6_hallway_4_5", "sofa_6_lounge_1_6", "sofa_7_office_3_3", "sofa_7_lobby_1_4", "sofa_7_hallway_4_5", "sofa_7_lounge_1_6", "sofa_8_office_3_3", "sofa_8_lobby_1_4", "sofa_8_hallway_5_5", "sofa_8_office_1_6", "sofa_9_office_7_3", "sofa_9_office_7_4", "sofa_9_office_9_5", "sofa_9_office_7_6", "table_100_office_29_5", "table_101_office_29_5", "table_102_office_29_5", "table_103_office_29_5", "table_104_office_29_5", "table_105_office_29_5", "table_106_office_30_5", "table_107_office_31_5", "table_108_office_31_5", "table_109_office_32_5", "table_10_office_3_1", "table_10_hallway_3_2", "table_10_office_1_3", "table_10_conferenceRoom_3_4", "table_10_conferenceRoom_3_5", "table_10_office_2_6", "table_110_office_33_5", "table_111_office_33_5", "table_112_office_34_5", "table_113_office_34_5", "table_114_office_35_5", "table_115_office_35_5", "table_116_office_35_5", "table_117_office_36_5", "table_118_office_36_5", "table_119_office_36_5", "table_11_office_3_1", "table_11_hallway_5_2", "table_11_office_2_3", "table_11_conferenceRoom_3_4", "table_11_conferenceRoom_3_5", "table_11_office_3_6", "table_120_office_36_5", "table_121_office_36_5", "table_122_office_37_5", "table_123_office_37_5", "table_124_office_37_5", "table_125_office_37_5", "table_126_office_37_5", "table_127_office_37_5", "table_128_office_37_5", "table_129_office_37_5", "table_12_office_3_1", "table_12_hallway_5_2", "table_12_office_3_3", "table_12_lobby_1_4", "table_12_lobby_1_5", "table_12_office_3_6", "table_130_office_37_5", "table_131_office_37_5", "table_132_office_37_5", "table_133_office_38_5", "table_134_office_38_5", "table_135_office_38_5", "table_136_office_38_5", "table_137_office_38_5", "table_138_office_39_5", "table_139_office_39_5", "table_13_office_4_1", "table_13_hallway_5_2", "table_13_office_3_3", "table_13_lobby_1_4", "table_13_lobby_1_5", "table_13_office_4_6", "table_140_office_39_5", "table_141_office_40_5", "table_142_office_40_5", "table_143_office_40_5", "table_144_office_40_5", "table_145_office_40_5", "table_146_office_40_5", "table_147_office_41_5", "table_148_office_41_5", "table_149_office_41_5", "table_14_office_5_1", "table_14_hallway_5_2", "table_14_office_4_3", "table_14_lobby_1_4", "table_14_lobby_1_5", "table_14_office_5_6", "table_150_office_41_5", "table_151_office_42_5", "table_152_office_42_5", "table_153_storage_4_5", "table_154_storage_4_5", "table_15_office_5_1", "table_15_hallway_10_2", "table_15_office_4_3", "table_15_lobby_1_4", "table_15_lobby_1_5", "table_15_office_5_6", "table_16_office_6_1", "table_16_hallway_10_2", "table_16_office_5_3", "table_16_lobby_1_4", "table_16_lobby_1_5", "table_16_office_6_6", "table_17_office_7_1", "table_17_office_1_2", "table_17_office_5_3", "table_17_lobby_2_4", "table_17_lobby_1_5", "table_17_office_6_6", "table_18_office_8_1", "table_18_office_1_2", "table_18_office_6_3", "table_18_lobby_2_4", "table_18_office_1_5", "table_18_office_7_6", "table_19_office_8_1", "table_19_office_2_2", "table_19_office_7_3", "table_19_office_1_4", "table_19_office_1_5", "table_19_office_7_6", "table_1_conferenceRoom_1_1", "table_1_conferenceRoom_1_2", "table_1_conferenceRoom_1_3", "table_1_conferenceRoom_1_4", "table_1_conferenceRoom_1_5", "table_1_conferenceRoom_1_6", "table_20_office_8_1", "table_20_office_3_2", "table_20_office_7_3", "table_20_office_2_4", "table_20_office_2_5", "table_20_office_8_6", "table_21_office_9_1", "table_21_office_3_2", "table_21_office_7_3", "table_21_office_2_4", "table_21_office_2_5", "table_21_office_8_6", "table_22_office_9_1", "table_22_office_3_2", "table_22_office_7_3", "table_22_office_3_4", "table_22_office_3_5", "table_22_office_8_6", "table_23_office_10_1", "table_23_office_4_2", "table_23_office_8_3", "table_23_office_3_4", "table_23_office_3_5", "table_23_office_8_6", "table_24_office_10_1", "table_24_office_4_2", "table_24_office_8_3", "table_24_office_4_4", "table_24_office_4_5", "table_24_office_8_6", "table_25_office_11_1", "table_25_office_4_2", "table_25_office_8_3", "table_25_office_4_4", "table_25_office_4_5", "table_25_office_9_6", "table_26_office_12_1", "table_26_office_5_2", "table_26_office_9_3", "table_26_office_4_4", "table_26_office_5_5", "table_26_office_9_6", "table_27_office_13_1", "table_27_office_7_2", "table_27_office_9_3", "table_27_office_4_4", "table_27_office_5_5", "table_27_office_9_6", "table_28_office_14_1", "table_28_office_8_2", "table_28_office_10_3", "table_28_office_5_4", "table_28_office_6_5", "table_28_office_10_6", "table_29_office_14_1", "table_29_office_9_2", "table_29_office_10_3", "table_29_office_5_4", "table_29_office_6_5", "table_29_office_10_6", "table_2_conferenceRoom_2_1", "table_2_conferenceRoom_1_2", "table_2_lounge_1_3", "table_2_conferenceRoom_1_4", "table_2_conferenceRoom_1_5", "table_2_conferenceRoom_1_6", "table_30_office_15_1", "table_30_office_9_2", "table_30_office_10_3", "table_30_office_5_4", "table_30_office_7_5", "table_30_office_11_6", "table_31_office_16_1", "table_31_office_10_2", "table_31_office_5_4", "table_31_office_7_5", "table_31_office_11_6", "table_32_office_16_1", "table_32_office_11_2", "table_32_office_6_4", "table_32_office_8_5", "table_32_office_12_6", "table_33_office_16_1", "table_33_office_12_2", "table_33_office_7_4", "table_33_office_8_5", "table_33_office_12_6", "table_34_office_16_1", "table_34_office_12_2", "table_34_office_7_4", "table_34_office_9_5", "table_34_office_13_6", "table_35_office_16_1", "table_35_office_12_2", "table_35_office_7_4", "table_35_office_10_5", "table_35_office_14_6", "table_36_office_16_1", "table_36_office_13_2", "table_36_office_7_4", "table_36_office_10_5", "table_36_office_14_6", "table_37_office_17_1", "table_37_office_13_2", "table_37_office_8_4", "table_37_office_11_5", "table_37_office_15_6", "table_38_office_17_1", "table_38_office_14_2", "table_38_office_8_4", "table_38_office_12_5", "table_38_office_16_6", "table_39_office_17_1", "table_39_office_14_2", "table_39_office_9_4", "table_39_office_12_5", "table_39_office_16_6", "table_3_conferenceRoom_2_1", "table_3_conferenceRoom_1_2", "table_3_lounge_1_3", "table_3_conferenceRoom_1_4", "table_3_conferenceRoom_2_5", "table_3_lounge_1_6", "table_40_office_18_1", "table_40_office_14_2", "table_40_office_9_4", "table_40_office_13_5", "table_40_office_16_6", "table_41_office_19_1", "table_41_office_14_2", "table_41_office_9_4", "table_41_office_13_5", "table_41_office_17_6", "table_42_office_19_1", "table_42_office_14_2", "table_42_office_10_4", "table_42_office_14_5", "table_42_office_18_6", "table_43_office_19_1", "table_43_storage_2_2", "table_43_office_10_4", "table_43_office_14_5", "table_43_office_19_6", "table_44_office_20_1", "table_44_storage_3_2", "table_44_office_10_4", "table_44_office_14_5", "table_44_office_20_6", "table_45_office_21_1", "table_45_storage_4_2", "table_45_office_10_4", "table_45_office_15_5", "table_45_office_21_6", "table_46_office_22_1", "table_46_storage_5_2", "table_46_office_11_4", "table_46_office_15_5", "table_46_office_21_6", "table_47_office_23_1", "table_47_office_11_4", "table_47_office_15_5", "table_47_office_22_6", "table_48_office_24_1", "table_48_office_11_4", "table_48_office_16_5", "table_48_office_22_6", "table_49_office_25_1", "table_49_office_11_4", "table_49_office_16_5", "table_49_office_23_6", "table_4_copyRoom_1_1", "table_4_conferenceRoom_1_2", "table_4_lounge_1_3", "table_4_conferenceRoom_1_4", "table_4_conferenceRoom_2_5", "table_4_lounge_1_6", "table_50_office_26_1", "table_50_office_12_4", "table_50_office_16_5", "table_50_office_24_6", "table_51_office_27_1", "table_51_office_12_4", "table_51_office_16_5", "table_51_office_25_6", "table_52_office_28_1", "table_52_office_12_4", "table_52_office_17_5", "table_52_office_26_6", "table_53_office_28_1", "table_53_office_12_4", "table_53_office_17_5", "table_53_office_27_6", "table_54_office_30_1", "table_54_office_13_4", "table_54_office_18_5", "table_54_office_27_6", "table_55_office_30_1", "table_55_office_13_4", "table_55_office_18_5", "table_55_office_28_6", "table_56_office_31_1", "table_56_office_14_4", "table_56_office_19_5", "table_56_office_28_6", "table_57_office_31_1", "table_57_office_15_4", "table_57_office_19_5", "table_57_office_29_6", "table_58_office_31_1", "table_58_office_16_4", "table_58_office_19_5", "table_58_office_30_6", "table_59_office_31_1", "table_59_office_16_4", "table_59_office_19_5", "table_59_office_30_6", "table_5_office_1_1", "table_5_conferenceRoom_1_2", "table_5_lounge_1_3", "table_5_conferenceRoom_1_4", "table_5_conferenceRoom_2_5", "table_5_lounge_1_6", "table_60_office_31_1", "table_60_office_16_4", "table_60_office_19_5", "table_60_office_31_6", "table_61_office_31_1", "table_61_office_16_4", "table_61_office_19_5", "table_61_office_32_6", "table_62_office_31_1", "table_62_office_16_4", "table_62_office_19_5", "table_62_office_32_6", "table_63_office_31_1", "table_63_office_17_4", "table_63_office_19_5", "table_63_office_32_6", "table_64_office_31_1", "table_64_office_17_4", "table_64_office_19_5", "table_64_office_33_6", "table_65_office_31_1", "table_65_office_17_4", "table_65_office_19_5", "table_65_office_34_6", "table_66_office_31_1", "table_66_office_17_4", "table_66_office_19_5", "table_66_office_35_6", "table_67_office_31_1", "table_67_office_18_4", "table_67_office_20_5", "table_67_office_36_6", "table_68_office_31_1", "table_68_office_18_4", "table_68_office_20_5", "table_68_office_36_6", "table_69_pantry_1_1", "table_69_office_18_4", "table_69_office_20_5", "table_69_office_37_6", "table_6_office_1_1", "table_6_conferenceRoom_1_2", "table_6_lounge_1_3", "table_6_conferenceRoom_1_4", "table_6_conferenceRoom_2_5", "table_6_lounge_1_6", "table_70_office_19_4", "table_70_office_21_5", "table_70_office_37_6", "table_71_office_20_4", "table_71_office_21_5", "table_71_openspace_1_6", "table_72_office_20_4", "table_72_office_21_5", "table_72_openspace_1_6", "table_73_office_20_4", "table_73_office_21_5", "table_73_openspace_1_6", "table_74_office_20_4", "table_74_office_21_5", "table_74_copyRoom_1_6", "table_75_office_20_4", "table_75_office_21_5", "table_75_copyRoom_1_6", "table_76_office_21_4", "table_76_office_21_5", "table_76_pantry_1_6", "table_77_office_22_4", "table_77_office_21_5", "table_77_pantry_1_6", "table_78_office_22_4", "table_78_office_21_5", "table_79_office_22_4", "table_79_office_22_5", "table_7_office_2_1", "table_7_conferenceRoom_1_2", "table_7_lounge_1_3", "table_7_conferenceRoom_1_4", "table_7_conferenceRoom_2_5", "table_7_lounge_1_6", "table_80_office_22_5", "table_81_office_23_5", "table_82_office_23_5", "table_83_office_24_5", "table_84_office_24_5", "table_85_office_24_5", "table_86_office_24_5", "table_87_office_24_5", "table_88_office_24_5", "table_89_office_24_5", "table_8_office_2_1", "table_8_conferenceRoom_1_2", "table_8_lounge_2_3", "table_8_conferenceRoom_2_4", "table_8_conferenceRoom_2_5", "table_8_lounge_1_6", "table_90_office_24_5", "table_91_office_24_5", "table_92_office_25_5", "table_93_office_25_5", "table_94_office_26_5", "table_95_office_27_5", "table_96_office_27_5", "table_97_office_28_5", "table_98_office_29_5", "table_99_office_29_5", "table_9_office_2_1", "table_9_hallway_2_2", "table_9_lounge_2_3", "table_9_conferenceRoom_2_4", "table_9_conferenceRoom_3_5", "table_9_office_1_6", "wall_100_office_4_1", "wall_100_hallway_8_2", "wall_100_office_6_3", "wall_100_hallway_12_4", "wall_100_hallway_14_5", "wall_100_office_7_6", "wall_101_office_4_1", "wall_101_hallway_8_2", "wall_101_office_6_3", "wall_101_hallway_12_4", "wall_101_hallway_14_5", "wall_101_office_8_6", "wall_102_office_4_1", "wall_102_hallway_9_2", "wall_102_office_6_3", "wall_102_hallway_12_4", "wall_102_hallway_15_5", "wall_102_office_8_6", "wall_103_office_5_1", "wall_103_hallway_9_2", "wall_103_office_7_3", "wall_103_hallway_12_4", "wall_103_hallway_15_5", "wall_103_office_8_6", "wall_104_office_5_1", "wall_104_hallway_9_2", "wall_104_office_7_3", "wall_104_hallway_12_4", "wall_104_hallway_15_5", "wall_104_office_8_6", "wall_105_office_5_1", "wall_105_hallway_9_2", "wall_105_office_7_3", "wall_105_hallway_12_4", "wall_105_office_1_5", "wall_105_office_8_6", "wall_106_office_5_1", "wall_106_hallway_9_2", "wall_106_office_7_3", "wall_106_hallway_12_4", "wall_106_office_1_5", "wall_106_office_8_6", "wall_107_office_6_1", "wall_107_hallway_9_2", "wall_107_office_7_3", "wall_107_hallway_13_4", "wall_107_office_1_5", "wall_107_office_8_6", "wall_108_office_6_1", "wall_108_hallway_10_2", "wall_108_office_7_3", "wall_108_hallway_13_4", "wall_108_office_1_5", "wall_108_office_8_6", "wall_109_office_6_1", "wall_109_hallway_10_2", "wall_109_office_7_3", "wall_109_hallway_13_4", "wall_109_office_2_5", "wall_109_office_8_6", "wall_10_copyRoom_1_1", "wall_10_auditorium_2_2", "wall_10_hallway_1_3", "wall_10_conferenceRoom_3_4", "wall_10_conferenceRoom_2_5", "wall_10_hallway_1_6", "wall_110_office_6_1", "wall_110_hallway_10_2", "wall_110_office_7_3", "wall_110_hallway_13_4", "wall_110_office_2_5", "wall_110_office_8_6", "wall_111_office_7_1", "wall_111_hallway_10_2", "wall_111_office_8_3", "wall_111_hallway_13_4", "wall_111_office_2_5", "wall_111_office_9_6", "wall_112_office_7_1", "wall_112_hallway_10_2", "wall_112_office_8_3", "wall_112_hallway_13_4", "wall_112_office_2_5", "wall_112_office_9_6", "wall_113_office_7_1", "wall_113_hallway_10_2", "wall_113_office_8_3", "wall_113_hallway_13_4", "wall_113_office_3_5", "wall_113_office_9_6", "wall_114_office_7_1", "wall_114_hallway_10_2", "wall_114_office_8_3", "wall_114_hallway_13_4", "wall_114_office_3_5", "wall_114_office_9_6", "wall_115_office_8_1", "wall_115_hallway_10_2", "wall_115_office_8_3", "wall_115_hallway_14_4", "wall_115_office_3_5", "wall_115_office_9_6", "wall_116_office_8_1", "wall_116_hallway_10_2", "wall_116_office_8_3", "wall_116_hallway_14_4", "wall_116_office_3_5", "wall_116_office_9_6", "wall_117_office_8_1", "wall_117_hallway_10_2", "wall_117_office_9_3", "wall_117_hallway_14_4", "wall_117_office_3_5", "wall_117_office_9_6", "wall_118_office_8_1", "wall_118_hallway_10_2", "wall_118_office_9_3", "wall_118_hallway_14_4", "wall_118_office_4_5", "wall_118_office_9_6", "wall_119_office_9_1", "wall_119_hallway_10_2", "wall_119_office_9_3", "wall_119_hallway_14_4", "wall_119_office_4_5", "wall_119_office_9_6", "wall_11_copyRoom_1_1", "wall_11_auditorium_2_2", "wall_11_hallway_1_3", "wall_11_conferenceRoom_3_4", "wall_11_conferenceRoom_2_5", "wall_11_hallway_1_6", "wall_120_office_9_1", "wall_120_hallway_10_2", "wall_120_office_9_3", "wall_120_hallway_14_4", "wall_120_office_4_5", "wall_120_office_9_6", "wall_121_office_9_1", "wall_121_hallway_10_2", "wall_121_office_10_3", "wall_121_hallway_14_4", "wall_121_office_4_5", "wall_121_office_9_6", "wall_122_office_9_1", "wall_122_hallway_10_2", "wall_122_office_10_3", "wall_122_hallway_14_4", "wall_122_office_5_5", "wall_122_office_9_6", "wall_123_office_10_1", "wall_123_hallway_11_2", "wall_123_office_10_3", "wall_123_lobby_1_4", "wall_123_office_5_5", "wall_123_office_9_6", "wall_124_office_10_1", "wall_124_hallway_11_2", "wall_124_office_10_3", "wall_124_lobby_1_4", "wall_124_office_5_5", "wall_124_office_10_6", "wall_125_office_10_1", "wall_125_hallway_11_2", "wall_125_storage_1_3", "wall_125_lobby_1_4", "wall_125_office_5_5", "wall_125_office_10_6", "wall_126_office_10_1", "wall_126_hallway_11_2", "wall_126_storage_1_3", "wall_126_lobby_1_4", "wall_126_office_6_5", "wall_126_office_10_6", "wall_127_office_11_1", "wall_127_hallway_11_2", "wall_127_storage_1_3", "wall_127_lobby_1_4", "wall_127_office_6_5", "wall_127_office_10_6", "wall_128_office_11_1", "wall_128_hallway_11_2", "wall_128_storage_2_3", "wall_128_lobby_1_4", "wall_128_office_6_5", "wall_128_office_11_6", "wall_129_office_11_1", "wall_129_hallway_11_2", "wall_129_storage_2_3", "wall_129_lobby_1_4", "wall_129_office_6_5", "wall_129_office_11_6", "wall_12_hallway_1_1", "wall_12_auditorium_2_2", "wall_12_hallway_1_3", "wall_12_conferenceRoom_3_4", "wall_12_conferenceRoom_2_5", "wall_12_hallway_1_6", "wall_130_office_11_1", "wall_130_hallway_11_2", "wall_130_storage_2_3", "wall_130_lobby_1_4", "wall_130_office_6_5", "wall_130_office_11_6", "wall_131_office_12_1", "wall_131_hallway_12_2", "wall_131_WC_1_3", "wall_131_lobby_1_4", "wall_131_office_7_5", "wall_131_office_11_6", "wall_132_office_12_1", "wall_132_hallway_12_2", "wall_132_WC_1_3", "wall_132_lobby_1_4", "wall_132_office_7_5", "wall_132_office_12_6", "wall_133_office_12_1", "wall_133_hallway_12_2", "wall_133_WC_1_3", "wall_133_lobby_1_4", "wall_133_office_7_5", "wall_133_office_12_6", "wall_134_office_12_1", "wall_134_hallway_12_2", "wall_134_WC_1_3", "wall_134_lobby_1_4", "wall_134_office_7_5", "wall_134_office_12_6", "wall_135_office_13_1", "wall_135_hallway_12_2", "wall_135_WC_1_3", "wall_135_lobby_2_4", "wall_135_office_8_5", "wall_135_office_12_6", "wall_136_office_13_1", "wall_136_hallway_12_2", "wall_136_WC_1_3", "wall_136_lobby_2_4", "wall_136_office_8_5", "wall_136_office_12_6", "wall_137_office_13_1", "wall_137_hallway_12_2", "wall_137_WC_1_3", "wall_137_lobby_2_4", "wall_137_office_8_5", "wall_137_office_12_6", "wall_138_office_13_1", "wall_138_hallway_12_2", "wall_138_WC_1_3", "wall_138_lobby_2_4", "wall_138_office_8_5", "wall_138_office_13_6", "wall_139_office_14_1", "wall_139_hallway_12_2", "wall_139_WC_1_3", "wall_139_lobby_2_4", "wall_139_office_9_5", "wall_139_office_13_6", "wall_13_hallway_1_1", "wall_13_auditorium_2_2", "wall_13_hallway_1_3", "wall_13_hallway_1_4", "wall_13_conferenceRoom_2_5", "wall_13_hallway_1_6", "wall_140_office_14_1", "wall_140_office_1_2", "wall_140_WC_1_3", "wall_140_lobby_2_4", "wall_140_office_9_5", "wall_140_office_13_6", "wall_141_office_14_1", "wall_141_office_1_2", "wall_141_WC_1_3", "wall_141_lobby_2_4", "wall_141_office_9_5", "wall_141_office_13_6", "wall_142_office_14_1", "wall_142_office_1_2", "wall_142_WC_1_3", "wall_142_lobby_2_4", "wall_142_office_9_5", "wall_142_office_14_6", "wall_143_office_14_1", "wall_143_office_1_2", "wall_143_WC_1_3", "wall_143_lobby_2_4", "wall_143_office_9_5", "wall_143_office_14_6", "wall_144_office_14_1", "wall_144_office_1_2", "wall_144_WC_1_3", "wall_144_lobby_2_4", "wall_144_office_10_5", 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"wall_248_office_22_4", "wall_248_office_33_5", "wall_249_storage_6_2", "wall_249_office_22_4", "wall_249_office_33_5", "wall_24_hallway_3_1", "wall_24_auditorium_2_2", "wall_24_hallway_2_3", "wall_24_hallway_1_4", "wall_24_hallway_2_5", "wall_24_hallway_2_6", "wall_250_storage_6_2", "wall_250_storage_1_4", "wall_250_office_33_5", "wall_251_storage_6_2", "wall_251_storage_1_4", "wall_251_office_33_5", "wall_252_storage_7_2", "wall_252_storage_1_4", "wall_252_office_34_5", "wall_253_storage_7_2", "wall_253_storage_2_4", "wall_253_office_34_5", "wall_254_storage_7_2", "wall_254_storage_2_4", "wall_254_office_34_5", "wall_255_storage_7_2", "wall_255_storage_2_4", "wall_255_office_34_5", "wall_256_storage_7_2", "wall_256_storage_2_4", "wall_256_office_35_5", "wall_257_storage_7_2", "wall_257_storage_2_4", "wall_257_office_35_5", "wall_258_storage_7_2", "wall_258_storage_3_4", "wall_258_office_35_5", "wall_259_storage_8_2", "wall_259_storage_3_4", "wall_259_office_36_5", "wall_25_hallway_3_1", "wall_25_auditorium_2_2", "wall_25_hallway_2_3", "wall_25_hallway_1_4", "wall_25_hallway_2_5", "wall_25_hallway_2_6", "wall_260_storage_8_2", "wall_260_storage_4_4", "wall_260_office_36_5", "wall_261_storage_8_2", "wall_261_storage_4_4", "wall_261_office_36_5", "wall_262_storage_9_2", "wall_262_storage_4_4", "wall_262_office_36_5", "wall_263_storage_9_2", "wall_263_WC_1_4", "wall_263_office_37_5", "wall_264_storage_9_2", "wall_264_WC_1_4", "wall_264_office_37_5", "wall_265_storage_9_2", "wall_265_WC_1_4", "wall_265_office_37_5", "wall_266_storage_9_2", "wall_266_WC_1_4", "wall_266_office_37_5", "wall_267_WC_1_2", "wall_267_WC_2_4", "wall_267_office_38_5", "wall_268_WC_1_2", "wall_268_WC_2_4", "wall_268_office_38_5", "wall_269_WC_1_2", "wall_269_WC_2_4", "wall_269_office_38_5", "wall_26_hallway_3_1", "wall_26_auditorium_2_2", "wall_26_hallway_2_3", "wall_26_hallway_1_4", "wall_26_hallway_2_5", "wall_26_hallway_2_6", "wall_270_WC_1_2", "wall_270_WC_2_4", "wall_270_office_38_5", "wall_271_WC_1_2", "wall_271_WC_3_4", "wall_271_office_38_5", "wall_272_WC_1_2", "wall_272_WC_3_4", "wall_272_office_38_5", "wall_273_WC_2_2", "wall_273_WC_3_4", "wall_273_office_38_5", "wall_274_WC_2_2", "wall_274_WC_3_4", "wall_274_office_39_5", "wall_275_WC_2_2", "wall_275_WC_4_4", "wall_275_office_39_5", "wall_276_WC_2_2", "wall_276_WC_4_4", "wall_276_office_39_5", "wall_277_WC_2_2", "wall_277_WC_4_4", "wall_277_office_39_5", "wall_278_WC_2_2", "wall_278_WC_4_4", "wall_278_office_40_5", "wall_279_WC_2_2", "wall_279_WC_4_4", "wall_279_office_40_5", "wall_27_hallway_3_1", "wall_27_auditorium_2_2", "wall_27_hallway_2_3", "wall_27_hallway_1_4", "wall_27_hallway_2_5", "wall_27_hallway_2_6", "wall_280_WC_2_2", "wall_280_WC_4_4", "wall_280_office_40_5", "wall_281_WC_2_2", "wall_281_office_40_5", "wall_282_WC_2_2", "wall_282_office_40_5", "wall_283_WC_2_2", "wall_283_office_40_5", "wall_284_office_40_5", "wall_285_office_41_5", "wall_286_office_41_5", "wall_287_office_41_5", "wall_288_office_41_5", "wall_289_office_41_5", "wall_28_hallway_4_1", "wall_28_auditorium_2_2", "wall_28_hallway_2_3", "wall_28_hallway_1_4", "wall_28_hallway_2_5", "wall_28_hallway_2_6", "wall_290_office_41_5", "wall_291_office_42_5", "wall_292_office_42_5", "wall_293_office_42_5", "wall_294_office_42_5", "wall_295_storage_1_5", "wall_296_storage_1_5", "wall_297_storage_1_5", "wall_298_storage_1_5", "wall_299_storage_1_5", "wall_29_hallway_4_1", "wall_29_auditorium_2_2", "wall_29_hallway_2_3", "wall_29_hallway_2_4", "wall_29_hallway_2_5", "wall_29_hallway_2_6", "wall_2_conferenceRoom_1_1", "wall_2_auditorium_1_2", "wall_2_conferenceRoom_1_3", "wall_2_conferenceRoom_1_4", "wall_2_conferenceRoom_1_5", "wall_2_conferenceRoom_1_6", "wall_300_storage_1_5", "wall_301_storage_1_5", "wall_302_storage_1_5", "wall_303_storage_1_5", "wall_304_storage_1_5", "wall_305_storage_1_5", "wall_306_storage_1_5", "wall_307_storage_2_5", "wall_308_storage_2_5", "wall_309_storage_2_5", "wall_30_hallway_4_1", "wall_30_auditorium_2_2", "wall_30_hallway_2_3", "wall_30_hallway_2_4", "wall_30_hallway_2_5", "wall_30_hallway_2_6", "wall_310_storage_2_5", "wall_311_storage_2_5", "wall_312_storage_2_5", "wall_313_storage_3_5", "wall_314_storage_3_5", "wall_315_storage_3_5", "wall_316_storage_4_5", "wall_317_storage_4_5", "wall_318_storage_4_5", "wall_319_storage_4_5", "wall_31_hallway_4_1", "wall_31_auditorium_2_2", "wall_31_hallway_2_3", "wall_31_hallway_2_4", "wall_31_hallway_2_5", "wall_31_hallway_2_6", "wall_320_WC_1_5", "wall_321_WC_1_5", "wall_322_WC_1_5", "wall_323_WC_1_5", "wall_324_WC_1_5", "wall_325_WC_1_5", "wall_326_WC_1_5", "wall_327_WC_1_5", "wall_328_WC_2_5", "wall_329_WC_2_5", "wall_32_hallway_4_1", "wall_32_conferenceRoom_1_2", "wall_32_hallway_2_3", "wall_32_hallway_2_4", "wall_32_hallway_2_5", "wall_32_hallway_2_6", "wall_330_WC_2_5", "wall_331_WC_2_5", "wall_332_WC_2_5", "wall_333_WC_2_5", "wall_334_WC_2_5", "wall_335_WC_2_5", "wall_336_WC_2_5", "wall_337_pantry_1_5", "wall_338_pantry_1_5", "wall_339_pantry_1_5", "wall_33_hallway_4_1", "wall_33_conferenceRoom_1_2", "wall_33_hallway_2_3", "wall_33_hallway_2_4", "wall_33_hallway_2_5", "wall_33_hallway_2_6", "wall_340_pantry_1_5", "wall_341_pantry_1_5", "wall_342_pantry_1_5", "wall_343_pantry_1_5", "wall_34_hallway_4_1", "wall_34_conferenceRoom_1_2", "wall_34_hallway_2_3", "wall_34_hallway_2_4", "wall_34_hallway_2_5", "wall_34_hallway_2_6", "wall_35_hallway_5_1", "wall_35_conferenceRoom_1_2", "wall_35_hallway_3_3", "wall_35_hallway_2_4", "wall_35_hallway_2_5", "wall_35_hallway_2_6", "wall_36_hallway_5_1", "wall_36_conferenceRoom_1_2", "wall_36_hallway_3_3", "wall_36_hallway_2_4", "wall_36_hallway_2_5", "wall_36_hallway_2_6", "wall_37_hallway_5_1", "wall_37_conferenceRoom_1_2", "wall_37_hallway_3_3", "wall_37_hallway_2_4", "wall_37_hallway_2_5", "wall_37_hallway_2_6", "wall_38_hallway_5_1", "wall_38_hallway_1_2", "wall_38_hallway_4_3", "wall_38_hallway_2_4", "wall_38_hallway_2_5", "wall_38_hallway_3_6", "wall_39_hallway_6_1", "wall_39_hallway_1_2", "wall_39_hallway_4_3", "wall_39_hallway_3_4", "wall_39_hallway_2_5", "wall_39_hallway_3_6", "wall_3_conferenceRoom_1_1", "wall_3_auditorium_1_2", "wall_3_conferenceRoom_1_3", "wall_3_conferenceRoom_1_4", "wall_3_conferenceRoom_1_5", "wall_3_conferenceRoom_1_6", "wall_40_hallway_6_1", "wall_40_hallway_1_2", "wall_40_hallway_4_3", "wall_40_hallway_3_4", "wall_40_hallway_2_5", "wall_40_hallway_3_6", "wall_41_hallway_6_1", "wall_41_hallway_1_2", "wall_41_hallway_4_3", "wall_41_hallway_3_4", "wall_41_hallway_2_5", "wall_41_hallway_3_6", "wall_42_hallway_6_1", "wall_42_hallway_1_2", "wall_42_hallway_4_3", "wall_42_hallway_3_4", "wall_42_hallway_2_5", "wall_42_hallway_3_6", "wall_43_hallway_6_1", "wall_43_hallway_2_2", "wall_43_hallway_4_3", "wall_43_hallway_3_4", "wall_43_hallway_2_5", "wall_43_hallway_3_6", "wall_44_hallway_6_1", "wall_44_hallway_2_2", "wall_44_hallway_4_3", "wall_44_hallway_3_4", "wall_44_hallway_2_5", "wall_44_hallway_3_6", "wall_45_hallway_6_1", "wall_45_hallway_2_2", "wall_45_hallway_4_3", "wall_45_hallway_3_4", "wall_45_hallway_2_5", "wall_45_hallway_3_6", "wall_46_hallway_6_1", "wall_46_hallway_2_2", "wall_46_hallway_4_3", "wall_46_hallway_3_4", "wall_46_hallway_2_5", "wall_46_hallway_4_6", "wall_47_hallway_6_1", "wall_47_hallway_3_2", "wall_47_hallway_4_3", "wall_47_hallway_3_4", "wall_47_hallway_2_5", "wall_47_hallway_4_6", "wall_48_hallway_6_1", "wall_48_hallway_3_2", "wall_48_hallway_4_3", "wall_48_hallway_3_4", "wall_48_hallway_3_5", "wall_48_hallway_4_6", "wall_49_hallway_6_1", "wall_49_hallway_3_2", "wall_49_hallway_4_3", "wall_49_hallway_4_4", "wall_49_hallway_3_5", "wall_49_hallway_4_6", "wall_4_conferenceRoom_1_1", "wall_4_auditorium_1_2", "wall_4_conferenceRoom_1_3", "wall_4_conferenceRoom_1_4", "wall_4_conferenceRoom_1_5", "wall_4_conferenceRoom_1_6", "wall_50_hallway_6_1", "wall_50_hallway_3_2", "wall_50_hallway_4_3", "wall_50_hallway_4_4", "wall_50_hallway_3_5", "wall_50_hallway_4_6", "wall_51_hallway_6_1", "wall_51_hallway_3_2", "wall_51_hallway_4_3", "wall_51_hallway_4_4", "wall_51_hallway_3_5", "wall_51_hallway_4_6", "wall_52_hallway_6_1", "wall_52_hallway_3_2", "wall_52_hallway_5_3", "wall_52_hallway_4_4", "wall_52_hallway_3_5", "wall_52_hallway_4_6", "wall_53_hallway_6_1", "wall_53_hallway_4_2", "wall_53_hallway_5_3", "wall_53_hallway_4_4", "wall_53_hallway_4_5", "wall_53_hallway_4_6", "wall_54_hallway_6_1", "wall_54_hallway_4_2", "wall_54_hallway_6_3", "wall_54_hallway_4_4", "wall_54_hallway_4_5", "wall_54_hallway_5_6", "wall_55_hallway_6_1", "wall_55_hallway_4_2", "wall_55_hallway_6_3", "wall_55_hallway_5_4", "wall_55_hallway_4_5", "wall_55_hallway_5_6", "wall_56_hallway_6_1", "wall_56_hallway_5_2", "wall_56_lounge_1_3", "wall_56_hallway_5_4", "wall_56_hallway_4_5", "wall_56_hallway_5_6", "wall_57_hallway_6_1", "wall_57_hallway_5_2", "wall_57_lounge_1_3", "wall_57_hallway_6_4", "wall_57_hallway_5_5", "wall_57_hallway_5_6", "wall_58_hallway_6_1", "wall_58_hallway_5_2", "wall_58_lounge_1_3", "wall_58_hallway_6_4", "wall_58_hallway_5_5", "wall_58_hallway_5_6", "wall_59_hallway_7_1", "wall_59_hallway_5_2", "wall_59_lounge_1_3", "wall_59_hallway_6_4", "wall_59_hallway_5_5", "wall_59_hallway_5_6", "wall_5_conferenceRoom_2_1", "wall_5_auditorium_1_2", "wall_5_conferenceRoom_1_3", "wall_5_conferenceRoom_2_4", "wall_5_conferenceRoom_2_5", "wall_5_hallway_1_6", "wall_60_hallway_7_1", "wall_60_hallway_5_2", "wall_60_lounge_2_3", "wall_60_hallway_7_4", "wall_60_hallway_5_5", "wall_60_hallway_6_6", "wall_61_hallway_7_1", "wall_61_hallway_5_2", "wall_61_lounge_2_3", "wall_61_hallway_7_4", "wall_61_hallway_5_5", "wall_61_hallway_6_6", "wall_62_hallway_7_1", "wall_62_hallway_5_2", "wall_62_lounge_2_3", "wall_62_hallway_7_4", "wall_62_hallway_5_5", "wall_62_hallway_6_6", "wall_63_hallway_7_1", "wall_63_hallway_5_2", "wall_63_lounge_2_3", "wall_63_hallway_7_4", "wall_63_hallway_6_5", "wall_63_hallway_6_6", "wall_64_hallway_7_1", "wall_64_hallway_5_2", "wall_64_lounge_2_3", "wall_64_hallway_7_4", "wall_64_hallway_6_5", "wall_64_hallway_6_6", "wall_65_hallway_7_1", "wall_65_hallway_5_2", "wall_65_lounge_2_3", "wall_65_hallway_7_4", "wall_65_lobby_1_5", "wall_65_hallway_6_6", "wall_66_hallway_7_1", "wall_66_hallway_5_2", "wall_66_lounge_2_3", "wall_66_hallway_7_4", "wall_66_lobby_1_5", "wall_66_hallway_6_6", "wall_67_hallway_7_1", "wall_67_hallway_5_2", "wall_67_lounge_2_3", "wall_67_hallway_7_4", "wall_67_lobby_1_5", "wall_67_lounge_1_6", "wall_68_hallway_7_1", "wall_68_hallway_5_2", "wall_68_lounge_2_3", "wall_68_hallway_7_4", "wall_68_lobby_1_5", "wall_68_lounge_1_6", "wall_69_hallway_7_1", "wall_69_hallway_5_2", "wall_69_lounge_2_3", "wall_69_hallway_7_4", "wall_69_lobby_1_5", "wall_69_lounge_1_6", "wall_6_conferenceRoom_2_1", "wall_6_auditorium_1_2", "wall_6_conferenceRoom_1_3", "wall_6_conferenceRoom_2_4", "wall_6_conferenceRoom_2_5", "wall_6_hallway_1_6", "wall_70_hallway_7_1", "wall_70_hallway_5_2", "wall_70_lounge_2_3", "wall_70_hallway_7_4", "wall_70_hallway_7_5", "wall_70_lounge_1_6", "wall_71_hallway_7_1", "wall_71_hallway_5_2", "wall_71_lounge_2_3", "wall_71_hallway_7_4", "wall_71_hallway_7_5", "wall_71_lounge_1_6", "wall_72_hallway_7_1", "wall_72_hallway_5_2", "wall_72_lounge_2_3", "wall_72_hallway_8_4", "wall_72_hallway_7_5", "wall_72_lounge_1_6", "wall_73_hallway_7_1", "wall_73_hallway_5_2", "wall_73_lounge_2_3", "wall_73_hallway_8_4", "wall_73_hallway_8_5", "wall_73_office_1_6", "wall_74_hallway_7_1", "wall_74_hallway_5_2", "wall_74_office_1_3", "wall_74_hallway_9_4", "wall_74_hallway_8_5", "wall_74_office_1_6", "wall_75_hallway_7_1", "wall_75_hallway_5_2", "wall_75_office_1_3", "wall_75_hallway_9_4", "wall_75_hallway_8_5", "wall_75_office_1_6", "wall_76_hallway_8_1", "wall_76_hallway_6_2", "wall_76_office_1_3", "wall_76_hallway_9_4", "wall_76_hallway_9_5", "wall_76_office_1_6", "wall_77_hallway_8_1", "wall_77_hallway_6_2", "wall_77_office_1_3", "wall_77_hallway_9_4", "wall_77_hallway_9_5", "wall_77_office_2_6", "wall_78_hallway_8_1", "wall_78_hallway_6_2", "wall_78_office_2_3", "wall_78_hallway_9_4", "wall_78_hallway_9_5", "wall_78_office_2_6", "wall_79_hallway_8_1", "wall_79_hallway_6_2", "wall_79_office_2_3", "wall_79_hallway_10_4", "wall_79_hallway_9_5", "wall_79_office_2_6", "wall_7_conferenceRoom_2_1", "wall_7_auditorium_1_2", "wall_7_hallway_1_3", "wall_7_conferenceRoom_2_4", "wall_7_conferenceRoom_2_5", "wall_7_hallway_1_6", "wall_80_hallway_8_1", "wall_80_hallway_6_2", "wall_80_office_2_3", "wall_80_hallway_10_4", "wall_80_hallway_9_5", "wall_80_office_2_6", "wall_81_hallway_8_1", "wall_81_hallway_7_2", "wall_81_office_2_3", "wall_81_hallway_10_4", "wall_81_hallway_10_5", "wall_81_office_3_6", "wall_82_hallway_8_1", "wall_82_hallway_7_2", "wall_82_office_3_3", "wall_82_hallway_10_4", "wall_82_hallway_10_5", "wall_82_office_3_6", "wall_83_hallway_8_1", "wall_83_hallway_7_2", "wall_83_office_3_3", "wall_83_hallway_10_4", "wall_83_hallway_10_5", "wall_83_office_3_6", "wall_84_hallway_8_1", "wall_84_hallway_7_2", "wall_84_office_3_3", "wall_84_hallway_10_4", "wall_84_hallway_11_5", "wall_84_office_3_6", "wall_85_hallway_8_1", "wall_85_hallway_7_2", "wall_85_office_3_3", "wall_85_hallway_10_4", "wall_85_hallway_11_5", "wall_85_office_4_6", "wall_86_hallway_8_1", "wall_86_hallway_8_2", "wall_86_office_3_3", "wall_86_hallway_10_4", "wall_86_hallway_12_5", "wall_86_office_4_6", "wall_87_office_1_1", "wall_87_hallway_8_2", "wall_87_office_3_3", "wall_87_hallway_11_4", "wall_87_hallway_12_5", "wall_87_office_4_6", "wall_88_office_1_1", "wall_88_hallway_8_2", "wall_88_office_4_3", "wall_88_hallway_11_4", "wall_88_hallway_13_5", "wall_88_office_4_6", "wall_89_office_1_1", "wall_89_hallway_8_2", "wall_89_office_4_3", "wall_89_hallway_11_4", "wall_89_hallway_13_5", "wall_89_office_5_6", "wall_8_copyRoom_1_1", "wall_8_auditorium_1_2", "wall_8_hallway_1_3", "wall_8_conferenceRoom_2_4", "wall_8_conferenceRoom_2_5", "wall_8_hallway_1_6", "wall_90_office_1_1", "wall_90_hallway_8_2", "wall_90_office_4_3", "wall_90_hallway_11_4", "wall_90_hallway_13_5", "wall_90_office_5_6", "wall_91_office_2_1", "wall_91_hallway_8_2", "wall_91_office_4_3", "wall_91_hallway_11_4", "wall_91_hallway_13_5", "wall_91_office_5_6", "wall_92_office_2_1", "wall_92_hallway_8_2", "wall_92_office_4_3", "wall_92_hallway_11_4", "wall_92_hallway_13_5", "wall_92_office_5_6", "wall_93_office_2_1", "wall_93_hallway_8_2", "wall_93_office_4_3", "wall_93_hallway_11_4", "wall_93_hallway_13_5", "wall_93_office_6_6", "wall_94_office_2_1", "wall_94_hallway_8_2", "wall_94_office_4_3", "wall_94_hallway_11_4", "wall_94_hallway_13_5", "wall_94_office_6_6", "wall_95_office_3_1", "wall_95_hallway_8_2", "wall_95_office_5_3", "wall_95_hallway_11_4", "wall_95_hallway_13_5", "wall_95_office_6_6", "wall_96_office_3_1", "wall_96_hallway_8_2", "wall_96_office_5_3", "wall_96_hallway_11_4", "wall_96_hallway_14_5", "wall_96_office_6_6", "wall_97_office_3_1", "wall_97_hallway_8_2", "wall_97_office_5_3", "wall_97_hallway_12_4", "wall_97_hallway_14_5", "wall_97_office_7_6", "wall_98_office_3_1", "wall_98_hallway_8_2", "wall_98_office_5_3", "wall_98_hallway_12_4", "wall_98_hallway_14_5", "wall_98_office_7_6", "wall_99_office_4_1", "wall_99_hallway_8_2", "wall_99_office_6_3", "wall_99_hallway_12_4", "wall_99_hallway_14_5", "wall_99_office_7_6", "wall_9_copyRoom_1_1", "wall_9_auditorium_1_2", "wall_9_hallway_1_3", "wall_9_conferenceRoom_3_4", "wall_9_conferenceRoom_2_5", "wall_9_hallway_1_6", "window_10_office_8_1", "window_10_lobby_1_4", "window_10_hallway_13_5", "window_10_office_8_6", "window_11_office_9_1", "window_11_lobby_1_4", "window_11_hallway_13_5", "window_11_office_8_6", "window_12_office_10_1", "window_12_lobby_1_4", "window_12_hallway_15_5", "window_12_office_9_6", "window_13_office_11_1", "window_13_lobby_1_4", "window_13_hallway_15_5", "window_13_office_9_6", "window_14_office_12_1", "window_14_lobby_1_4", "window_14_hallway_15_5", "window_14_office_10_6", "window_15_office_13_1", "window_15_lobby_1_4", "window_15_office_1_5", "window_15_office_11_6", "window_16_office_14_1", "window_16_lobby_1_4", "window_16_office_1_5", "window_16_office_12_6", "window_17_office_16_1", "window_17_lobby_1_4", "window_17_office_1_5", "window_17_office_23_6", "window_18_office_17_1", "window_18_lobby_2_4", "window_18_office_2_5", "window_18_office_24_6", "window_19_office_18_1", "window_19_office_9_4", "window_19_office_3_5", "window_19_office_25_6", "window_1_conferenceRoom_2_1", "window_1_conferenceRoom_1_2", "window_1_office_1_3", "window_1_conferenceRoom_3_4", "window_1_conferenceRoom_1_5", "window_1_hallway_6_6", "window_20_office_19_1", "window_20_office_9_4", "window_20_office_4_5", "window_20_office_26_6", "window_21_office_20_1", "window_21_office_15_4", "window_21_office_5_5", "window_21_office_27_6", "window_22_office_21_1", "window_22_office_15_4", "window_22_office_6_5", "window_22_office_28_6", "window_23_office_22_1", "window_23_office_16_4", "window_23_office_7_5", "window_23_office_29_6", "window_24_office_23_1", "window_24_office_16_4", "window_24_office_8_5", "window_24_office_30_6", "window_25_office_24_1", "window_25_office_16_4", "window_25_office_9_5", "window_25_office_31_6", "window_26_office_25_1", "window_26_office_16_4", "window_26_office_10_5", "window_26_office_32_6", "window_27_office_26_1", "window_27_office_17_4", "window_27_office_11_5", "window_27_office_33_6", "window_28_office_27_1", "window_28_office_17_4", "window_28_office_12_5", "window_28_office_34_6", "window_29_office_28_1", "window_29_office_17_4", "window_29_office_13_5", "window_29_office_35_6", "window_2_conferenceRoom_2_1", "window_2_conferenceRoom_1_2", "window_2_office_2_3", "window_2_conferenceRoom_3_4", "window_2_conferenceRoom_3_5", "window_2_hallway_6_6", "window_30_office_18_4", "window_30_office_13_5", "window_30_office_36_6", "window_31_office_18_4", "window_31_office_13_5", "window_31_office_37_6", "window_32_office_18_4", "window_32_office_14_5", "window_33_office_19_4", "window_33_office_15_5", "window_34_office_20_4", "window_34_office_22_5", "window_35_office_20_4", "window_35_office_23_5", "window_36_office_20_4", "window_36_office_24_5", "window_37_office_21_4", "window_37_office_24_5", "window_38_office_21_4", "window_38_office_25_5", "window_39_office_21_4", "window_39_office_26_5", "window_3_office_1_1", "window_3_conferenceRoom_1_2", "window_3_office_3_3", "window_3_hallway_3_4", "window_3_conferenceRoom_3_5", "window_3_office_1_6", "window_40_office_22_4", "window_40_office_27_5", "window_41_office_28_5", "window_42_office_29_5", "window_43_office_29_5", "window_44_office_31_5", "window_45_office_31_5", "window_46_office_32_5", "window_47_office_33_5", "window_48_office_34_5", "window_49_office_34_5", "window_4_office_2_1", "window_4_office_4_2", "window_4_office_4_3", "window_4_hallway_3_4", "window_4_hallway_1_5", "window_4_office_2_6", "window_50_office_41_5", "window_51_office_41_5", "window_52_office_42_5", "window_5_office_3_1", "window_5_office_4_2", "window_5_office_5_3", "window_5_hallway_3_4", "window_5_hallway_1_5", "window_5_office_3_6", "window_6_office_4_1", "window_6_office_4_2", "window_6_office_6_3", "window_6_lobby_1_4", "window_6_hallway_1_5", "window_6_office_4_6", "window_7_office_5_1", "window_7_office_5_2", "window_7_office_7_3", "window_7_lobby_1_4", "window_7_hallway_1_5", "window_7_office_5_6", "window_8_office_6_1", "window_8_office_5_2", "window_8_office_8_3", "window_8_lobby_1_4", "window_8_hallway_1_5", "window_8_office_6_6", "window_9_office_7_1", "window_9_lobby_1_4", "window_9_hallway_9_5", "window_9_office_7_6"] \ No newline at end of file diff --git a/maps/v0.2/area_1.mat b/maps/v0.2/area_1.mat new file mode 100644 index 0000000..303d27f Binary files /dev/null and b/maps/v0.2/area_1.mat differ diff --git a/maps/v0.2/area_1.png b/maps/v0.2/area_1.png new file mode 100755 index 0000000..0e6cce1 Binary files /dev/null and b/maps/v0.2/area_1.png differ diff --git a/maps/v0.2/area_1.yaml b/maps/v0.2/area_1.yaml new file mode 100644 index 0000000..db8309e --- /dev/null +++ b/maps/v0.2/area_1.yaml @@ -0,0 +1,12 @@ +image: area_1.png +resolution: 0.050000 +origin: [-22.600000, -2.150000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 +mat_filepath: area_1.mat +graph_filepath: area_1_graph_v2.json +mtl_filepath: /home/kchen92/Dev/GibsonEnv/gibson/assets/dataset/space7/semantic.mtl +invalid_rooms: + - hallway_8 + diff --git a/maps/v0.2/area_1_graph.jpg b/maps/v0.2/area_1_graph.jpg new file mode 100755 index 0000000..eb67123 Binary files /dev/null and b/maps/v0.2/area_1_graph.jpg differ diff --git a/maps/v0.2/area_1_graph.json b/maps/v0.2/area_1_graph.json new file mode 100755 index 0000000..d7e135f --- /dev/null +++ b/maps/v0.2/area_1_graph.json @@ -0,0 +1 @@ +{"line": [[118.0, 74.5, 132.5, 75.0, 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476.75, {"tags": "node_44", "outline": "red", "fill": "red"}], [94.5, 508.75, 100.5, 514.75, {"tags": "node_45", "outline": "red", "fill": "red"}], [312.25, 493.5, 318.25, 499.5, {"tags": "node_46", "outline": "red", "fill": "red"}], [189.5, 501.75, 195.5, 507.75, {"tags": "node_47", "outline": "red", "fill": "red"}], [295.75, 502.0, 301.75, 508.0, {"tags": "node_48", "outline": "red", "fill": "red"}], [146.25, 551.75, 152.25, 557.75, {"tags": "node_49", "outline": "red", "fill": "red"}], [158.75, 583.75, 164.75, 589.75, {"tags": "node_50", "outline": "red", "fill": "red"}], [153.75, 603.75, 159.75, 609.75, {"tags": "node_51", "outline": "red", "fill": "red"}], [164.75, 622.5, 170.75, 628.5, {"tags": "node_52", "outline": "red", "fill": "red"}], [155.75, 641.75, 161.75, 647.75, {"tags": "node_53", "outline": "red", "fill": "red"}], [165.5, 661.5, 171.5, 667.5, {"tags": "node_54", "outline": "red", "fill": "red"}], [113.25, 594.0, 119.25, 600.0, {"tags": "node_55", "outline": "red", "fill": "red"}], [99.0, 593.5, 105.0, 599.5, {"tags": "node_56", "outline": "red", "fill": "red"}], [141.75, 632.0, 147.75, 638.0, {"tags": "node_57", "outline": "red", "fill": "red"}], [121.75, 632.0, 127.75, 638.0, {"tags": "node_58", "outline": "red", "fill": "red"}], [157.5, 686.25, 163.5, 692.25, {"tags": "node_59", "outline": "red", "fill": "red"}], [167.5, 712.25, 173.5, 718.25, {"tags": "node_60", "outline": "red", "fill": "red"}], [155.25, 725.0, 161.25, 731.0, {"tags": "node_61", "outline": "red", "fill": "red"}], [167.5, 749.0, 173.5, 755.0, {"tags": "node_62", "outline": "red", "fill": "red"}], [144.0, 715.25, 150.0, 721.25, {"tags": "node_65", "outline": "red", "fill": "red"}], [123.25, 716.0, 129.25, 722.0, {"tags": "node_66", "outline": "red", "fill": "red"}], [183.75, 719.75, 189.75, 725.75, {"tags": "node_67", "outline": "red", "fill": "red"}], [202.0, 717.25, 208.0, 723.25, {"tags": "node_68", "outline": "red", "fill": "red"}], [140.25, 753.5, 146.25, 759.5, {"tags": "node_69", "outline": "red", "fill": "red"}], [128.25, 754.25, 134.25, 760.25, {"tags": "node_70", "outline": "red", "fill": "red"}], [155.25, 761.0, 161.25, 767.0, {"tags": "node_71", "outline": "red", "fill": "red"}], [167.5, 781.75, 173.5, 787.75, {"tags": "node_72", "outline": "red", "fill": "red"}], [174.75, 823.0, 180.75, 829.0, {"tags": "node_75", "outline": "red", "fill": "red"}], [204.75, 815.75, 210.75, 821.75, {"tags": "node_76", "outline": "red", "fill": "red"}], [153.5, 834.75, 159.5, 840.75, {"tags": "node_77", "outline": "red", "fill": "red"}], [162.75, 853.75, 168.75, 859.75, {"tags": "node_78", "outline": "red", "fill": "red"}], [156.0, 884.0, 162.0, 890.0, {"tags": "node_79", "outline": "red", "fill": "red"}], [176.0, 865.0, 182.0, 871.0, {"tags": "node_80", "outline": "red", "fill": "red"}], [195.5, 875.5, 201.5, 881.5, {"tags": "node_81", "outline": "red", "fill": "red"}], [155.25, 907.5, 161.25, 913.5, {"tags": "node_82", "outline": "red", "fill": "red"}], [128.5, 873.75, 134.5, 879.75, {"tags": "node_83", "outline": "red", "fill": "red"}], [142.25, 864.75, 148.25, 870.75, {"tags": "node_84", "outline": "red", "fill": "red"}], [90.25, 869.0, 96.25, 875.0, {"tags": "node_85", "outline": "red", "fill": "red"}], [76.5, 871.0, 82.5, 877.0, {"tags": "node_86", "outline": "red", "fill": "red"}], [109.5, 872.75, 115.5, 878.75, {"tags": "node_87", "outline": "red", "fill": "red"}], [111.75, 864.25, 117.75, 870.25, {"tags": "node_88", "outline": "red", "fill": "red"}], [153.25, 826.5, 159.25, 832.5, {"tags": "node_89", "outline": "red", "fill": "red"}], [162.0, 845.25, 168.0, 851.25, {"tags": "node_90", "outline": "red", "fill": "red"}], [156.5, 779.5, 162.5, 785.5, {"tags": "node_91", "outline": "red", "fill": "red"}], [167.0, 805.0, 173.0, 811.0, {"tags": "node_92", "outline": "red", "fill": "red"}], [142.0, 818.0, 148.0, 824.0, {"tags": "node_93", "outline": "red", "fill": "red"}], [119.75, 817.5, 125.75, 823.5, {"tags": "node_94", "outline": "red", "fill": "red"}], [221.75, 822.0, 227.75, 828.0, {"tags": "node_95", "outline": "red", "fill": "red"}], [239.25, 814.25, 245.25, 820.25, {"tags": "node_96", "outline": "red", "fill": "red"}], [276.25, 822.0, 282.25, 828.0, {"tags": "node_97", "outline": "red", "fill": "red"}], [299.0, 814.0, 305.0, 820.0, {"tags": "node_98", "outline": "red", "fill": "red"}], [294.25, 821.75, 300.25, 827.75, {"tags": "node_99", "outline": "red", "fill": "red"}], [331.75, 813.25, 337.75, 819.25, {"tags": "node_100", "outline": "red", "fill": "red"}], [246.75, 851.75, 252.75, 857.75, {"tags": "node_101", "outline": "red", "fill": "red"}], [266.5, 852.75, 272.5, 858.75, {"tags": "node_102", "outline": "red", "fill": "red"}], [318.75, 821.5, 324.75, 827.5, {"tags": "node_103", "outline": "red", "fill": "red"}], [349.0, 783.5, 355.0, 789.5, {"tags": "node_104", "outline": "red", "fill": "red"}], [361.5, 847.25, 367.5, 853.25, {"tags": "node_105", "outline": "red", "fill": "red"}], [360.25, 806.75, 366.25, 812.75, {"tags": "node_106", "outline": "red", "fill": "red"}], [353.25, 832.75, 359.25, 838.75, {"tags": "node_107", "outline": "red", "fill": "red"}], [362.75, 856.75, 368.75, 862.75, {"tags": "node_108", "outline": "red", "fill": "red"}], [370.5, 877.25, 376.5, 883.25, {"tags": "node_109", "outline": "red", "fill": "red"}], [391.5, 865.0, 397.5, 871.0, {"tags": "node_110", "outline": "red", "fill": "red"}], [409.25, 877.25, 415.25, 883.25, {"tags": "node_111", "outline": "red", "fill": "red"}], [410.5, 864.25, 416.5, 870.25, {"tags": "node_112", "outline": "red", "fill": "red"}], [359.75, 885.25, 365.75, 891.25, {"tags": "node_113", "outline": "red", "fill": "red"}], [359.0, 908.25, 365.0, 914.25, {"tags": "node_114", "outline": "red", "fill": "red"}], [426.25, 869.0, 432.25, 875.0, {"tags": "node_115", "outline": "red", "fill": "red"}], [450.5, 872.0, 456.5, 878.0, {"tags": "node_116", "outline": "red", "fill": "red"}], [348.75, 762.5, 354.75, 768.5, {"tags": "node_119", "outline": "red", "fill": "red"}], [359.25, 785.75, 365.25, 791.75, {"tags": "node_120", "outline": "red", "fill": "red"}], [356.25, 743.75, 362.25, 749.75, {"tags": "node_121", "outline": "red", "fill": "red"}], [344.5, 720.0, 350.5, 726.0, {"tags": "node_122", "outline": "red", "fill": "red"}], [373.75, 751.5, 379.75, 757.5, {"tags": "node_123", "outline": "red", "fill": "red"}], [394.25, 754.0, 400.25, 760.0, {"tags": "node_124", "outline": "red", "fill": "red"}], [345.75, 677.75, 351.75, 683.75, {"tags": "node_125", "outline": "red", "fill": "red"}], [361.75, 706.25, 367.75, 712.25, {"tags": "node_126", "outline": "red", "fill": "red"}], [375.25, 715.0, 381.25, 721.0, {"tags": "node_127", "outline": "red", "fill": "red"}], [396.25, 712.25, 402.25, 718.25, {"tags": "node_128", "outline": "red", "fill": "red"}], [325.25, 714.0, 331.25, 720.0, {"tags": "node_129", "outline": "red", "fill": "red"}], [300.25, 716.5, 306.25, 722.5, {"tags": "node_130", "outline": "red", "fill": "red"}], [361.0, 657.25, 367.0, 663.25, {"tags": "node_131", "outline": "red", "fill": "red"}], [348.5, 641.5, 354.5, 647.5, {"tags": "node_132", "outline": "red", "fill": "red"}], [362.5, 622.5, 368.5, 628.5, {"tags": "node_133", "outline": "red", "fill": "red"}], [348.25, 599.75, 354.25, 605.75, {"tags": "node_134", "outline": "red", "fill": "red"}], [361.25, 584.5, 367.25, 590.5, {"tags": "node_135", "outline": "red", "fill": "red"}], [349.25, 556.25, 355.25, 562.25, {"tags": "node_136", "outline": "red", "fill": "red"}], [372.75, 630.25, 378.75, 636.25, {"tags": "node_137", "outline": "red", "fill": "red"}], [398.75, 631.75, 404.75, 637.75, {"tags": "node_138", "outline": "red", "fill": "red"}], [375.5, 592.0, 381.5, 598.0, {"tags": "node_139", "outline": "red", "fill": "red"}], [398.5, 588.5, 404.5, 594.5, {"tags": "node_140", "outline": "red", "fill": "red"}], [376.75, 481.5, 382.75, 487.5, {"tags": "node_141", "outline": "red", "fill": "red"}], [402.25, 482.0, 408.25, 488.0, {"tags": "node_142", "outline": "red", "fill": "red"}], [343.0, 514.5, 349.0, 520.5, {"tags": "node_143", "outline": "red", "fill": "red"}], [355.75, 531.25, 361.75, 537.25, {"tags": "node_144", "outline": "red", "fill": "red"}], [350.0, 436.25, 356.0, 442.25, {"tags": "node_145", "outline": "red", "fill": "red"}], [359.5, 472.25, 365.5, 478.25, {"tags": "node_146", "outline": "red", "fill": "red"}], [360.25, 418.0, 366.25, 424.0, {"tags": "node_147", "outline": "red", "fill": "red"}], [350.5, 397.25, 356.5, 403.25, {"tags": "node_148", "outline": "red", "fill": "red"}], [360.25, 378.0, 366.25, 384.0, {"tags": "node_149", "outline": "red", "fill": "red"}], [351.75, 359.0, 357.75, 365.0, {"tags": "node_150", "outline": "red", "fill": "red"}], [375.0, 387.0, 381.0, 393.0, {"tags": "node_151", "outline": "red", "fill": "red"}], [392.5, 387.75, 398.5, 393.75, {"tags": "node_152", "outline": "red", "fill": "red"}], [361.75, 340.75, 367.75, 346.75, {"tags": "node_153", "outline": "red", "fill": "red"}], [351.75, 313.5, 357.75, 319.5, {"tags": "node_154", "outline": "red", "fill": "red"}], [377.75, 348.5, 383.75, 354.5, {"tags": "node_155", "outline": "red", "fill": "red"}], [398.5, 346.0, 404.5, 352.0, {"tags": "node_156", "outline": "red", "fill": "red"}], [362.75, 305.25, 368.75, 311.25, {"tags": "node_157", "outline": "red", "fill": "red"}], [352.25, 292.25, 358.25, 298.25, {"tags": "node_158", "outline": "red", "fill": "red"}], [348.0, 232.0, 354.0, 238.0, {"tags": "node_159", "outline": "red", "fill": "red"}], [363.25, 256.25, 369.25, 262.25, {"tags": "node_160", "outline": "red", "fill": "red"}], [390.75, 267.75, 396.75, 273.75, {"tags": "node_161", "outline": "red", "fill": "red"}], [422.0, 268.75, 428.0, 274.75, {"tags": "node_162", "outline": "red", "fill": "red"}], [328.75, 281.0, 334.75, 287.0, {"tags": "node_163", "outline": "red", "fill": "red"}], [309.5, 281.5, 315.5, 287.5, {"tags": "node_164", "outline": "red", "fill": "red"}], [362.25, 218.0, 368.25, 224.0, {"tags": "node_165", "outline": "red", "fill": "red"}], [348.5, 196.25, 354.5, 202.25, {"tags": "node_166", "outline": "red", "fill": "red"}], [376.25, 227.0, 382.25, 233.0, {"tags": "node_167", "outline": "red", "fill": "red"}], [390.5, 225.0, 396.5, 231.0, {"tags": "node_168", "outline": "red", "fill": "red"}], [348.75, 166.75, 354.75, 172.75, {"tags": "node_169", "outline": "red", "fill": "red"}], [362.5, 185.0, 368.5, 191.0, {"tags": "node_170", "outline": "red", "fill": "red"}], [363.75, 134.25, 369.75, 140.25, {"tags": "node_171", "outline": "red", "fill": "red"}], [351.0, 118.25, 357.0, 124.25, {"tags": "node_172", "outline": "red", "fill": "red"}], [378.5, 141.75, 384.5, 147.75, {"tags": "node_173", "outline": "red", "fill": "red"}], [398.75, 143.0, 404.75, 149.0, {"tags": "node_174", "outline": "red", "fill": "red"}], [335.0, 158.75, 341.0, 164.75, {"tags": "node_175", "outline": "red", "fill": "red"}], [315.25, 159.5, 321.25, 165.5, {"tags": "node_176", "outline": "red", "fill": "red"}], [363.25, 94.75, 369.25, 100.75, {"tags": "node_177", "outline": "red", "fill": "red"}], [351.75, 70.0, 357.75, 76.0, {"tags": "node_178", "outline": "red", "fill": "red"}], [363.75, 47.5, 369.75, 53.5, {"tags": "node_179", "outline": "red", "fill": "red"}], [351.25, 47.25, 357.25, 53.25, {"tags": "node_180", "outline": "red", "fill": "red"}], [376.75, 103.25, 382.75, 109.25, {"tags": "node_181", "outline": "red", "fill": "red"}], [407.5, 97.5, 413.5, 103.5, {"tags": "node_182", "outline": "red", "fill": "red"}], [146.25, 44.0, 152.25, 50.0, {"tags": "node_183", "outline": "red", "fill": "red"}], [172.5, 48.25, 178.5, 54.25, {"tags": "node_184", "outline": "red", "fill": "red"}]]} \ No newline at end of file diff --git a/maps/v0.2/area_1_graph.txt b/maps/v0.2/area_1_graph.txt new file mode 100755 index 0000000..6b0cccc --- /dev/null +++ b/maps/v0.2/area_1_graph.txt @@ -0,0 +1,311 @@ +WC_1, fd, WC_1_door +WC_1_door, tl, hallway_5-1u +WC_1_door, tr, hallway_5-2d +conferenceRoom_1, fd, conferenceRoom_1_door +conferenceRoom_1_door, s, pantry_1 +conferenceRoom_1_door, tl, hallway_6-2u +conferenceRoom_1_door, tr, hallway_6-3d +conferenceRoom_2, fd, conferenceRoom_2_door +conferenceRoom_2_door, cf, openspace_1-2l +conferenceRoom_2_door, tl, hallway_7-9d +conferenceRoom_2_door, tr, hallway_7-10u +copyRoom_1, fd, copyRoom_1_door +copyRoom_1_door, s, office_9 +copyRoom_1_door, tl, hallway_6-17d +copyRoom_1_door, tr, hallway_6-16u +hallway_1-1l, s, office_12 +hallway_1-1r, cf, hallway_1-2r +hallway_1-2l, cf, hallway_1-1l +hallway_1-2r, s, office_14 +hallway_1-2r, tl, hallway_1-3u +hallway_1-2r, tr, office_13 +hallway_1-3d, s, office_13 +hallway_1-3d, tl, office_14 +hallway_1-3d, tr, hallway_1-2l +hallway_1-3u, cf, hallway_6-20u +hallway_2-1l, s, office_11 +hallway_2-1l, tl, hallway_6-20d +hallway_2-1l, tr, hallway_6-19u +hallway_2-1r, cf, hallway_2-2r +hallway_2-2l, cf, hallway_2-1l +hallway_2-2r, cf, hallway_2-3r +hallway_2-2r, tr, hallway_8-1d +hallway_2-3l, cf, hallway_2-2l +hallway_2-3l, tl, hallway_8-1d +hallway_2-3r, cf, hallway_2-4r +hallway_2-4l, cf, hallway_2-3l +hallway_2-4r, cf, hallway_7-1d +hallway_3-1d, s, office_28 +hallway_3-1d, tl, hallway_3-2r +hallway_3-1u, cf, hallway_7-1u +hallway_3-2l, tr, hallway_3-1u +hallway_3-2r, cf, hallway_3-3r +hallway_3-3l, cf, hallway_3-2l +hallway_3-3r, s, office_27 +hallway_4-1d, cf, hallway_7-19d +hallway_5-1d, cf, hallway_5-2d +hallway_5-1d, tr, WC_1 +hallway_5-2d, cf, hallway_6-1d +hallway_5-2u, cf, hallway_5-1u +hallway_5-2u, tl, WC_1 +hallway_6-10d, cf, hallway_6-11d +hallway_6-10d, tl, openspace_1-1r +hallway_6-10d, tr, office_5 +hallway_6-10u, cf, hallway_6-9u +hallway_6-11d, cf, hallway_6-12d +hallway_6-11d, tr, office_6 +hallway_6-11u, cf, hallway_6-10u +hallway_6-11u, tl, office_5 +hallway_6-12d, cf, hallway_6-13d +hallway_6-12u, cf, hallway_6-11u +hallway_6-12u, tl, office_6 +hallway_6-12u, tr, openspace_1-1r +hallway_6-13d, cf, hallway_6-14d +hallway_6-13d, tr, office_7 +hallway_6-13u, cf, hallway_6-12u +hallway_6-14d, cf, hallway_6-15d +hallway_6-14d, tr, office_8 +hallway_6-14u, cf, hallway_6-13u +hallway_6-14u, tl, office_7 +hallway_6-15d, cf, hallway_6-16d +hallway_6-15u, cf, hallway_6-14u +hallway_6-15u, tl, office_8 +hallway_6-16d, cf, hallway_6-17d +hallway_6-16d, tl, copyRoom_1 +hallway_6-16d, tr, office_9 +hallway_6-16u, cf, hallway_6-15u +hallway_6-17d, cf, hallway_6-18d +hallway_6-17d, tr, office_10 +hallway_6-17u, cf, hallway_6-16u +hallway_6-17u, tl, office_9 +hallway_6-17u, tr, copyRoom_1 +hallway_6-18d, cf, hallway_6-19d +hallway_6-18u, cf, hallway_6-17u +hallway_6-18u, tl, office_10 +hallway_6-19d, cf, hallway_6-20d +hallway_6-19d, tl, hallway_2-1r +hallway_6-19d, tr, office_11 +hallway_6-19u, cf, hallway_6-18u +hallway_6-1d, cf, hallway_6-2d +hallway_6-20d, cf, hallway_1-3d +hallway_6-20u, cf, hallway_6-19u +hallway_6-20u, tl, office_11 +hallway_6-20u, tr, hallway_2-1r +hallway_6-2d, cf, hallway_6-3d +hallway_6-2d, tr, 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office_5_door +office_5_door, cf, openspace_1-1r +office_5_door, tl, hallway_6-10u +office_5_door, tr, hallway_6-11d +office_6, fd, office_6_door +office_6_door, cf, openspace_1-1r +office_6_door, tl, hallway_6-11u +office_6_door, tr, hallway_6-12d +office_7, fd, office_7_door +office_7_door, tl, hallway_6-13u +office_7_door, tr, hallway_6-14d +office_8, fd, office_8_door +office_8_door, tl, hallway_6-14u +office_8_door, tr, hallway_6-15d +office_9, fd, office_9_door +office_9_door, s, copyRoom_1 +office_9_door, tl, hallway_6-16u +office_9_door, tr, hallway_6-17d +openspace_1-1l, s_l, office_6 +openspace_1-1l, s_r, office_5 +openspace_1-1l, tl, hallway_6-12d +openspace_1-1l, tr, hallway_6-10u +openspace_1-1r, cf, openspace_1-2r +openspace_1-2l, cf, openspace_1-1l +openspace_1-2r, s, conferenceRoom_2 +openspace_1-2r, tl, hallway_7-10u +openspace_1-2r, tr, hallway_7-9d +pantry_1, fd, pantry_1_door +pantry_1_door, s, conferenceRoom_1 +pantry_1_door, tl, hallway_6-3d +pantry_1_door, tr, 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"tags": "edge_321 node_194 node_102", "text": "tr"}], [782.25, 892.25, {"fill": "blue", "tags": "edge_322 node_194 node_100", "text": "tl"}], [805.0, 649.5, {"fill": "blue", "tags": "node_195", "text": "office_41_door-r"}], [814.875, 685.0, {"fill": "blue", "tags": "edge_323 node_157 node_195", "text": "fd_r"}], [782.625, 645.25, {"fill": "blue", "tags": "edge_324 node_195 node_160", "text": "tr"}], [788.0, 647.125, {"fill": "blue", "tags": "edge_325 node_195 node_159", "text": "tl"}], [757.5, 615.875, {"fill": "blue", "tags": "edge_326 node_161 node_157", "text": "tl"}], [766.5, 683.875, {"fill": "blue", "tags": "edge_327 node_158 node_157", "text": "tr"}], [779.875, 918.75, {"fill": "blue", "tags": "edge_328 node_101 node_97", "text": "tr"}], [788.0, 897.875, {"fill": "blue", "tags": "edge_329 node_103 node_97", "text": "tl"}], [124.25, 793.125, {"fill": "blue", "tags": "edge_330 node_11 node_7", "text": "cf"}], [148.0, 772.25, {"fill": "blue", "tags": "edge_331 node_12 node_7", "text": "tr"}], [179.5, 768.625, {"fill": "blue", "tags": "edge_332 node_6 node_13", "text": "tl"}], [127.25, 762.875, {"fill": "blue", "tags": "edge_333 node_6 node_10", "text": "cf"}]]} \ No newline at end of file diff --git a/maps/v0.2/area_5b_graph.txt b/maps/v0.2/area_5b_graph.txt new file mode 100755 index 0000000..466f9e0 --- /dev/null +++ b/maps/v0.2/area_5b_graph.txt @@ -0,0 +1,314 @@ +WC_1, fd, WC_1_door +WC_1_door, tl, hallway_13-3r +WC_1_door, tr, hallway_13-2l +WC_2, fd, WC_2_door +WC_2_door, tl, hallway_13-5r +WC_2_door, tr, hallway_13-4l +conferenceRoom_1, fd, conferenceRoom_1_door +conferenceRoom_1_door, tl, hallway_9-3d +conferenceRoom_1_door, tr, hallway_9-4u +conferenceRoom_2, fd, conferenceRoom_2_door +conferenceRoom_2_door, tl, hallway_13-3l +conferenceRoom_2_door, tr, hallway_13-4r +conferenceRoom_3, fd, conferenceRoom_3_door +conferenceRoom_3_door, tl, hallway_2-11d +conferenceRoom_3_door, tr, hallway_2-12u +hallway_1-1d, cf, hallway_9-5d +hallway_1-1d, tr, hallway_13-1r +hallway_1-1d, tr, hallway_3-4l +hallway_1-1u, cf, hallway_1-2u +hallway_1-2d, cf, hallway_1-1d +hallway_10-1d, cf, hallway_10-2d +hallway_10-1d, tl, office_16 +hallway_10-1u, cf, hallway_5-2u +hallway_10-2d, cf, hallway_10-3d +hallway_10-2d, tr, office_4 +hallway_10-2u, cf, hallway_10-1u +hallway_10-2u, tr, office_16 +hallway_10-3d, cf, hallway_10-4d +hallway_10-3d, tr, office_3 +hallway_10-3u, cf, hallway_10-2u +hallway_10-3u, tl, office_4 +hallway_10-4d, cf, hallway_10-5d +hallway_10-4u, cf, hallway_10-3u +hallway_10-4u, tl, office_3 +hallway_10-5d, cf, hallway_10-6d +hallway_10-5d, tr, office_2 +hallway_10-5u, cf, hallway_10-4u +hallway_10-6d, tl, hallway_3-1r +hallway_10-6d, tr, office_1 +hallway_10-6u, cf, hallway_10-5u +hallway_10-6u, tl, office_2 +hallway_11-1d, cf, hallway_11-2d +hallway_11-1u, cf, hallway_9-1u +hallway_11-1u, tl, hallway_3-4l +hallway_11-1u, tr, office_37 +hallway_11-2d, cf, hallway_11-3d +hallway_11-2d, tr, storage_2_door +hallway_11-2u, cf, hallway_11-1u +hallway_11-3d, cf, hallway_11-4d +hallway_11-3u, cf, hallway_11-2u +hallway_11-3u, tl, storage_2_door +hallway_11-4d, s, office_34 +hallway_11-4d, tl, hallway_4-1r +hallway_11-4u, cf, hallway_11-3u +hallway_12-1d, s, office_31 +hallway_12-1d, tr, hallway_4-4l +hallway_12-1u, cf, hallway_12-2u +hallway_12-2d, cf, hallway_12-1d +hallway_12-2u, cf, hallway_12-3u +hallway_12-2u, tr, storage_1 +hallway_12-3d, cf, hallway_12-2d +hallway_12-3d, tl, storage_1 +hallway_12-3u, cf, hallway_12-4u +hallway_12-4d, cf, hallway_12-3d +hallway_12-4u, tr, hallway_14-1r +hallway_13-1l, cf, hallway_3-4l +hallway_13-1l, tl, hallway_9-5d +hallway_13-1l, tr, hallway_1-1u +hallway_13-1r, cf, hallway_13-2r +hallway_13-2l, cf, hallway_13-1l +hallway_13-2r, cf, hallway_13-3r +hallway_13-2r, tl, WC_1 +hallway_13-3l, cf, hallway_13-2l +hallway_13-3l, tr, WC_1 +hallway_13-3r, cf, hallway_13-4r +hallway_13-3r, tr, conferenceRoom_2 +hallway_13-4l, cf, hallway_13-3l +hallway_13-4l, tl, conferenceRoom_2 +hallway_13-4r, cf, hallway_13-5r +hallway_13-4r, tl, WC_2 +hallway_13-5l, cf, hallway_13-4l +hallway_13-5l, tr, WC_2 +hallway_13-5r, s, office_41 +hallway_13-5r, tl, hallway_2-8u +hallway_13-5r, tr, hallway_2-7d +hallway_14-1l, tl, hallway_12-4d +hallway_14-1r, cf, hallway_14-2r +hallway_14-1r, tr, office_30 +hallway_14-2l, cf, hallway_14-1l +hallway_14-2l, tl, office_30 +hallway_14-2r, cf, hallway_14-3r +hallway_14-3l, cf, hallway_14-2l +hallway_14-3r, s, office_29 +hallway_14-3r, tl, hallway_2-1u +hallway_2-10d, cf, hallway_2-9d +hallway_2-10d, tl, office_41 +hallway_2-10u, cf, hallway_2-11u +hallway_2-11d, cf, hallway_2-10d +hallway_2-11u, cf, hallway_2-12u +hallway_2-11u, tr, conferenceRoom_3 +hallway_2-12d, cf, hallway_2-11d +hallway_2-12d, tl, conferenceRoom_3 +hallway_2-12u, cf, hallway_2-13u +hallway_2-12u, tl, office_40 +hallway_2-13d, cf, hallway_2-12d +hallway_2-13d, tr, office_40 +hallway_2-13u, cf, hallway_2-14u +hallway_2-13u, tl, storage_4 +hallway_2-14d, cf, hallway_2-13d +hallway_2-14d, tr, storage_4 +hallway_2-14u, cf, hallway_2-15u +hallway_2-15d, cf, hallway_2-14d +hallway_2-15u, cf, hallway_2-16u +hallway_2-15u, tr, office_26 +hallway_2-16d, cf, hallway_2-15d +hallway_2-16d, tl, office_26 +hallway_2-16u, cf, hallway_2-17u +hallway_2-16u, tr, office_25 +hallway_2-17d, cf, hallway_2-16d +hallway_2-17d, tl, office_25 +hallway_2-17u, cf, hallway_2-18u +hallway_2-18d, cf, hallway_2-17d +hallway_2-18u, cf, hallway_2-19u +hallway_2-18u, tr, office_24 +hallway_2-19d, cf, hallway_2-18d +hallway_2-19d, tl, office_24 +hallway_2-1d, tl, office_29 +hallway_2-1d, tr, hallway_14-3l +hallway_2-1u, cf, hallway_2-2u +hallway_2-1u, tl, storage_2 +hallway_2-2d, cf, hallway_2-1d +hallway_2-2d, tr, storage_2 +hallway_2-2u, cf, hallway_2-3u +hallway_2-2u, tr, office_29 +hallway_2-3d, cf, hallway_2-2d +hallway_2-3d, tl, office_29 +hallway_2-3u, cf, hallway_2-4u +hallway_2-4d, cf, hallway_2-3d +hallway_2-4u, cf, hallway_2-5u +hallway_2-4u, tr, office_28 +hallway_2-5d, cf, hallway_2-4d +hallway_2-5d, tl, office_28 +hallway_2-5u, cf, hallway_2-6u +hallway_2-5u, tr, office_27 +hallway_2-6d, cf, hallway_2-5d +hallway_2-6d, tl, office_27 +hallway_2-6u, cf, hallway_2-7u +hallway_2-7d, cf, hallway_2-6d +hallway_2-7u, cf, hallway_2-8u +hallway_2-7u, tl, hallway_13-5l +hallway_2-7u, tr, office_41 +hallway_2-8d, cf, hallway_2-7d +hallway_2-8d, tl, office_41 +hallway_2-8d, tr, hallway_13-5l +hallway_2-8u, cf, hallway_2-9u +hallway_2-9d, cf, hallway_2-8d +hallway_2-9u, cf, hallway_2-10u +hallway_2-9u, tr, office_41 +hallway_3-1l, s, office_1 +hallway_3-1l, tr, hallway_10-6u +hallway_3-1r, cf, hallway_3-2r +hallway_3-2l, cf, hallway_3-1l +hallway_3-2r, cf, hallway_3-3r +hallway_3-2r, tr, office_35 +hallway_3-3l, cf, hallway_3-2l +hallway_3-3l, tl, office_35 +hallway_3-3r, cf, hallway_3-4r +hallway_3-4l, cf, hallway_3-3l +hallway_3-4l, cf, hallway_7-3l +hallway_3-4r, cf, hallway_13-1r +hallway_3-4r, s, office_37 +hallway_3-4r, tl, hallway_1-1u +hallway_3-4r, tl, hallway_9-1u +hallway_3-4r, tr, hallway_11-1d +hallway_3-4r, tr, hallway_9-5d +hallway_4-1l, tl, office_34 +hallway_4-1l, tr, hallway_11-4u +hallway_4-1r, cf, hallway_4-2r +hallway_4-1r, tr, office_33 +hallway_4-2l, cf, hallway_4-1l +hallway_4-2l, tl, office_33 +hallway_4-2r, cf, hallway_4-3r +hallway_4-3l, cf, hallway_4-2l +hallway_4-3r, cf, hallway_4-4r +hallway_4-3r, tr, office_32 +hallway_4-4l, cf, hallway_4-3l +hallway_4-4l, tl, office_32 +hallway_4-4r, tl, hallway_12-1u +hallway_4-4r, tr, office_31 +hallway_5-1d, cf, hallway_5-2d +hallway_5-1d, tl, hallway_7-1r +hallway_5-1d, tr, office_5 +hallway_5-2d, cf, hallway_10-1d +hallway_5-2u, cf, hallway_5-1u +hallway_5-2u, tl, office_5 +hallway_5-2u, tr, hallway_7-1r +hallway_7-1l, s, office_5 +hallway_7-1l, tl, hallway_5-2d +hallway_7-1l, tr, hallway_5-1u +hallway_7-1r, cf, hallway_7-2r +hallway_7-2l, cf, hallway_7-1l +hallway_7-2r, cf, hallway_7-3r +hallway_7-2r, tl, office_17 +hallway_7-3l, cf, hallway_7-2l +hallway_7-3l, tr, office_17 +hallway_7-3r, cf, hallway_3-4r +hallway_9-1d, cf, hallway_11-1d +hallway_9-1d, tl, office_37 +hallway_9-1d, tr, hallway_3-4l +hallway_9-1u, cf, hallway_9-2u +hallway_9-1u, tl, office_36 +hallway_9-2d, cf, hallway_9-1d +hallway_9-2d, tr, office_36 +hallway_9-2u, cf, hallway_9-3u +hallway_9-3d, cf, hallway_9-2d +hallway_9-3u, cf, hallway_9-4u +hallway_9-3u, tr, conferenceRoom_1 +hallway_9-4d, cf, hallway_9-3d +hallway_9-4d, tl, conferenceRoom_1 +hallway_9-4u, cf, hallway_9-5u +hallway_9-5d, cf, hallway_9-4d +hallway_9-5u, cf, hallway_1-1u +hallway_9-5u, tl, hallway_3-4l +hallway_9-5u, tr, hallway_13-1r +office_1, fd, office_1_door +office_16, fd, office_16_door +office_16_door, tl, hallway_10-2d +office_16_door, tr, hallway_10-1u +office_17, fd, office_17_door +office_17_door, tl, hallway_7-3r +office_17_door, tr, hallway_7-2l +office_1_door, cf, hallway_3-1r +office_1_door, tl, hallway_10-6u +office_2, fd, office_2_door +office_24, fd, office_24_door +office_24_door, tl, hallway_2-18d +office_24_door, tr, hallway_2-19u +office_25, fd, office_25_door +office_25_door, tl, hallway_2-16d +office_25_door, tr, hallway_2-17u +office_26, fd, office_26_door +office_26_door, tl, hallway_2-15d +office_26_door, tr, hallway_2-16u +office_27, fd, office_27_door +office_27_door, tl, hallway_2-5d +office_27_door, tr, hallway_2-6u +office_28, fd, office_28_door +office_28_door, tl, hallway_2-4d +office_28_door, tr, hallway_2-5u +office_29, fd_l, office_29_door-l +office_29, fd_r, office_29_door-r +office_29_door-l, cf, hallway_14-3l +office_29_door-l, tr, hallway_2-1u +office_29_door-r, tl, hallway_2-2d +office_29_door-r, tr, hallway_2-3u +office_2_door, tl, hallway_10-5u +office_2_door, tr, hallway_10-6d +office_3, fd, office_3_door +office_30, fd, office_30_door +office_30_door, tl, hallway_14-1l +office_30_door, tr, hallway_14-2r +office_31, fd, office_31_door +office_31_door, cf, hallway_12-1u +office_31_door, tl, hallway_4-4l +office_32, fd, office_32_door +office_32_door, tl, hallway_4-3l +office_32_door, tr, hallway_4-4r +office_33, fd, office_33_door +office_33_door, tl, hallway_4-1l +office_33_door, tr, hallway_4-2r +office_34, fd, office_34_door +office_34_door, cf, hallway_11-4u +office_34_door, tr, hallway_4-1r +office_35, fd, office_35_door +office_35_door, tl, hallway_3-2l +office_35_door, tr, hallway_3-3r +office_36, fd, office_36_door +office_36_door, tl, hallway_9-2u +office_36_door, tr, hallway_9-1d +office_37, fd, office_37_door +office_37_door, cf, hallway_3-4l +office_37_door, tl, hallway_11-1d +office_37_door, tr, hallway_9-1u +office_3_door, tl, hallway_10-3u +office_3_door, tr, hallway_10-4d +office_4, fd, office_4_door +office_40, fd, office_40_door +office_40_door, tl, hallway_2-13u +office_40_door, tr, hallway_2-12d +office_41, fd_l, office_41_door-l +office_41, fd_r, office_41_door-r +office_41_door-l, cf, hallway_13-5l +office_41_door-l, tl, hallway_2-7d +office_41_door-l, tr, hallway_2-8u +office_41_door-r, tl, hallway_2-9d +office_41_door-r, tr, hallway_2-10u +office_4_door, tl, hallway_10-2u +office_4_door, tr, hallway_10-3d +office_5, fd, office_5_door +office_5_door, cf, hallway_7-1r +office_5_door, tl, hallway_5-1u +office_5_door, tr, hallway_5-2d +storage_1, fd, storage_1_door +storage_1_door, tl, hallway_12-2d +storage_1_door, tr, hallway_12-3u +storage_2, fd, storage_2_door +storage_2_door, fd, storage_2_door +storage_2_door, tl, hallway_11-2u +storage_2_door, tl, hallway_2-2u +storage_2_door, tr, hallway_11-3d +storage_2_door, tr, hallway_2-1d +storage_4, fd, storage_4_door +storage_4_door, tl, hallway_2-14u +storage_4_door, tr, hallway_2-13d diff --git a/maps/v0.2/area_5b_graph_v2.json b/maps/v0.2/area_5b_graph_v2.json new file mode 100644 index 0000000..125e867 --- /dev/null +++ b/maps/v0.2/area_5b_graph_v2.json @@ -0,0 +1 @@ +{"oval": [[103.75, 728.25, 109.75, 734.25, {"tags": "node_0", "outline": "red", "fill": "red"}], [98.5, 728.75, 104.5, 734.75, 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815.5, 25.75, 821.5, {"tags": "node_97", "fill": "red", "outline": "red"}], [166.5, 766.25, 172.5, 772.25, {"tags": "node_98", "fill": "red", "outline": "red"}], [248.5, 768.25, 254.5, 774.25, {"tags": "node_99", "fill": "red", "outline": "red"}], [197.75, 762.0, 203.75, 768.0, {"tags": "node_100", "fill": "red", "outline": "red"}], [264.5, 762.0, 270.5, 768.0, {"tags": "node_101", "fill": "red", "outline": "red"}], [271.0, 768.0, 277.0, 774.0, {"tags": "node_102", "fill": "red", "outline": "red"}], [306.25, 760.25, 312.25, 766.25, {"tags": "node_103", "fill": "red", "outline": "red"}], [211.0, 781.75, 217.0, 787.75, {"tags": "node_104", "fill": "red", "outline": "red"}], [239.0, 782.5, 245.0, 788.5, {"tags": "node_105", "fill": "red", "outline": "red"}], [283.75, 767.75, 289.75, 773.75, {"tags": "node_106", "fill": "red", "outline": "red"}], [328.75, 792.25, 334.75, 798.25, {"tags": "node_107", "fill": "red", "outline": "red"}], [321.5, 726.5, 327.5, 732.5, {"tags": "node_108", "fill": "red", "outline": "red"}], [325.75, 748.75, 331.75, 754.75, {"tags": "node_109", "fill": "red", "outline": "red"}], [322.75, 776.25, 328.75, 782.25, {"tags": "node_110", "fill": "red", "outline": "red"}], [329.0, 800.5, 335.0, 806.5, {"tags": "node_111", "fill": "red", "outline": "red"}], [341.0, 761.0, 347.0, 767.0, {"tags": "node_112", "fill": "red", "outline": "red"}], [383.5, 763.25, 389.5, 769.25, {"tags": "node_113", "fill": "red", "outline": "red"}], [337.75, 818.25, 343.75, 824.25, {"tags": "node_114", "fill": "red", "outline": "red"}], [363.0, 812.75, 369.0, 818.75, {"tags": "node_115", "fill": "red", "outline": "red"}], [361.5, 817.75, 367.5, 823.75, {"tags": "node_116", "fill": "red", "outline": "red"}], [373.75, 812.75, 379.75, 818.75, {"tags": "node_117", "fill": "red", "outline": "red"}], [330.0, 834.0, 336.0, 840.0, {"tags": "node_118", "fill": "red", "outline": "red"}], [338.5, 876.5, 344.5, 882.5, {"tags": "node_119", "fill": "red", "outline": "red"}], [388.75, 813.25, 394.75, 819.25, {"tags": "node_120", "fill": "red", "outline": "red"}], [427.5, 826.25, 433.5, 832.25, {"tags": "node_121", "fill": "red", "outline": "red"}], [316.75, 674.5, 322.75, 680.5, {"tags": "node_123", "fill": "red", "outline": "red"}], [319.75, 690.5, 325.75, 696.5, {"tags": "node_124", "fill": "red", "outline": "red"}], [342.25, 698.75, 348.25, 704.75, {"tags": "node_125", "fill": "red", "outline": "red"}], [401.25, 701.25, 407.25, 707.25, {"tags": "node_126", "fill": "red", "outline": "red"}], [320.5, 620.25, 326.5, 626.25, {"tags": "node_127", "fill": "red", "outline": "red"}], [322.75, 655.0, 328.75, 661.0, {"tags": "node_128", "fill": "red", "outline": "red"}], [336.25, 663.25, 342.25, 669.25, {"tags": "node_129", "fill": "red", "outline": "red"}], [391.5, 653.75, 397.5, 659.75, {"tags": "node_130", "fill": "red", "outline": "red"}], [298.0, 667.0, 304.0, 673.0, {"tags": "node_131", "fill": "red", "outline": "red"}], [252.5, 659.75, 258.5, 665.75, {"tags": 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456.75, {"tags": "node_155", "fill": "red", "outline": "red"}], [359.0, 453.0, 365.0, 459.0, {"tags": "node_156", "fill": "red", "outline": "red"}], [328.0, 408.0, 334.0, 414.0, {"tags": "node_157", "fill": "red", "outline": "red"}], [322.25, 376.5, 328.25, 382.5, {"tags": "node_158", "fill": "red", "outline": "red"}], [337.75, 416.5, 343.75, 422.5, {"tags": "node_159", "fill": "red", "outline": "red"}], [349.5, 416.75, 355.5, 422.75, {"tags": "node_160", "fill": "red", "outline": "red"}], [247.0, 311.25, 253.0, 317.25, {"tags": "node_161", "fill": "red", "outline": "red"}], [292.0, 304.5, 298.0, 310.5, {"tags": "node_162", "fill": "red", "outline": "red"}], [323.0, 300.25, 329.0, 306.25, {"tags": "node_163", "fill": "red", "outline": "red"}], [327.75, 324.25, 333.75, 330.25, {"tags": "node_164", "fill": "red", "outline": "red"}], [320.0, 258.25, 326.0, 264.25, {"tags": "node_165", "fill": "red", "outline": "red"}], [328.25, 282.75, 334.25, 288.75, {"tags": "node_166", "fill": "red", "outline": "red"}], [321.5, 338.75, 327.5, 344.75, {"tags": "node_167", "fill": "red", "outline": "red"}], [326.0, 372.5, 332.0, 378.5, {"tags": "node_168", "fill": "red", "outline": "red"}], [342.5, 329.75, 348.5, 335.75, {"tags": "node_169", "fill": "red", "outline": "red"}], [362.0, 334.0, 368.0, 340.0, {"tags": "node_170", "fill": "red", "outline": "red"}], [342.0, 293.25, 348.0, 299.25, {"tags": "node_171", "fill": "red", "outline": "red"}], [364.25, 291.5, 370.25, 297.5, {"tags": "node_172", "fill": "red", "outline": "red"}], [320.5, 243.25, 326.5, 249.25, {"tags": "node_173", "fill": "red", "outline": "red"}], [328.0, 269.5, 334.0, 275.5, {"tags": "node_174", "fill": "red", "outline": "red"}], [317.75, 208.25, 323.75, 214.25, {"tags": "node_175", "fill": "red", "outline": "red"}], [326.5, 229.25, 332.5, 235.25, {"tags": "node_176", "fill": "red", "outline": "red"}], [317.5, 177.75, 323.5, 183.75, {"tags": "node_177", "fill": "red", "outline": "red"}], [327.75, 200.5, 333.75, 206.5, {"tags": "node_178", "fill": "red", "outline": "red"}], [297.75, 230.25, 303.75, 236.25, {"tags": "node_179", "fill": "red", "outline": "red"}], [284.75, 230.0, 290.75, 236.0, {"tags": "node_180", "fill": "red", "outline": "red"}], [343.0, 206.75, 349.0, 212.75, {"tags": "node_181", "fill": "red", "outline": "red"}], [358.0, 206.25, 364.0, 212.25, {"tags": "node_182", "fill": "red", "outline": "red"}], [317.0, 162.0, 323.0, 168.0, {"tags": "node_183", "fill": "red", "outline": "red"}], [326.5, 168.0, 332.5, 174.0, {"tags": "node_184", "fill": "red", "outline": "red"}], [319.0, 105.25, 325.0, 111.25, {"tags": "node_185", "fill": "red", "outline": "red"}], [325.25, 143.25, 331.25, 149.25, {"tags": "node_186", "fill": "red", "outline": "red"}], [340.75, 172.0, 346.75, 178.0, {"tags": "node_187", "fill": "red", "outline": "red"}], [360.25, 171.5, 366.25, 177.5, {"tags": "node_188", "fill": "red", "outline": "red"}], [297.75, 152.0, 303.75, 158.0, {"tags": "node_189", "fill": "red", "outline": "red"}], [247.75, 154.0, 253.75, 160.0, {"tags": "node_190", "fill": "red", "outline": "red"}], [324.0, 120.5, 330.0, 126.5, {"tags": "node_191", "fill": "red", "outline": "red"}], [319.0, 90.25, 325.0, 96.25, {"tags": "node_192", "fill": "red", "outline": "red"}], [326.5, 77.5, 332.5, 83.5, {"tags": "node_193", "fill": "red", "outline": "red"}], [319.75, 56.5, 325.75, 62.5, {"tags": "node_194", "fill": "red", "outline": "red"}], [342.0, 86.5, 348.0, 92.5, {"tags": "node_195", "fill": "red", "outline": "red"}], [360.25, 87.75, 366.25, 93.75, {"tags": "node_196", "fill": "red", "outline": "red"}], [300.75, 82.25, 306.75, 88.25, {"tags": "node_197", "fill": "red", "outline": "red"}], [287.0, 82.0, 293.0, 88.0, {"tags": "node_198", "fill": "red", "outline": "red"}], [319.5, 10.0, 325.5, 16.0, {"tags": "node_199", "fill": "red", "outline": "red"}], [327.75, 40.75, 333.75, 46.75, {"tags": "node_200", "fill": "red", "outline": "red"}], [342.25, 49.5, 348.25, 55.5, {"tags": "node_201", "fill": "red", "outline": "red"}], [353.5, 49.0, 359.5, 55.0, {"tags": "node_202", "fill": "red", "outline": "red"}]]} \ No newline at end of file diff --git a/maps/v0.2/area_6_graph.txt b/maps/v0.2/area_6_graph.txt new file mode 100755 index 0000000..4628a6c --- /dev/null +++ b/maps/v0.2/area_6_graph.txt @@ -0,0 +1,352 @@ +conferenceRoom_1, fd, conferenceRoom_1_door +conferenceRoom_1_door, s, pantry_1 +conferenceRoom_1_door, tl, hallway_1-1u +conferenceRoom_1_door, tr, hallway_1-2d +copyRoom_1, fd, copyRoom_1_door +copyRoom_1_door, s, office_24 +copyRoom_1_door, tl, hallway_2-22u +copyRoom_1_door, tr, hallway_2-21d +hallway_1-10d, cf, hallway_1-11d +hallway_1-10u, cf, hallway_1-9u +hallway_1-10u, tl, office_4 +hallway_1-10u, tr, openspace_1-1r +hallway_1-11d, cf, hallway_1-12d +hallway_1-11d, tr, office_5 +hallway_1-11u, cf, hallway_1-10u +hallway_1-12d, cf, hallway_1-13d +hallway_1-12d, tr, office_6 +hallway_1-12u, cf, hallway_1-11u +hallway_1-12u, tl, office_5 +hallway_1-13d, cf, hallway_1-14d +hallway_1-13d, tl, lounge_1-1r +hallway_1-13u, cf, hallway_1-12u +hallway_1-13u, tl, office_6 +hallway_1-14d, cf, hallway_1-15d +hallway_1-14d, tl, office_15_door +hallway_1-14u, cf, hallway_1-13u +hallway_1-14u, tr, lounge_1-1r +hallway_1-15d, cf, hallway_1-16d +hallway_1-15d, tr, office_7 +hallway_1-15u, cf, hallway_1-14u +hallway_1-15u, tr, office_15_door +hallway_1-16d, cf, hallway_1-17d +hallway_1-16u, cf, hallway_1-15u +hallway_1-16u, tl, office_7 +hallway_1-17d, cf, hallway_1-18d +hallway_1-17d, tl, office_16 +hallway_1-17u, cf, hallway_1-16u +hallway_1-18d, cf, hallway_1-19d +hallway_1-18u, cf, hallway_1-17u +hallway_1-18u, tr, office_16 +hallway_1-19d, cf, hallway_1-20d +hallway_1-19d, tl, office_13 +hallway_1-19d, tr, office_8 +hallway_1-19u, cf, hallway_1-18u +hallway_1-1d, cf, hallway_1-2d +hallway_1-1d, tl, pantry_1 +hallway_1-1d, tr, conferenceRoom_1 +hallway_1-20d, cf, hallway_1-21d +hallway_1-20u, cf, hallway_1-19u +hallway_1-20u, tl, office_8 +hallway_1-20u, tr, office_13 +hallway_1-21d, cf, hallway_1-22d +hallway_1-21d, tl, hallway_5-1r +hallway_1-21d, tr, office_9 +hallway_1-21u, cf, hallway_1-20u +hallway_1-22d, cf, hallway_3-3d +hallway_1-22u, cf, hallway_1-21u +hallway_1-22u, tl, office_9 +hallway_1-22u, tr, hallway_5-1r +hallway_1-2d, cf, hallway_1-3d +hallway_1-2u, cf, hallway_1-1u +hallway_1-2u, tl, conferenceRoom_1 +hallway_1-2u, tr, pantry_1 +hallway_1-3d, cf, hallway_1-4d +hallway_1-3d, tl, office_22 +hallway_1-3u, cf, hallway_1-2u +hallway_1-4d, cf, hallway_1-5d +hallway_1-4d, tr, office_1 +hallway_1-4u, cf, hallway_1-3u +hallway_1-4u, tr, office_22 +hallway_1-5d, cf, hallway_1-6d +hallway_1-5d, tr, office_2 +hallway_1-5u, cf, hallway_1-4u +hallway_1-5u, tl, office_1 +hallway_1-6d, cf, hallway_1-7d +hallway_1-6d, tl, office_19 +hallway_1-6u, cf, hallway_1-5u +hallway_1-6u, tl, office_2 +hallway_1-7d, cf, hallway_1-8d +hallway_1-7u, cf, hallway_1-6u +hallway_1-7u, tr, office_19 +hallway_1-8d, cf, hallway_1-9d +hallway_1-8d, tl, openspace_1-1r +hallway_1-8d, tr, office_3 +hallway_1-8u, cf, hallway_1-7u +hallway_1-9d, cf, hallway_1-10d +hallway_1-9d, tr, office_4 +hallway_1-9u, cf, hallway_1-8u +hallway_1-9u, tl, office_3 +hallway_2-10d, cf, hallway_2-9d +hallway_2-10d, tr, lounge_1-2l +hallway_2-10u, cf, hallway_2-11u +hallway_2-10u, tr, office_30 +hallway_2-11d, cf, hallway_2-10d +hallway_2-11d, tl, office_30 +hallway_2-11u, cf, hallway_2-12u +hallway_2-11u, tr, office_26 +hallway_2-12d, cf, hallway_2-11d +hallway_2-12d, tl, office_26 +hallway_2-12u, cf, hallway_2-13u +hallway_2-13d, cf, hallway_2-12d +hallway_2-13u, cf, hallway_2-14u +hallway_2-13u, tl, openspace_1-2l +hallway_2-13u, tr, office_27 +hallway_2-14d, cf, hallway_2-13d +hallway_2-14d, tl, office_27 +hallway_2-14u, cf, hallway_2-15u +hallway_2-14u, tr, office_28 +hallway_2-15d, cf, hallway_2-14d +hallway_2-15d, tl, office_28 +hallway_2-15d, tr, openspace_1-2l +hallway_2-15u, cf, hallway_2-16u +hallway_2-16d, cf, 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hallway_1-16d +office_8, fd, office_8_door +office_8_door, s, office_13 +office_8_door, tl, hallway_1-19u +office_8_door, tr, hallway_1-20d +office_9, fd, office_9_door +office_9_door, cf, hallway_5-1r +office_9_door, tl, hallway_1-21u +office_9_door, tr, hallway_1-22d +openspace_1-1l, s_l, office_4 +openspace_1-1l, s_r, office_3 +openspace_1-1l, tl, hallway_1-10d +openspace_1-1l, tr, hallway_1-8u +openspace_1-1r, cf, openspace_1-2r +openspace_1-2l, cf, openspace_1-1l +openspace_1-2r, s_l, office_28 +openspace_1-2r, s_r, office_27 +openspace_1-2r, tl, hallway_2-15u +openspace_1-2r, tr, hallway_2-13d +pantry_1, fd, pantry_1_door +pantry_1_door, s, conferenceRoom_1 +pantry_1_door, tl, hallway_1-2d +pantry_1_door, tr, hallway_1-1u diff --git a/maps/v0.2/area_6_graph_in_progress.json b/maps/v0.2/area_6_graph_in_progress.json new file mode 100644 index 0000000..63e8e9f --- /dev/null +++ b/maps/v0.2/area_6_graph_in_progress.json @@ -0,0 +1 @@ +{"oval": [[110.5, 83.25, 116.5, 89.25, {"tags": 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b/maps/v0.3/area_4.yaml @@ -0,0 +1,34 @@ +image: area_4.png +resolution: 0.050000 +origin: [-29.750000, -4.950000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 +mat_filepath: area_4.mat +graph_filepath: area_4_graph_v12.json +invalid_rooms: + - lobby_1 + - lobby_2 + - WC_1 + - WC_3 + - hallway_13 + - hallway_14 + - conferenceRoom_1 + - office_1 + - office_2 +node_sizes: + storage_4_door2: 0.5 + storage_4r: 0.7 + storage_3r: 0.7 + storage_3_door1: 0.7 + hallway_4-4u: 0.7 + hallway_4-3u: 0.7 + hallway_4-4d: 0.7 + hallway_4-3d: 0.7 + hallway_21-1d: 0.8 + hallway_3-4r: 0.7 + office_8_door: 1.2 + hallway_10-18l: 1.1 + hallway_16-3u: 0.8 + hallway_10-18r: 0.8 + diff --git a/maps/v0.3/area_4_graph_v10.json b/maps/v0.3/area_4_graph_v10.json new file mode 100644 index 0000000..b70e585 --- /dev/null +++ b/maps/v0.3/area_4_graph_v10.json @@ -0,0 +1 @@ +{"oval": [[331.75, 105.5, 337.75, 111.5, {"tags": "node_0", "outline": "red", "fill": "red"}], [332.0, 111.75, 338.0, 117.75, 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+p1742 +tp1743 +bssa(dp1744 +g2 +g3 +(g7 +S'h\x1c\xc5\xb6f\xab\xbb?' +p1745 +tp1746 +Rp1747 +sg13 +(dp1748 +g15 +g16 +(g17 +(I0 +tp1749 +g19 +tp1750 +Rp1751 +(I1 +(I2 +tp1752 +g25 +I00 +S'\x11\x02\x00\x00\x00\x00\x00\x00j\x01\x00\x00\x00\x00\x00\x00' +p1753 +tp1754 +bsg30 +g1175 +sg32 +g184 +sg34 +g16 +(g17 +(I0 +tp1755 +g19 +tp1756 +Rp1757 +(I1 +(I2 +tp1758 +g25 +I00 +S'+\x01\x00\x00\x00\x00\x00\x00#\x00\x00\x00\x00\x00\x00\x00' +p1759 +tp1760 +bssa. \ No newline at end of file diff --git a/maps/v0.3/nav_plan_file_testy.p b/maps/v0.3/nav_plan_file_testy.p new file mode 100644 index 0000000..6b95a30 --- /dev/null +++ b/maps/v0.3/nav_plan_file_testy.p @@ -0,0 +1,251 @@ +(lp0 +(dp1 +S'start_orientation' +p2 +cnumpy.core.multiarray +scalar +p3 +(cnumpy +dtype +p4 +(S'f8' +p5 +I0 +I1 +tp6 +Rp7 +(I3 +S'<' +p8 +NNNI-1 +I-1 +I0 +tp9 +bS'\xd9o\xb0\xaal#\xd3?' +p10 +tp11 +Rp12 +sS'traj' +p13 +(dp14 +S'end_pt' +p15 +cnumpy.core.multiarray +_reconstruct +p16 +(cnumpy +ndarray +p17 +(I0 +tp18 +S'b' +p19 +tp20 +Rp21 +(I1 +(I2 +tp22 +g4 +(S'i8' +p23 +I0 +I1 +tp24 +Rp25 +(I3 +S'<' +p26 +NNNI-1 +I-1 +I0 +tp27 +bI00 +S'\xcb\x01\x00\x00\x00\x00\x00\x00d\x00\x00\x00\x00\x00\x00\x00' +p28 +tp29 +bsS'start_pt' +p30 +g16 +(g17 +(I0 +tp31 +g19 +tp32 +Rp33 +(I1 +(I2 +tp34 +g25 +I00 +S'\xb4\x00\x00\x00\x00\x00\x00\x00+\x00\x00\x00\x00\x00\x00\x00' +p35 +tp36 +bssa(dp37 +g2 +g3 +(g7 +S'\xa9\xcc\xc3\xb6G<\xc9\xbf' +p38 +tp39 +Rp40 +sg13 +(dp41 +g15 +g16 +(g17 +(I0 +tp42 +g19 +tp43 +Rp44 +(I1 +(I2 +tp45 +g25 +I00 +S'\xba\x02\x00\x00\x00\x00\x00\x00w\x01\x00\x00\x00\x00\x00\x00' +p46 +tp47 +bsg30 +g16 +(g17 +(I0 +tp48 +g19 +tp49 +Rp50 +(I1 +(I2 +tp51 +g25 +I00 +S'\xc3\x01\x00\x00\x00\x00\x00\x00@\x00\x00\x00\x00\x00\x00\x00' +p52 +tp53 +bssa(dp54 +g2 +g3 +(g7 +S'\xb1\xa2\xc1\xeb\xde\xef\xf6?' +p55 +tp56 +Rp57 +sg13 +(dp58 +g15 +g16 +(g17 +(I0 +tp59 +g19 +tp60 +Rp61 +(I1 +(I2 +tp62 +g25 +I00 +S'N\x02\x00\x00\x00\x00\x00\x00c\x01\x00\x00\x00\x00\x00\x00' +p63 +tp64 +bsg30 +g16 +(g17 +(I0 +tp65 +g19 +tp66 +Rp67 +(I1 +(I2 +tp68 +g25 +I00 +S's\x03\x00\x00\x00\x00\x00\x00m\x01\x00\x00\x00\x00\x00\x00' +p69 +tp70 +bssa(dp71 +g2 +g3 +(g7 +S'\xb2\x04\x92[vK\xbe\xbf' +p72 +tp73 +Rp74 +sg13 +(dp75 +g15 +g16 +(g17 +(I0 +tp76 +g19 +tp77 +Rp78 +(I1 +(I2 +tp79 +g25 +I00 +S'J\x00\x00\x00\x00\x00\x00\x00d\x00\x00\x00\x00\x00\x00\x00' +p80 +tp81 +bsg30 +g16 +(g17 +(I0 +tp82 +g19 +tp83 +Rp84 +(I1 +(I2 +tp85 +g25 +I00 +S'\x1d\x02\x00\x00\x00\x00\x00\x00\x1a\x01\x00\x00\x00\x00\x00\x00' +p86 +tp87 +bssa(dp88 +g2 +g3 +(g7 +S"\xa5\xdc'\xa2\xcd\x8c\t@" +p89 +tp90 +Rp91 +sg13 +(dp92 +g15 +g16 +(g17 +(I0 +tp93 +g19 +tp94 +Rp95 +(I1 +(I2 +tp96 +g25 +I00 +S'\x05\x03\x00\x00\x00\x00\x00\x00]\x00\x00\x00\x00\x00\x00\x00' +p97 +tp98 +bsg30 +g16 +(g17 +(I0 +tp99 +g19 +tp100 +Rp101 +(I1 +(I2 +tp102 +g25 +I00 +S'V\x00\x00\x00\x00\x00\x00\x00\x7f\x01\x00\x00\x00\x00\x00\x00' +p103 +tp104 +bssa. \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..403ea42 --- /dev/null +++ b/package.xml @@ -0,0 +1,70 @@ + + + semnav_ros + 0.0.0 + Semantic navigation package + + + + + Kevin Chen + + + + + + MIT + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + gibson-ros + gibson-ros + gibson-ros + + actionlib_msgs + actionlib_msgs + + actionlib + actionlib_msgs + actionlib + actionlib_msgs + + + + + + + + diff --git a/requirements.txt b/requirements.txt new file mode 100644 index 0000000..6ed9648 --- /dev/null +++ b/requirements.txt @@ -0,0 +1,38 @@ +backports.functools-lru-cache==1.5 +backports.shutil-get-terminal-size==1.0.0 +cycler==0.10.0 +decorator==4.3.0 +enum34==1.1.6 +futures==3.2.0 +imageio==2.5.0 +ipdb==0.11 +ipython==5.8.0 +ipython-genutils==0.2.0 +kiwisolver==1.0.1 +matplotlib==2.2.3 +networkx==2.2 +numpy==1.15.4 +opencv-python==3.4.2.17 +pandas==0.23.4 +pathlib2==2.3.3 +pexpect==4.6.0 +pickleshare==0.7.5 +Pillow==5.2.0 +prompt-toolkit==1.0.15 +protobuf==3.6.0 +ptyprocess==0.6.0 +Pygments==2.3.1 +pyparsing==2.3.0 +python-dateutil==2.7.5 +pytz==2018.9 +PyYAML==5.1 +scandir==1.9.0 +scipy==1.1.0 +simplegeneric==0.8.1 +six==1.11.0 +subprocess32==3.5.3 +tensorboardX==1.4 +torch==1.0.0 +torchvision==0.2.1 +traitlets==4.3.2 +wcwidth==0.1.7 diff --git a/src/semnav/__init__.py b/src/semnav/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/config.py b/src/semnav/config.py new file mode 100644 index 0000000..48603f7 --- /dev/null +++ b/src/semnav/config.py @@ -0,0 +1,95 @@ +from __future__ import print_function + +import argparse +import os +import torch + +from pprint import pprint + +from semnav.lib.utils import mkdir + + +DATASET_ROOT = '/data/sem-nav/trajectory-data' +LOG_ROOT = '/data/sem-nav/experiments/public' +STANFORD_JSON = '/home/kchen92/Dev/sem-nav/data/semantic_labels.json' +MAPS_ROOT = '/home/kchen92/Dev/sem-nav/maps/v0.2' + + +parser = argparse.ArgumentParser(description='Semantic Navigation Configuration') +parser.add_argument('--dataset', type=str) +parser.add_argument('--log_dir', type=str) +parser.add_argument('--batch_size', default=32, type=int) +parser.add_argument('--learning_rate', default=1e-4, type=float) +parser.add_argument('--ckpt_path', type=str) # Load ckpt from this path # Unused for now +parser.add_argument('--print_freq', default=500, type=int) +parser.add_argument('--ckpt_freq', type=int) +parser.add_argument('--val_freq', default=500, type=int) +parser.add_argument('--n_epochs', default=20, type=int) +parser.add_argument('--n_workers', default=4, type=int) + +# Depth sensor +parser.add_argument('--min_depth', default=0.8, type=float) +parser.add_argument('--max_depth', default=3.5, type=float) +parser.add_argument('--hole_val', default=0., type=float) + +# Dataset parameters +parser.add_argument('--dataset_type', type=str) +parser.add_argument('--first_n_frames', type=int) +parser.add_argument('--remove_last_n_frames', type=int) +parser.add_argument('--ignore_validity', action='store_true') +parser.add_argument('--behavior_id', type=str) # Not affected by cache +parser.add_argument('--temporal_dilation', default=1, type=int) # Temporal dataset only +parser.add_argument('--n_frames_per_sample', default=20, type=int) # Temporal dataset only + +# Learning +parser.add_argument('--behaviornet_type', type=str) # Only used for train/test +parser.add_argument('--use_semantic_class', type=str) # Adds semantics to input channel + +# Graph/GraphNet +parser.add_argument('--n_neighbor_dist', type=int, default=2) # For subgraph construction +parser.add_argument('--aggregate_method', type=str, default='sum', choices=['sum', 'avg']) +parser.add_argument('--gn_classification', type=str, default='edge', choices=['node', 'edge', 'joint']) +parser.add_argument('--use_gn_augmentation', action='store_true') +parser.add_argument('--n_graphnet_layers', type=int, default=2) +parser.add_argument('--graphnet_feat_size', type=int, default=256) + +# GraphNet using affordances +parser.add_argument('--gn_cnn_encoder_learning_rate', type=float) + +# Only used when running the evaluator standalone, otherwise ignored +parser.add_argument('--visualize_results', action='store_true') + +args = parser.parse_args() +args.dataset_root = DATASET_ROOT +args.stanford_json = STANFORD_JSON +args.maps_root = MAPS_ROOT + +print('---------------- CONFIG ----------------') +pprint(vars(args)) +print('----------------------------------------') + + +def get_config(): + args.device = torch.device('cuda:0' if torch.cuda.is_available() else 'cpu') + + args.valid_only = not args.ignore_validity + + # Set oor to be equal to tr when segmenting behaviors + if args.behavior_id == 'tr': + args.behavior_id = ['tr', 'rio'] + elif args.behavior_id == 'tl': + args.behavior_id = ['tl', 'lio'] + + if args.log_dir is not None: + args.log_dir = os.path.join(LOG_ROOT, args.log_dir) + args.ckpt_dir = os.path.join(args.log_dir, 'models') # Directory for saving checkpoints + + # Make directories + mkdir(args.log_dir) + mkdir(args.ckpt_dir) + + return args + + +if __name__ == '__main__': + get_config() diff --git a/src/semnav/dataset/__init__.py b/src/semnav/dataset/__init__.py new file mode 100644 index 0000000..0c32321 --- /dev/null +++ b/src/semnav/dataset/__init__.py @@ -0,0 +1,116 @@ +from __future__ import print_function + +import os + +from semnav.config import get_config +from semnav.dataset.frame_by_frame_dataset import FrameByFrameDataset +from semnav.dataset.temporal_dataset import TemporalDataset +from semnav.dataset.graph_net_dataset import GraphNetDataset +from semnav.dataset.graph_net_frame_dataset import GraphNetFrameDataset +from torch.utils.data import ConcatDataset + + +def load_dataset(data_dir, cfg): + """Load a dataset given a parsed rosbag directory. + + Args: + data_dir: Full path to the data directory. + cfg: Configuration. + """ + print(' Loading:', data_dir) + if cfg.dataset_type == 'frame_by_frame': + return FrameByFrameDataset(data_dir, first_n_in_sequence=cfg.first_n_frames, + remove_last_n_in_sequence=cfg.remove_last_n_frames, + behavior_ids=cfg.behavior_id, valid_only=cfg.valid_only) + elif cfg.dataset_type == 'temporal': + return TemporalDataset(data_dir, temporal_dilation=cfg.temporal_dilation, + n_frames_per_sample=cfg.n_frames_per_sample, + first_n_in_sequence=cfg.first_n_frames, + remove_last_n_in_sequence=cfg.remove_last_n_frames, + behavior_ids=cfg.behavior_id, valid_only=cfg.valid_only) + elif cfg.dataset_type == 'graph_net': + return GraphNetDataset(data_dir, temporal_dilation=cfg.temporal_dilation, + n_frames_per_sample=cfg.n_frames_per_sample, + first_n_in_sequence=cfg.first_n_frames, + remove_last_n_in_sequence=cfg.remove_last_n_frames, + behavior_ids=cfg.behavior_id, valid_only=cfg.valid_only) + elif cfg.dataset_type == 'single_frame_graph_net': + return GraphNetFrameDataset(data_dir, first_n_in_sequence=cfg.first_n_frames, + remove_last_n_in_sequence=cfg.remove_last_n_frames, + behavior_ids=cfg.behavior_id, valid_only=cfg.valid_only) + else: + raise ValueError('Please select a valid dataset type') + + +def load_dataset_splits(bag_dir_name, cfg): + """Load the train/val/test splits as Datasets for a parsed bag directory. + + Args: + bag_dir_name: Name of bag/directory under cfg.dataset_root. + cfg: Configuration. + """ + processed_bag_dir = os.path.join(cfg.dataset_root, bag_dir_name) + train_set = load_dataset(os.path.join(processed_bag_dir, 'train'), cfg) + val_set = load_dataset(os.path.join(processed_bag_dir, 'val'), cfg) + test_set = load_dataset(os.path.join(processed_bag_dir, 'test'), cfg) + return train_set, val_set, test_set + + +def concat_datasets(bag_names, cfg): + """Combine the train, val, and test sets from each parsed bag directory. + + Args: + bag_names: List of bag/directory names under cfg.dataset_root. + cfg: Configuration. + """ + train_sets, val_sets, test_sets = ([], [], []) + for bag_name in bag_names: + cur_train_set, cur_val_set, cur_test_set = load_dataset_splits(bag_name, cfg) + train_sets.append(cur_train_set) + val_sets.append(cur_val_set) + test_sets.append(cur_test_set) + train_set = ConcatDataset(train_sets) + val_set = ConcatDataset(val_sets) + test_set = ConcatDataset(test_sets) + return train_set, val_set, test_set + + +def merge_into_single_split(bag_names, cfg): + """Each parsed bag directory has train/val/test subfolders. This function can be used to combine + the data across all three splits (train/val/test) into a single torch dataset/split. + """ + train_set, val_set, test_set = concat_datasets(bag_names, cfg) + dataset = ConcatDataset([train_set, val_set, test_set]) + return dataset + + +def get_split_datasets(dataset_name): + """Returns a train set, val set, and test set. + """ + print('loading dataset...') + cfg = get_config() + if dataset_name == 'v0.2': + train_bag_names = [ + 'v0.2/nav_area_1', + 'v0.2/nav_area_5b', + 'v0.2/nav_area_6', + ] + val_bag_names = [ + 'v0.2/nav_area_3', + ] + test_bag_names = [ + 'v0.2/nav_area_4', + ] + train_set = merge_into_single_split(train_bag_names, cfg) + val_set = merge_into_single_split(val_bag_names, cfg) + test_set = merge_into_single_split(test_bag_names, cfg) + else: + print('Selected dataset: %s' % dataset_name) + raise ValueError('Please use a valid dataset.') + + print('full dataset size:', len(train_set) + len(val_set) + len(test_set)) + print('train set size:', len(train_set)) + print('val set size:', len(val_set)) + print('test set size:', len(test_set)) + print('') + return train_set, val_set, test_set diff --git a/src/semnav/dataset/build_dataset_cache.py b/src/semnav/dataset/build_dataset_cache.py new file mode 100644 index 0000000..6555308 --- /dev/null +++ b/src/semnav/dataset/build_dataset_cache.py @@ -0,0 +1,103 @@ +from __future__ import print_function + +import os +import pickle + +from semnav.config import get_config +from semnav.dataset import load_dataset_splits +from semnav.dataset.dataset_utils import remove_dataset_root +from torch.utils.data import DataLoader + + +class DatasetCacheWriter(object): + """Build a cache directory (and populate it) to quickly load different types of datasets. + + This allows us to quickly: + - Load a sequence at a time by loading one frame at a time sequentially. Each data item is a + frame in the dataset. + - Load a segments of sequences for a specific behavior (e.g. turn right). Each data item is a + sequence of chronologically adjacent frames for that behavior. + + Q: When should I rebuild the cache? + A: 1. The cache should be rebuilt every time you want to use the cache for loading datasets with + different TrajectoryDataset parameters. + 2. The cache should also be rebuilt if any of the parsed bag directories move, since the + cache relies on absolute paths. + + To delete the cache, just delete the cache pickle files from the train/val/test subdirectories. + """ + + def __init__(self, root_dir): + self.root_dir = root_dir + self.cfg = get_config() + + print('Building cache:', self.root_dir) + assert self.cfg.dataset_type == 'frame_by_frame', 'Please use a FrameByFrameDataset type' + dataset_splits = load_dataset_splits(root_dir, self.cfg) + split_names = ('train', 'val', 'test') + for split_name, dataset in zip(split_names, dataset_splits): + print('Processing {} split'.format(split_name)) + cur_cache = self.build_cache(dataset) + + # Write cache + p_filepath = os.path.join(root_dir, split_name, 'dataset_cache.p') + with open(p_filepath, 'wb') as f: + pickle.dump(cur_cache, f) + print(' Wrote to {}'.format(p_filepath)) + + def build_cache(self, dataset): + # Add dataset filenames to cache + # Use relative paths (relative to cfg.dataset_root) + relative_filepaths = [remove_dataset_root(self.cfg, path) for path in dataset.filenames] + cache = { + 'sequential_frames': relative_filepaths, + } + + data_loader = DataLoader(dataset=dataset, batch_size=1, shuffle=False, num_workers=1) + last_frame = None + cur_behavior_sequence = [] + + # Variables for caching for node sequences + prev_node_name = None + cur_frame_paths = None + node_sequences = [] + + for cur_frame in data_loader: + cur_fpath = cur_frame['frame_path'][0] + cur_behavior_id = cur_frame['behavior_id'][0] + if last_frame is not None: + last_behavior_id = last_frame['behavior_id'][0] + + if (last_frame is None) or (cur_behavior_id == last_behavior_id): + if cur_behavior_id != dataset.NO_BEHAVIOR_TOKEN: + cur_behavior_sequence.append(remove_dataset_root(self.cfg, cur_fpath)) + else: + if last_behavior_id != dataset.NO_BEHAVIOR_TOKEN: + if last_behavior_id not in cache: + cache[last_behavior_id] = [] + cache[last_behavior_id].append(cur_behavior_sequence) + cur_behavior_sequence = [remove_dataset_root(self.cfg, cur_fpath)] + + # Cache node sequences (similar to in phase_net_dataset) + cur_node_name = cur_frame['node_name'] + if cur_node_name != dataset.NO_NODE_NAME: + if cur_node_name == prev_node_name: + cur_frame_paths.append(remove_dataset_root(self.cfg, cur_fpath)) + else: + if cur_frame_paths is not None: + node_sequences.append(cur_frame_paths) + cur_frame_paths = [remove_dataset_root(self.cfg, cur_fpath)] + prev_node_name = cur_node_name + + # Update + last_frame = cur_frame + cache['node_sequences'] = node_sequences + return cache + + +def main(): + DatasetCacheWriter('/data/sem-nav/trajectory-data/tiny_dataset_nav_room_area_1_set_1') + + +if __name__ == '__main__': + main() diff --git a/src/semnav/dataset/data_splits.py b/src/semnav/dataset/data_splits.py new file mode 100644 index 0000000..28d1500 --- /dev/null +++ b/src/semnav/dataset/data_splits.py @@ -0,0 +1,122 @@ +"""Get train/val/test splits for a given dataset. +""" + +from __future__ import print_function + +import os +import shutil +import random + +from semnav.lib.utils import mkdir +from torch._utils import _accumulate +from torch.utils.data.dataset import Subset + + +def get_split_sizes(dataset_len, split_portions): + """Return sizes of each split given the full dataset size/length and the split portions. + + Args: + dataset_len: Size of dataset (number of samples). + split_portions: Fraction of each size of the split. Example: (0.8, 0.1, 0.1). + + Returns: + lengths: List with each index containing the size (number of samples) of that split. + """ + assert sum(split_portions) == 1. + # Determine sizes of each split + lengths = [int(split_frac * dataset_len) for split_frac in split_portions] + leftover = dataset_len - sum(lengths) + lengths[0] += leftover # Add leftover samples to the first split + return lengths + + +def create_splits(root_dir, split_names=('train', 'val', 'test'), split_portions=(0.8, 0.1, 0.1), + seed=123): + """Assume that the root_dir contains a list of subdirs. This function will move every subdir + into a 'train', 'val', or 'test' folder under the root_dir, according to the split_portions. + + Args: + split_names: Names of each split. A new subdirectory under root_dir will be created using + each of these names. The length of split_names must match that of split_portions. + """ + subdirs = os.listdir(root_dir) + for cur_subdir in subdirs: + assert os.path.isdir(os.path.join(root_dir, cur_subdir)) + for split_name in split_names: + assert split_name not in subdirs + + dataset_len = len(subdirs) + lengths = get_split_sizes(dataset_len, split_portions) # Get the size of each split + + # Create a permutation + rand = random.Random(seed) + perm = range(dataset_len) + rand.shuffle(perm) # Shuffle in place + + # split_subdirs = [] + for split_idx, (offset, length) in enumerate(zip(_accumulate(lengths), lengths)): + indices_of_subdirs_in_cur_split = perm[offset - length:offset] + # subdirs_in_cur_split = [] + + # Create split directory + dest = os.path.join(root_dir, split_names[split_idx]) # e.g. /train + print('Creating:', dest) + mkdir(dest) + + for subdir_idx in indices_of_subdirs_in_cur_split: + cur_subdir = subdirs[subdir_idx] + # subdirs_in_cur_split.append(cur_subdir) + + # Move the directory + src = os.path.join(root_dir, cur_subdir) + shutil.move(src, dest) + # split_subdirs.append(subdirs_in_cur_split) + + +def get_splits(dataset, split_portions=(0.8, 0.1, 0.1), seed=123): + """Return a list of Subsets given a dataset. Use a fixed seed (and split portions) to ensure the + splits are always the same across every run. + """ + dataset_len = len(dataset) + lengths = get_split_sizes(dataset_len, split_portions) # Get the size of each split + + # Create a permutation + rand = random.Random(seed) + perm = range(dataset_len) + rand.shuffle(perm) # Shuffle in place + + assert sum(lengths) == dataset_len + return [Subset(dataset, perm[offset - length:offset]) + for offset, length in zip(_accumulate(lengths), lengths)] + + +def test_get_splits(): + from semnav.dataset.frame_by_frame_dataset import FrameByFrameDataset + root_dir = '/home/kchen92/Data/sem-nav/trajectory-data/nav_corridor_area_1' + dataset = FrameByFrameDataset(root_dir) + subsets = get_splits(dataset) + + +def test_create_splits(): + root_dir = '/home/kchen92/Data/sem-nav/trajectory-data/nav_corridor_area_1' + subsets = create_splits(root_dir) + + +if __name__ == '__main__': + import argparse + parser = argparse.ArgumentParser() + parser.add_argument('dataset_root_dir', type=str) + + args = parser.parse_args() + print('About to move directories in:') + print(args.dataset_root_dir) + subdirs = os.listdir(args.dataset_root_dir) + print('') + print('Some subdirectories include:') + for idx, cur_subdir in enumerate(subdirs): + print('\t{}'.format(cur_subdir)) + if (idx + 1) % 10 == 0: + break + raw_input('Are you sure you want to continue? (ctrl+C to quit)') + + create_splits(args.dataset_root_dir) diff --git a/src/semnav/dataset/dataset_utils.py b/src/semnav/dataset/dataset_utils.py new file mode 100644 index 0000000..f68c78c --- /dev/null +++ b/src/semnav/dataset/dataset_utils.py @@ -0,0 +1,13 @@ +import os + +from semnav.lib.utils import get_frame_paths, get_frame_idx + + +def prepend_dataset_root(cfg, path): + assert not path.startswith(cfg.dataset_root) + return os.path.join(cfg.dataset_root, path) + + +def remove_dataset_root(cfg, path): + assert path.startswith(cfg.dataset_root) + return os.path.relpath(path, start=cfg.dataset_root) diff --git a/src/semnav/dataset/dataset_visualizer.py b/src/semnav/dataset/dataset_visualizer.py new file mode 100644 index 0000000..42bdb55 --- /dev/null +++ b/src/semnav/dataset/dataset_visualizer.py @@ -0,0 +1,262 @@ +"""Visualize the dataset by making it into a video. +""" + +from __future__ import print_function +from __future__ import division + +import cv2 +import matplotlib.pyplot as plt +import networkx as nx +import numpy as np +import os +import torch + +from semnav.config import get_config +from semnav.dataset import get_split_datasets, load_dataset, load_dataset_splits + +from semnav.dataset.graph_net_frame_dataset import GraphNetFrameDataset +from semnav.dataset.graph_net_dataset import graph_net_collate_fn +from semnav.dataset.trajectory_dataset import TrajectoryDataset +from semnav.lib.categories import SemanticCategory +from semnav.lib.image_map_transformer import Image2MapTransformer +from semnav.lib.sem_graph import SemGraph +from torch.utils.data import ConcatDataset, DataLoader +from torchvision.utils import make_grid + + +class DatasetVisualizer(object): + + FONT = cv2.FONT_HERSHEY_SIMPLEX + + def __init__(self): + self.cfg = get_config() + self.fig = plt.figure() + self.softmax = torch.nn.Softmax(dim=0) + + # Graph visualizer attributes + self.ax = self.fig.gca() + + self.img_write_idx = 0 + + def visualize_sample(self, sample, top_right=None): + """Visualize a frame data. + + Args: + sample: Parsed frame data. + top_right: String to display in the upper right corner. + + Returns: + to_break: Whether or not to break out of the data visualizer main loop. + """ + if isinstance(sample, tuple): # Graph net dataset + (sample, node_names, node_categories_tensor, edge_categories_tensor, + edge_connections_tensor, graph_idx_of_node_tensor, graph_idx_of_edge_tensor, + gt_node_idx_list, gt_edge_idx_list, n_nodes_per_graph, n_edges_per_graph) = sample + has_graph_info = True + area_name = sample.get('area_name') + yaml_filepath = os.path.join(self.cfg.maps_root, area_name[0] + '.yaml') + self.sem_graph = SemGraph(yaml_filepath) + self.img2map = Image2MapTransformer(yaml_filepath) + else: + has_graph_info = False + + rgb_img = sample['rgb'][0] + depth_img = torch.cat([sample['depth'][0]] * 3, dim=0) / self.cfg.max_depth + images = [rgb_img, depth_img] + semantic_img = sample['semantics_rgb'][0] # Semantic image in rgb form + if torch.sum(semantic_img) > 0: + semantic_img = semantic_img.type(torch.FloatTensor) / 255. + semantic_img = semantic_img.permute(2, 0, 1) + images.append(semantic_img) + + # Visualize binary mask of door + semantic_idx = sample['semantics_idx'][0] # Semantic image in rgb form + door_mask = semantic_idx == SemanticCategory.door + door_mask = door_mask.type(torch.FloatTensor) + images.append(door_mask) + pred_str = sample.get('prediction_str') + if has_graph_info is True: + # Re-create subgraph + nxG_compact = nx.OrderedDiGraph() + pos_dic = dict() + + # Create nodes + for node_name in node_names: + # Create node + nxG_compact.add_node(node_name) + y, x = self.img2map.map2pixel(self.sem_graph.nodes[node_name].map_coord) + pos_dic[node_name] = (x, y) + + # Create edges + for u, v in edge_connections_tensor.tolist(): + nxG_compact.add_edge(node_names[u], node_names[v]) + + if (pred_str is not None) and (self.cfg.behaviornet_type == 'graph_net'): + net_output, pred_str = pred_str + global_features, node_features, edge_features = net_output + node_colors = [] + for node_name in nxG_compact.nodes: + if node_name == pred_str.split(' ')[0]: + node_colors.append('r') + elif node_name == sample.get('localized_node_name')[0]: + node_colors.append('g') + else: + node_colors.append('#A0CBE2') + + # Normalize predictions + edge_features_normalized = self.softmax(edge_features) + edge_colors = [w for w in torch.squeeze(edge_features_normalized).tolist()] + nx.draw_networkx(nxG_compact, pos=pos_dic, with_labels=False, node_size=20, node_color=node_colors, + edge_color=edge_colors, width=2., edge_cmap=plt.cm.Blues, ax=self.ax) + else: + subgraph_nodes = [n for n in nxG_compact.nodes] + nx.draw_networkx_nodes(nxG_compact, pos=pos_dic, nodelist=subgraph_nodes, node_color='#759aad', ax=self.ax) + nx.draw_networkx_nodes(nxG_compact, pos=pos_dic, nodelist=[sample.get('localized_node_name')[0]], node_color='r', ax=self.ax) + nx.draw_networkx_edges(nxG_compact, pos=pos_dic, ax=self.ax) + nx.draw_networkx_labels(nxG_compact, pos=pos_dic, font_family='Gentium Book Basic') + + map_img = cv2.imread(os.path.join(self.cfg.maps_root, area_name[0] + '.png')) + self.ax.imshow(map_img) + self.ax.set_xlim(0, map_img.shape[1]) + self.ax.set_ylim(0, map_img.shape[0]) + self.ax.invert_yaxis() + plt.axis('off') + plt.subplots_adjust(left=0, right=1, top=1, bottom=0) # This need to be set to not have any offset in the graph + + # Make the longest edge 10 inches + max_edge_len_inches = 10. + longest_edge_in_px = max(map_img.shape[0], map_img.shape[1]) + w_inches = float(map_img.shape[1]) / longest_edge_in_px * max_edge_len_inches + h_inches = float(map_img.shape[0]) / longest_edge_in_px * max_edge_len_inches + self.fig.set_size_inches(w_inches, h_inches) + self.fig.canvas.draw() + + graph_img_np = np.fromstring(self.fig.canvas.tostring_rgb(), dtype=np.uint8, sep='') + graph_img_np = graph_img_np.reshape(self.fig.canvas.get_width_height()[::-1] + (3,)) + + grid_img = make_grid(images) + + # Parse sample + behavior_id = sample.get('behavior_id') + localized_behavior_id = sample.get('localized_behavior_id') + affordance_vec = sample.get('affordance_vec') + node_name = sample.get('node_name') + phase = sample.get('phase') + room_name = sample['room_name'] + is_invalid = sample['is_invalid'][0] + sequence_idx = sample['sequence_idx'].numpy()[0] + + img_np = grid_img.numpy() + img_np = np.transpose(img_np, (1, 2, 0)) + img_uint = img_np * 255. + img_uint = img_uint[:, :, ::-1] + img_uint = img_uint.astype(np.uint8).copy() + cv2.putText(img_uint, text=room_name[0], org=(350, 220), fontFace=self.FONT, fontScale=1, + color=(255, 0, 0), thickness=2) + cv2.putText(img_uint, text=str(sequence_idx), org=(10, 30), fontFace=self.FONT, fontScale=1, + color=(255, 0, 0), thickness=2) + if top_right is not None: + assert isinstance(top_right, str) + cv2.putText(img_uint, text=top_right, org=(350, 30), fontFace=self.FONT, fontScale=1, + color=(255, 0, 0), thickness=2) + if behavior_id is not None: + cv2.putText(img_uint, text=behavior_id[0], org=(10, 220), fontFace=self.FONT, fontScale=1, + color=(0, 0, 255), thickness=2) + if localized_behavior_id is not None: + cv2.putText(img_uint, text=localized_behavior_id[0], org=(10, 150), fontFace=self.FONT, fontScale=1, + color=(0, 255, 255), thickness=2) + cv2.putText(img_uint, text=sample.get('localized_node_name')[0], org=(10, 180), fontFace=self.FONT, fontScale=1, + color=(0, 255, 255), thickness=2) + if affordance_vec is not None: + affordance_list = TrajectoryDataset.affordance_vec2list(affordance_vec.numpy()[0]) + if len(affordance_list) > 0: + cur_affordances = ' '.join([x for x in affordance_list]) + cv2.putText(img_uint, text=cur_affordances, org=(350, 30), fontFace=self.FONT, fontScale=1, + color=(255, 0, 0), thickness=2) + if node_name is not None: + cv2.putText(img_uint, text=node_name[0], org=(350, 60), fontFace=self.FONT, fontScale=1, + color=(255, 0, 0), thickness=2) + if phase is not None: + phase = np.round(phase.numpy()[0], decimals=2) + cv2.putText(img_uint, text=str(phase), org=(350, 90), fontFace=self.FONT, fontScale=1, + color=(255, 0, 0), thickness=2) + if pred_str is not None: + cv2.putText(img_uint, text=str(pred_str), org=(10, 80), fontFace=self.FONT, fontScale=0.75, + color=(255, 0, 0), thickness=2) + if is_invalid == 1: + cv2.putText(img_uint, text='invalid', org=(10, 100), fontFace=self.FONT, fontScale=1, + color=(0, 0, 255), thickness=2) + cv2.imshow('image', img_uint) + if has_graph_info is True: + cv2.imshow("Graph", cv2.cvtColor(graph_img_np, cv2.COLOR_BGR2RGB)) + self.ax.clear() + k = cv2.waitKey(0) + + # Write images + for modality_idx, img in enumerate(images): + img_np = img.numpy() + img_np = np.transpose(img_np, (1, 2, 0)) + img_uint = img_np * 255. + img_uint = img_uint[:, :, ::-1] + + # Save depth map + self.img_write_idx += 1 + + if k == 27: # wait for ESC key to exit + cv2.destroyAllWindows() + return True + else: + return False + + def visualize_data_loader_item(self, dataset_item, use_frame_by_frame=False): + if (use_frame_by_frame is True) or (self.cfg.dataset_type == 'frame_by_frame') or (self.cfg.dataset_type == 'single_frame_graph_net'): + to_break = self.visualize_sample(dataset_item) + elif self.cfg.dataset_type == 'temporal': + assert len(dataset_item) == self.cfg.n_frames_per_sample + for i in range(len(dataset_item)): + to_break = self.visualize_sample(dataset_item[i], top_right=str(i)) + + if to_break: + break + else: + raise ValueError('Dataset type missing or not supported.') + return to_break + + def run(self, bag_dir_name=None): + """Visualize data in a Dataset. + + Usage: + - Press any key to move onto the next frame. + - Press ESC to terminate the program. + """ + print('Loading dataset') + if self.cfg.dataset is not None: + train_set, val_set, test_set = get_split_datasets(self.cfg.dataset) + self.dataset = ConcatDataset([train_set, val_set, test_set]) + else: + if os.path.isdir(os.path.join(self.cfg.dataset_root, bag_dir_name, 'train')): + train_set, val_set, test_set = load_dataset_splits(bag_dir_name, self.cfg) + self.dataset = ConcatDataset([train_set, val_set, test_set]) + else: + self.dataset = load_dataset(os.path.join(self.cfg.dataset_root, bag_dir_name), self.cfg) + if (self.cfg.dataset_type == 'graph_net'): + dataset_loader = DataLoader(dataset=self.dataset, batch_size=1, shuffle=False, num_workers=0, + collate_fn=graph_net_collate_fn) + elif (self.cfg.dataset_type == 'single_frame_graph_net'): + dataset_loader = DataLoader(dataset=self.dataset, batch_size=1, shuffle=False, num_workers=0, + collate_fn=GraphNetFrameDataset.collate_fn) + else: + dataset_loader = DataLoader(dataset=self.dataset, batch_size=1, shuffle=False, num_workers=0) + print('Done!') + + for idx, dataset_item in enumerate(dataset_loader): + to_break = self.visualize_data_loader_item(dataset_item) + if to_break: + break + + +if __name__ == '__main__': + # Manually edit this :) + bag_dir_name = 'path_to_dir' + dataset_visualizer = DatasetVisualizer() + dataset_visualizer.run(bag_dir_name=bag_dir_name) diff --git a/src/semnav/dataset/depth_transform.py b/src/semnav/dataset/depth_transform.py new file mode 100644 index 0000000..ee97bf2 --- /dev/null +++ b/src/semnav/dataset/depth_transform.py @@ -0,0 +1,29 @@ +"""Transform for Gibson inputs into depth values. +""" + +import numpy as np + + +class DepthTransform(object): + """Process depth image. + """ + + def __init__(self, min_depth, max_depth, hole_val=0.): + """Constructor. + + Args: + min_depth: Minimum distance detectable by the sensor in meters. + max_depth: Maximum distance detectable by the sensor in meters. + hole_val: Holes in the depth map are set to this value (float32). + """ + self.min_depth = min_depth + self.max_depth = max_depth + self.hole_val = hole_val + + def __call__(self, depth_sample): + """Assumes depth_sample is in meters. + """ + # Replace nans with hole_val + depth_no_nan = np.where(np.isnan(depth_sample), self.hole_val, depth_sample) + clipped = np.clip(depth_no_nan, self.min_depth, self.max_depth) # Clip values + return clipped diff --git a/src/semnav/dataset/frame_by_frame_dataset.py b/src/semnav/dataset/frame_by_frame_dataset.py new file mode 100644 index 0000000..1c7bccc --- /dev/null +++ b/src/semnav/dataset/frame_by_frame_dataset.py @@ -0,0 +1,30 @@ +"""PyTorch Dataset where each sample is one timestep frame. +""" + +import numpy as np +import torch + +from semnav.dataset.trajectory_dataset import TrajectoryDataset + + +class FrameByFrameDataset(TrajectoryDataset): + + def __init__(self, root_dir, first_n_in_sequence=None, remove_last_n_in_sequence=None, + behavior_ids=None, valid_only=True): + """Constructor. + + Args: + first_n_in_sequence: This dataset will only use the first first_n_in_sequence frames of + each sequence. All other frames in each sequence will be discarded. + remove_last_n_in_sequence: If there are 40 frames and remove_last_n_in_sequence == 1, + then only the very last frame will be removed. + """ + super(FrameByFrameDataset, self).__init__(root_dir, first_n_in_sequence=first_n_in_sequence, + remove_last_n_in_sequence=remove_last_n_in_sequence, + behavior_ids=behavior_ids, valid_only=valid_only) + + def __len__(self): + return len(self.filenames) + + def __getitem__(self, idx): + return self.get_frame_data(self.filenames[idx]) diff --git a/src/semnav/dataset/graph_net_dataset.py b/src/semnav/dataset/graph_net_dataset.py new file mode 100644 index 0000000..2ce0c0c --- /dev/null +++ b/src/semnav/dataset/graph_net_dataset.py @@ -0,0 +1,296 @@ +from __future__ import print_function + +import os +import torch + +from random import choice +from torch.utils.data.dataloader import default_collate + +from semnav.dataset.temporal_dataset import TemporalDataset +from semnav.lib.sem_graph import SemGraph +from semnav.lib.sub_graph import SubGraph + + +def is_same_behavior_id_str(behavior_id_str_1, behavior_id_str_2): + """Checks if the two behavior ID strings are the same (e.g. 'fd' vs. 'fd_r' should return + True). + + Args: + behavior_id_str_1: Behavior ID as a string. + behavior_id_str_2: Behavior ID as a string. + """ + return behavior_id_str_1.startswith(behavior_id_str_2) or behavior_id_str_2.startswith(behavior_id_str_1) + + +class GraphNetDataset(TemporalDataset): + """Dataset used for training the graph networks. This is an extension of the temporal dataset. + + The proper way to do this is to create a separate GraphNetDataset class which does not have any + parent classes. Then, the temporal graph net dataset should subclass both the TemporalDataset + and the new GraphNetDataset. Please address this later. + """ + + def __init__(self, root_dir, temporal_dilation=1, n_frames_per_sample=5, + first_n_in_sequence=None, remove_last_n_in_sequence=None, behavior_ids=None, + valid_only=True): + assert behavior_ids is None + super(GraphNetDataset, self).__init__( + root_dir=root_dir, + temporal_dilation=temporal_dilation, + n_frames_per_sample=n_frames_per_sample, + first_n_in_sequence=first_n_in_sequence, + remove_last_n_in_sequence=remove_last_n_in_sequence, + behavior_ids=behavior_ids, + valid_only=valid_only + ) + + self.sem_graphs = GraphNetDataset._load_graphs(self.cfg.maps_root) + + @staticmethod + def _load_graphs(maps_root): + """Returns a dictionary of SemGraph objects using the area name as the key. + """ + # Load the graphs for each area + print('Loading graphs') + area_names = ['area_1', 'area_3', 'area_4', 'area_5b', 'area_6'] + sem_graphs = {} + for area_name in area_names: + yaml_filepath = os.path.join(maps_root, area_name + '.yaml') + print('--> Loading graphs using yaml file: {}'.format(yaml_filepath)) + sem_graphs[area_name] = SemGraph(yaml_filepath) + print('--> Done loading graphs') + return sem_graphs + + @staticmethod + def _is_valid_sample(single_frame_item, no_name_token, no_behavior_token): + if ((single_frame_item['node_name'] != no_name_token) + and (single_frame_item['localized_behavior_id'] != no_behavior_token)): + return True + else: + return False + + def is_valid_sample(self, item): + """Filter out samples which do not have a tagged node name. + """ + is_valid = super(GraphNetDataset, self).is_valid_sample(item) + if is_valid and GraphNetDataset._is_valid_sample(item[-1], self.NO_NODE_NAME, self.NO_BEHAVIOR_TOKEN): + return True + else: + return False + + @staticmethod + def get_edge_connections(nxG, node_name_list): + """Get a list of edge connections (edge i corresponds to connection from node A to node B). + + Args: + nxG: NetworkX graph. + + Returns: + connections_list: List of (x, y) tuples where x and y are the start and end node indices. + """ + for node_name, x in zip(node_name_list, nxG.nodes): + assert x == node_name + node_name2node_idx = {node_name: idx for idx, node_name in enumerate(nxG.nodes)} + connections_list = [] + for u, v in nxG.edges: + connections_list.append((node_name2node_idx[u], node_name2node_idx[v])) + return connections_list + + @staticmethod + def get_graph_data(area_graph, subgraph_center_node_name, subgraph_center_behavior_id, + n_neighbor_dist, cur_gt_node_name=None, cur_gt_behavior_id=None, + use_augmentation=False): + """Return data about the graph. + + Args: + area_graph: SemGraph for the current area. + subgraph_center_node_name: Name of the last (GT or predicted) node/position in the graph, used for + subgraph creation. + cur_node_name: Name of the current GT node/position in the graph, used for determining + the GT prediction. + n_neighbor_dist: Neighbor distance for subgraph creation. + cur_gt_node_name: Node name of the ground truth node position. If None, the node_idx + output will be None. + cur_gt_behavior_id: Behavior ID of the ground truth edge coming out of cur_gt_node_name. + If None, the edge_idx output will be None. + + Returns: + node_name_list: List of node names in the subgraph. + node_categories: Categories for each node in the subgraph. + edge_categories: Categories for each edge in the subgraph. + node_idx: Index of the ground truth node (corresponding with cur_gt_node_name). + edge_idx: Index of the ground truth edge (corresponding with cur_gt_node_name and + cur_gt_behavior_id). + """ + subgraph = SubGraph(area_graph, subgraph_center_node_name, n_neighbor_dist=n_neighbor_dist, + cur_behavior_id=subgraph_center_behavior_id) + if use_augmentation is True: + assert cur_gt_node_name is not None + while True: + if subgraph_center_behavior_id is not None: + new_subgraph_center_edge = choice(list(subgraph.nxG_compact.edges)) + new_subgraph_center_behavior_id_enum = subgraph.nxG_compact.edges[new_subgraph_center_edge]['behavior_category'] + new_subgraph_center_behavior_id = new_subgraph_center_behavior_id_enum.name + new_subgraph_center_node_name = new_subgraph_center_edge[0] + else: + raise NotImplementedError('I havent tested this.') + # Choose a random node from the subgraph as the new subgraph center + new_subgraph_center_node_name = choice(list(subgraph.nxG_compact.nodes)) + new_subgraph_center_behavior_id = None + proposed_subgraph = SubGraph(area_graph, new_subgraph_center_node_name, + n_neighbor_dist=n_neighbor_dist, + cur_behavior_id=new_subgraph_center_behavior_id) + + # Make sure the gt node and edge are in the new subgraph + exit_loop = False + for cur_edge in proposed_subgraph.nxG_compact.edges: + if ((cur_edge[0] == cur_gt_node_name) + and ((cur_gt_behavior_id is None) or is_same_behavior_id_str(proposed_subgraph.nxG_compact.edges[cur_edge]['behavior_category'].name, cur_gt_behavior_id))): + exit_loop = True + break + if exit_loop is True: + subgraph = proposed_subgraph + break + + # We need to make sure the node order and edge order is always the same when we run nxG.nodes or nxG.edges + node_name_list = [] + node_category_list = [] + for node_name in subgraph.nxG_compact.nodes: + node_name_list.append(node_name) + node_category_list.append(subgraph.nxG_compact.nodes[node_name]['room_category']) + edge_tuple_list = [] + edge_category_list = [] + node_idx = None + edge_idx = None + for idx, edge_tuple in enumerate(subgraph.nxG_compact.edges): + edge_tuple_list.append(edge_tuple) + edge_category_list.append(subgraph.nxG_compact.edges[edge_tuple]['behavior_category']) + + if ((cur_gt_node_name is not None) and (cur_gt_behavior_id is not None) + and (edge_tuple[0] == cur_gt_node_name) + and is_same_behavior_id_str(subgraph.nxG_compact.edges[edge_tuple]['behavior_category'].name, cur_gt_behavior_id)): + edge_idx = idx + edge_connections = GraphNetDataset.get_edge_connections(subgraph.nxG_compact, node_name_list) + assert len(node_name_list) == len(set(node_name_list)) # Check uniqueness in order for list.index() to work properly + if cur_gt_node_name is not None: + node_idx = node_name_list.index(cur_gt_node_name) + return ( + node_name_list, + torch.tensor(node_category_list, dtype=torch.int64), + torch.tensor(edge_category_list, dtype=torch.int64), + torch.tensor(edge_connections, dtype=torch.int64), + node_idx, + edge_idx, + ) + + def __getitem__(self, idx): + """Get item. The returned subgraph information is based on the PREVIOUS frame and the ground + truth node and edge is for the CURRENT frame. This is because we want to predict where the + agent is located NOW given the previous frame's localization prediction and the current + visual input. Hmm no this doesn't seem right. We just want to predict the current position + based on the most recent visual information. + + Returns: + item: Data item. + node_idx_matrix: Matrix specifying the room category for each node. + edge_idx_matrix: Matrix specifying the behavior category for each edge. + edge_connections: Edge connections. + gt_node_idx: Index of the ground truth current node in the node name list. + """ + item = super(GraphNetDataset, self).__getitem__(idx) # item is a list of frame data dicts + + most_recent_item = item[-1] # Use the most recent frame data: item[-1] + area_graph = self.sem_graphs[most_recent_item['area_name']] + cur_gt_node_name = most_recent_item['node_name'] + cur_gt_behavior_id = most_recent_item['localized_behavior_id'] + + prev_gt_node_name = item[-1]['node_name'] + prev_gt_behavior_id = item[-1]['localized_behavior_id'] + + (node_name_list, node_categories, edge_categories, edge_connections, node_idx, + edge_idx) = GraphNetDataset.get_graph_data(area_graph, + subgraph_center_node_name=prev_gt_node_name, + subgraph_center_behavior_id=prev_gt_behavior_id, + n_neighbor_dist=self.cfg.n_neighbor_dist, + cur_gt_node_name=cur_gt_node_name, + cur_gt_behavior_id=cur_gt_behavior_id, + use_augmentation=self.cfg.use_gn_augmentation) + return item, node_name_list, node_categories, edge_categories, edge_connections, node_idx, edge_idx + + +def graph_net_collate_fn(batch): + """Collate function for the GraphNetDataset. + + - B: Batch size. + - N: Total number of nodes in batch. + - E: Total number of edges in batch. + - D: Dimension of global, node, and edge features (assume they are the same). + + Args: + batch: List of dataset items. For the GraphNetDataset, each dataset item is a list of length + n_frames_per_sample. + + Returns: + item_batch: The standard output from a TemporalDataset. + node_names: A list of length N containing the names of each node. + node_categories: LongTensor of shape (N,) indicating the RoomCategory IntEnum of each + node. + edge_categories: LongTensor of shape (E,) indicating the BehaviorCategory IntEnum of each + edge. + edge_connections: LongTensor of shape (E, 2) containing edge connections (a mapping from + edges to node indices). Each element is a node index (from 0 to N-1). + graph_idx_of_node: LongTensor of shape (N,) where each element indicates which sample + in the batch the current node belongs to. Elements should range from 0 to B-1. + graph_idx_of_edge: LongTensor of shape (E,) where each element indicates which sample in the + batch the current edge belongs to. Elements should range from 0 to B-1. + """ + standard_batch = [] + node_name_list = [] # List of all node names in the batch + node_categories = [] + edge_categories = [] + graph_idx_of_node = [] + graph_idx_of_edge = [] + batch_edge_connections_list = [] + n_nodes_per_graph = [] + n_edges_per_graph = [] + gt_node_idx_list = [] + gt_edge_idx_list = [] + n_nodes_so_far = 0 + for graph_idx, sample in enumerate(batch): + # Parse sample + (item, cur_node_name_list, cur_node_categories, cur_edge_categories, edge_connections, + gt_node_idx, gt_edge_idx) = sample + + standard_batch.append(item) + node_categories.append(cur_node_categories) + edge_categories.append(cur_edge_categories) + node_name_list.extend(cur_node_name_list) + graph_idx_of_node.append(torch.tensor([graph_idx], dtype=torch.int64).repeat(cur_node_categories.size(0))) + graph_idx_of_edge.append(torch.tensor([graph_idx], dtype=torch.int64).repeat(cur_edge_categories.size(0))) + + # Edge connections + n_nodes = cur_node_categories.size(0) + n_edges = cur_edge_categories.size(0) + batch_edge_connections = edge_connections + n_nodes_so_far + batch_edge_connections_list.append(batch_edge_connections) + if gt_node_idx is not None: + gt_node_idx_list.append(gt_node_idx + n_nodes_so_far) + if gt_edge_idx is not None: + gt_edge_idx_list.append(gt_edge_idx + sum(n_edges_per_graph)) + n_nodes_so_far += n_nodes + n_nodes_per_graph.append(n_nodes) + n_edges_per_graph.append(n_edges) + item_batch = default_collate(standard_batch) + node_categories_tensor = torch.cat(node_categories, dim=0) + edge_categories_tensor = torch.cat(edge_categories, dim=0) + edge_connections_tensor = torch.cat(batch_edge_connections_list, dim=0) + graph_idx_of_node_tensor = torch.cat(graph_idx_of_node, dim=0) + graph_idx_of_edge_tensor = torch.cat(graph_idx_of_edge, dim=0) + assert n_nodes_so_far == node_categories_tensor.size(0) + node_names = default_collate(node_name_list) + assert (len(gt_node_idx_list) == 0) or (len(gt_node_idx_list) == len(batch)) + assert (len(gt_edge_idx_list) == 0) or (len(gt_edge_idx_list) == len(batch)) + + return (item_batch, node_names, node_categories_tensor, edge_categories_tensor, + edge_connections_tensor, graph_idx_of_node_tensor, graph_idx_of_edge_tensor, + gt_node_idx_list, gt_edge_idx_list, n_nodes_per_graph, n_edges_per_graph) diff --git a/src/semnav/dataset/graph_net_frame_dataset.py b/src/semnav/dataset/graph_net_frame_dataset.py new file mode 100644 index 0000000..1efaa11 --- /dev/null +++ b/src/semnav/dataset/graph_net_frame_dataset.py @@ -0,0 +1,66 @@ +from __future__ import print_function + +from torch.utils.data.dataloader import default_collate + +from semnav.dataset.frame_by_frame_dataset import FrameByFrameDataset +from semnav.dataset.graph_net_dataset import GraphNetDataset, graph_net_collate_fn + + +class GraphNetFrameDataset(FrameByFrameDataset): + """Dataset used for training the graph networks. This is an extension of the temporal dataset. + """ + + def __init__(self, root_dir, first_n_in_sequence=None, remove_last_n_in_sequence=None, + behavior_ids=None, valid_only=True): + assert behavior_ids is None + super(GraphNetFrameDataset, self).__init__( + root_dir=root_dir, + first_n_in_sequence=first_n_in_sequence, + remove_last_n_in_sequence=remove_last_n_in_sequence, + behavior_ids=behavior_ids, + valid_only=valid_only + ) + + self.sem_graphs = GraphNetDataset._load_graphs(self.cfg.maps_root) + + def __getitem__(self, idx): + """Get item. The returned subgraph information is based on the CURRENT frame and the ground + truth node and edge is also for the CURRENT frame. This dataset should be used for + EVALUATING graph net models and the provided subgraph information should be used for + INITIALIZING the policy rollout. After providing graph information at the beginning of the + episode, the future subgraphs input into the graph network/policy network should be cropped + based on the model's predicted localization. + + Returns: + item: Data item. + node_idx_matrix: Matrix specifying the room category for each node. + edge_idx_matrix: Matrix specifying the behavior category for each edge. + edge_connections: Edge connections. + gt_node_idx: Index of the ground truth current node in the node name list. + """ + item = super(GraphNetFrameDataset, self).__getitem__(idx) # item is a list of frame data dicts + + if GraphNetDataset._is_valid_sample(item, self.NO_NODE_NAME, self.NO_BEHAVIOR_TOKEN) is False: + return item # Cannot evaluate / use criterion on this sample + + area_graph = self.sem_graphs[item['area_name']] + cur_gt_node_name = item['node_name'] + cur_gt_behavior_id = item['localized_behavior_id'] + (node_name_list, node_categories, edge_categories, edge_connections, node_idx, + edge_idx) = GraphNetDataset.get_graph_data(area_graph, + subgraph_center_node_name=cur_gt_node_name, + subgraph_center_behavior_id=cur_gt_behavior_id, + n_neighbor_dist=self.cfg.n_neighbor_dist, + cur_gt_node_name=cur_gt_node_name, + cur_gt_behavior_id=cur_gt_behavior_id, + use_augmentation=self.cfg.use_gn_augmentation) + return item, node_name_list, node_categories, edge_categories, edge_connections, node_idx, edge_idx + + @staticmethod + def collate_fn(batch): + assert len(batch) == 1 + + if isinstance(batch[0], dict): + return default_collate(batch) + + return graph_net_collate_fn(batch) diff --git a/src/semnav/dataset/parsebag.py b/src/semnav/dataset/parsebag.py new file mode 100644 index 0000000..e8043ea --- /dev/null +++ b/src/semnav/dataset/parsebag.py @@ -0,0 +1,297 @@ +from __future__ import print_function + +import glob +import numpy as np +import os +import rosbag +import rospy +import sys + +from cv_bridge import CvBridge +from semnav.lib.image_map_transformer import Image2MapTransformer +from semnav.lib.utils import mkdir +from semnav.lib.categories import SemanticCategory + + +# Mapping according to: https://github.com/StanfordVL/GibsonEnv/blob/master/gibson/core/channels/common/semantic_color.hpp#L15 +rgb2semantic = { + (0, 0, 0): SemanticCategory.UNK.value, + (241, 255, 82): SemanticCategory.ceiling.value, + (102, 168, 226): SemanticCategory.floor.value, + (0, 255, 0): SemanticCategory.window.value, + (113, 143, 65): SemanticCategory.door.value, + (89, 173, 163): SemanticCategory.column.value, + (254, 158, 137): SemanticCategory.beam.value, + (190, 123, 75): SemanticCategory.wall.value, + (100, 22, 116): SemanticCategory.sofa.value, + (0, 18, 141): SemanticCategory.chair.value, + (84, 84, 84): SemanticCategory.table.value, + (85, 116, 127): SemanticCategory.board.value, + (255, 31, 33): SemanticCategory.bookcase.value, + (228, 228, 228): SemanticCategory.clutter.value, + } + + +class BagParser(object): + + max_travel_dist = 0.4 # Meters + time_between_frames = 0.2 # Seconds + + def __init__(self, bag_file, yaml_file, data_dir): + if bag_file.endswith('.bag'): + bag_files = [bag_file] + else: + bag_files = glob.glob(bag_file + '*.bag') + self.bag_files = sorted(bag_files) + self.data_dir = data_dir + self.img2map = Image2MapTransformer(yaml_file) + self.area_name = os.path.splitext(os.path.basename(yaml_file))[0] + assert self.area_name.startswith('area_') is True + + self.bridge = CvBridge() + self.idx_in_sequence = None + self.sequence_idx = None + self.last_room_name = 'UNK' + + # Make data directory if it doesn't exist + mkdir(self.data_dir, verbose=True) + + self.use_semantics = True + if self.use_semantics is True: + raw_input('Using semantics. Continue if this is what you want (ctrl+C to quit)') + else: + raw_input('NOT using semantics. Continue if this is what you want (ctrl+C to quit)') + + self.topics = [ + '/navigation_velocity_smoother/raw_cmd_vel', + '/gibson_ros/camera/depth/image', + '/gibson_ros/camera/rgb/image', + '/odom', + '/ground_truth_odom', + '/move_base/result', + ] + if self.use_semantics is True: + self.topics.append('/gibson_ros/camera/semantics/image') + + @staticmethod + def pose_to_numpy(pose): + """Convert a Pose position to a numpy array [x, y, z]. + + Args: + pose: Pose position from ROS Pose message. + + Returns: + pose_np: Numpy array of shape (3,) representing xyz pose. + """ + return np.array([pose.x, pose.y, pose.z]) + + @staticmethod + def sem_rgb2idx(rgb_array): + return rgb2semantic[tuple(rgb_array.tolist())] + + @staticmethod + def get_semantic_idx_fast(semantics_rgb): + """After measuring the timings, this is actually slower :( + """ + semantics = np.apply_along_axis(BagParser.sem_rgb2idx, axis=2, arr=semantics_rgb) + return semantics + + @staticmethod + def get_semantic_idx(semantics_rgb): + semantics = np.zeros((semantics_rgb.shape[0], semantics_rgb.shape[1]), dtype=np.uint8) + for row in range(semantics_rgb.shape[0]): + for col in range(semantics_rgb.shape[1]): + rgb_tuple = tuple(semantics_rgb[row, col, :].tolist()) + category_index = rgb2semantic[rgb_tuple] + semantics[row, col] = category_index + return semantics + + def save_frame(self, frame, sequence_idx, idx_in_sequence): + """Save a frame as an npz file. + + Data saved to npz file is a dict with the following keys: + 'vel': Numpy array of shape (2,) representing linear.x and angular.z. This is an + np.float64 converted to an np.float32. + 'rgb': Numpy float32 array of shape (H, W, C). Example: (240, 320, 3). + 'depth': Numpy float32 array of shape (H, W). Example: (240, 320). May contain nans. + + Args: + frame: Dict containing frame data. + sequence_idx: Index of the video sequence that this frame belongs to. + idx_in_sequence: Index of current frame in the video sequence. + """ + gt_odom = { + 'position': np.array([frame['gt_odom'].pose.pose.position.x, + frame['gt_odom'].pose.pose.position.y, + frame['gt_odom'].pose.pose.position.z, + ]).astype(np.float32), + 'orientation': np.array([frame['gt_odom'].pose.pose.orientation.x, + frame['gt_odom'].pose.pose.orientation.y, + frame['gt_odom'].pose.pose.orientation.z, + frame['gt_odom'].pose.pose.orientation.w, + ]).astype(np.float32), + } + room_name = self.img2map.get_room_name(gt_odom['position']) + + # If room name is unknown, set to room name from previous frame + if room_name is None: + room_name = self.last_room_name + + # Update last room name + self.last_room_name = room_name + + data = { + 'vel': np.array([frame['vel'].linear.x, frame['vel'].angular.z]).astype(np.float32), + 'rgb': np.asarray(self.bridge.imgmsg_to_cv2(frame['rgb'])), + 'depth': np.asarray(self.bridge.imgmsg_to_cv2(frame['depth'])), + 'gt_odom': gt_odom, + 'room_name': room_name, + 'sequence_idx': sequence_idx, # Useful for debugging: checking our sequences are separated correctly + 'area_name': self.area_name, + } + if self.use_semantics is True: + # Decode semantics + data['semantics_rgb'] = np.asarray(self.bridge.imgmsg_to_cv2(frame['semantics'][0])) + data['semantics'] = self.get_semantic_idx(data['semantics_rgb']) + + filepath = os.path.join(self.data_dir, + 'sequence_%06d' % sequence_idx, + 'traj_data_%06d.npz' % idx_in_sequence) + np.savez(filepath, data) + + def mark_sequence_success(self, sequence_idx, status): + """Mark whether the sequence was successful by creating a file. + + Args: + sequence_idx: Sequence index. + status: Status returned by /move_base/result. + """ + assert status is not None + + filepath = os.path.join(self.data_dir, + 'sequence_%06d' % sequence_idx, + 'status.txt') + assert os.path.isdir(os.path.dirname(filepath)) + assert os.path.isfile(filepath) is False + with open(filepath, 'w') as f: + if status == 3: + f.write('success\n') + else: + f.write('failure\n') + f.write('{}'.format(str(status) + '\n')) + return sequence_idx + 1 + + @classmethod + def is_same_sequence(cls, frame, last_frame): + if last_frame is None: + return False # It's actually better to return True here + + pose_begin = cls.pose_to_numpy(frame['odom'].pose.pose.position) + pose_end = cls.pose_to_numpy(last_frame['odom'].pose.pose.position) + + travel_dist = np.linalg.norm(pose_begin - pose_end) + + if travel_dist > cls.max_travel_dist: + return False + else: + return True + + def parse(self): + sequence_idx = 0 + + # Create an extra sequence_idx counter because it is not always in sync with sequence_idx + result_sequence_idx = 1 + + idx_in_sequence = 0 + + last_odom = None + last_gt_odom = None + last_rgb = None + last_depth = None + if self.use_semantics is True: + last_semantics = None + last_vel = None + last_frame = None + + time_window_end = None + time_between_frames = rospy.Duration(self.time_between_frames) + + for bag_file in self.bag_files: + print('Parsing bag file:', bag_file) + bag = rosbag.Bag(bag_file) + for topic, msg, cur_msg_time in bag.read_messages(): + if (time_window_end is None) or (cur_msg_time > time_window_end): + # Update time_window_end + if time_window_end is None: + time_window_end = cur_msg_time + time_window_end += time_between_frames + + if not ((last_odom is None) + or (last_gt_odom is None) + or (last_rgb is None) + or (last_depth is None) + or (last_vel is None)): + if (self.use_semantics is False) or ((self.use_semantics is True) and (last_semantics is not None)): + + # New frame + frame = { + 'odom': last_odom, + 'gt_odom': last_gt_odom, + 'depth': last_depth, + 'rgb': last_rgb, + 'vel': last_vel, + } + if self.use_semantics is True: + frame['semantics'] = last_semantics, + + # Update sequence index if necessary + if not self.is_same_sequence(frame, last_frame): + sequence_idx += 1 + idx_in_sequence = 0 + sequence_dir = os.path.join(self.data_dir, + 'sequence_%06d' % sequence_idx) + mkdir(sequence_dir, verbose=False) + self.last_room_name = 'UNK' + else: # Ignore first frame of each sequence + # Save new frame + self.save_frame(frame, sequence_idx, idx_in_sequence) + + # Update last frame and increment counters + last_frame = frame + idx_in_sequence += 1 + if topic in self.topics: + + if topic == '/odom': + last_odom = msg + elif topic == '/ground_truth_odom': + last_gt_odom = msg + elif topic == '/gibson_ros/camera/depth/image': + last_depth = msg + elif topic == '/gibson_ros/camera/rgb/image': + last_rgb = msg + elif topic == '/gibson_ros/camera/semantics/image': + last_semantics = msg + elif topic == '/move_base/result': + pass + result_sequence_idx += 1 + elif topic == '/navigation_velocity_smoother/raw_cmd_vel': + last_vel = msg + bag.close() + + +def main(): + bag_file = sys.argv[1] + yaml_file = sys.argv[2] + prefix = sys.argv[3] + + print('Bag file (or bag file prefix):', bag_file) + print('Yaml file:', yaml_file) + print('Destination:', prefix) + print('') + + bag_parser = BagParser(bag_file, yaml_file, prefix) + bag_parser.parse() + + +if __name__ == '__main__': + main() diff --git a/src/semnav/dataset/temporal_dataset.py b/src/semnav/dataset/temporal_dataset.py new file mode 100644 index 0000000..f064e27 --- /dev/null +++ b/src/semnav/dataset/temporal_dataset.py @@ -0,0 +1,121 @@ +from __future__ import print_function + +import os +import pickle +import random + +from semnav.dataset.dataset_utils import prepend_dataset_root +from semnav.dataset.trajectory_dataset import TrajectoryDataset + + +class TemporalDataset(TrajectoryDataset): + """Dataset which returns a sequence of frames for each sample. + + Example: + temporal_dilation=3 + n_frames_per_sample=10 + + Index 0 of dataset: + /sequence_000013/traj_data_000001.npz + /sequence_000013/traj_data_000004.npz + /sequence_000013/traj_data_000007.npz + /sequence_000013/traj_data_000010.npz + /sequence_000013/traj_data_000013.npz + /sequence_000013/traj_data_000016.npz + /sequence_000013/traj_data_000019.npz + /sequence_000013/traj_data_000022.npz + /sequence_000013/traj_data_000025.npz + /sequence_000013/traj_data_000028.npz + + Index 1 of dataset: + /sequence_000013/traj_data_000002.npz + /sequence_000013/traj_data_000005.npz + /sequence_000013/traj_data_000008.npz + /sequence_000013/traj_data_000011.npz + /sequence_000013/traj_data_000014.npz + /sequence_000013/traj_data_000017.npz + /sequence_000013/traj_data_000020.npz + /sequence_000013/traj_data_000023.npz + /sequence_000013/traj_data_000026.npz + /sequence_000013/traj_data_000029.npz + """ + + def __init__(self, root_dir, temporal_dilation=1, n_frames_per_sample=5, + first_n_in_sequence=None, remove_last_n_in_sequence=None, behavior_ids=None, + valid_only=True): + """Constructor. + + Args: + first_n_in_sequence: This dataset will only use the first first_n_in_sequence frames of + each sequence. All other frames in each sequence will be discarded. + remove_last_n_in_sequence: If there are 40 frames and remove_last_n_in_sequence == 1, + then only the very last frame will be removed. + """ + assert temporal_dilation is not None + assert n_frames_per_sample is not None + super(TemporalDataset, self).__init__(root_dir, first_n_in_sequence=first_n_in_sequence, + remove_last_n_in_sequence=remove_last_n_in_sequence, + behavior_ids=behavior_ids, valid_only=valid_only) + self.temporal_dilation = temporal_dilation + self.n_frames_per_sample = n_frames_per_sample + + # Compute size of temporal window in terms of number of timesteps/frames + window_size = temporal_dilation * (n_frames_per_sample - 1) + 1 + + # Compile datapaths into list + # sequences is a list where each element is a list of frame paths + # Example: sequences[0][0] = 'path/to/frame' + if behavior_ids is None: + sequence_dir_paths = {} # Maps sequence dir name to list of filepaths + for frame_path in self.filenames: + cur_dir_name = os.path.dirname(frame_path) + cur_frame_paths = sequence_dir_paths.get(cur_dir_name, []) + cur_frame_paths.append(frame_path) + sequence_dir_paths[cur_dir_name] = cur_frame_paths + self.sequences = [sorted(frame_paths) for frame_paths in sequence_dir_paths.values()] + self.modify_path = lambda x: x + else: + cache_filepath = os.path.join(root_dir, 'dataset_cache.p') + assert os.path.isfile(cache_filepath) + print('Loading from cache (ignoring dataset parameters)') + with open(cache_filepath, 'rb') as f: + cache = pickle.load(f) + self.sequences = [] + for behavior_id in self.behavior_ids: + self.sequences.extend(cache.get(behavior_id, [])) + self.modify_path = lambda x: prepend_dataset_root(self.cfg, x) + + # Remove sequences which are too small + valid_sequences = [] + for seq in self.sequences: + if (len(seq) - window_size + 1) > 0: + valid_sequences.append(seq) + self.sequences = sorted(valid_sequences) + + self.sequence_sizes = [len(frame_paths) - window_size + 1 for frame_paths in self.sequences] + + def __len__(self): + return sum(self.sequence_sizes) + + def _get_item(self, idx): + for seq_idx, numel in enumerate(self.sequence_sizes): + if idx >= numel: + idx -= numel + else: + break + filenames = [self.sequences[seq_idx][idx + i * self.temporal_dilation] + for i in range(self.n_frames_per_sample)] + frame_data_list = [self.get_frame_data(self.modify_path(f)) for f in filenames] + return frame_data_list + + def is_valid_sample(self, item): + return True + + def __getitem__(self, idx): + item = self._get_item(idx) + + # If the item is not a valid sample, keep sampling random items until we get a valid sample + while not self.is_valid_sample(item): + random_idx = random.randint(0, len(self) - 1) + item = self._get_item(random_idx) + return item diff --git a/src/semnav/dataset/trajectory_dataset.py b/src/semnav/dataset/trajectory_dataset.py new file mode 100644 index 0000000..9c02356 --- /dev/null +++ b/src/semnav/dataset/trajectory_dataset.py @@ -0,0 +1,215 @@ +from __future__ import print_function + +import numpy as np +import os +import pickle +import torch +import torchvision.transforms as transforms + +from semnav.config import get_config +from semnav.dataset.depth_transform import DepthTransform +from semnav.dataset.dataset_utils import get_frame_idx, prepend_dataset_root +from semnav.lib.categories import affordance_types +from semnav.lib.utils import load_frame +from torch.utils.data import Dataset + + +class TrajectoryDataset(Dataset): + """Base class for trajectory datasets (FrameByFrameDataset, TemporalDataset, etc.). + """ + + NO_BEHAVIOR_TOKEN = ' ' + NO_AFFORDANCES_TOKEN = ['no_affordances'] + NO_AFFORDANCES_VEC = np.asarray([-1. for idx in range(len(affordance_types))]).astype(np.float32) + NO_NODE_NAME = ' ' + + def __init__(self, root_dir, first_n_in_sequence=None, remove_last_n_in_sequence=None, + behavior_ids=None, valid_only=True): + """Constructor. + + Args: + first_n_in_sequence: This dataset will only use the first first_n_in_sequence frames of + each sequence. All other frames in each sequence will be discarded. + remove_last_n_in_sequence: If there are 40 frames and remove_last_n_in_sequence == 1, + then only the very last frame will be removed. + behavior_ids: List of behavior IDs which are valid. + valid_only: Boolean denoting whether to use only frames which have been marked as valid. + """ + self.first_n_in_sequence = first_n_in_sequence + self.remove_last_n_in_sequence = remove_last_n_in_sequence + if (behavior_ids is None) or isinstance(behavior_ids, list): + self.behavior_ids = behavior_ids + else: # behavior_ids is a single behavior string (e.g. 'tr') + self.behavior_ids = [behavior_ids] + self.valid_only = valid_only + + cfg = get_config() + self.cfg = cfg + + # Transforms + from_numpy_transform = transforms.Lambda(lambda x: torch.from_numpy(x)) + self.rgb_transform = transforms.Compose([ + transforms.ToTensor(), + ]) + self.depth_transform = transforms.Compose([ + transforms.Lambda(lambda x: np.expand_dims(x, axis=0)), # Add a channel dimension + DepthTransform(min_depth=cfg.min_depth, max_depth=cfg.max_depth, hole_val=cfg.hole_val), + from_numpy_transform, + ]) + self.scan_transform = transforms.Compose([ + transforms.Lambda(lambda x: np.where(np.isnan(x), 0., x)), # Set nans to 0. + from_numpy_transform, + ]) + + cache_filepath = os.path.join(root_dir, 'dataset_cache.p') + if os.path.isfile(cache_filepath): + print(' Loading from cache (ignoring dataset parameters):', cache_filepath) + with open(cache_filepath, 'rb') as f: + cache = pickle.load(f) + if self.behavior_ids is None: + self.filenames = cache['sequential_frames'] + else: + self.filenames = [] + for behavior_id in self.behavior_ids: + for seq in cache.get(behavior_id, []): + self.filenames.extend(seq) + self.filenames.sort() + + self.filenames = [prepend_dataset_root(cfg, path) for path in self.filenames] + else: + self.sequence_to_n_frames = {} # Includes invalid frames in the count + self.filenames = [] + for dir_path, dir_names, filenames in os.walk(root_dir): + for cur_filename in filenames: + if self.is_valid_filename(dir_path, cur_filename): + cur_filepath = os.path.join(dir_path, cur_filename) + self.filenames.append(cur_filepath) + assert len(self.filenames) > 0 + self.filenames.sort() + + def is_first_n_in_sequence(self, fname): + """Return whether or not the current filename is among the first n frames of the sequence. + + Args: + fname: Filename of current file within the sequence directory. + """ + cur_idx_in_sequence = get_frame_idx(fname) + # Use <= instead of < because the data is 1-indexing not 0-indexing + is_first_n = cur_idx_in_sequence <= self.first_n_in_sequence + return is_first_n + + def is_last_n_in_sequence(self, sequence_path, fname): + """Return whether or not the current filename is among the first n frames of the sequence. + + Args: + sequence_path: Full path to the sequence directory. + fname: Filename of current file within the sequence directory. + """ + cur_idx_in_sequence = get_frame_idx(fname) + + # Remember that the frame (in sequence) idx uses 1-indexing not 0-indexing + n_frames_in_sequence = self.sequence_to_n_frames[sequence_path] + is_last_n = ((n_frames_in_sequence - cur_idx_in_sequence) < self.remove_last_n_in_sequence) + return is_last_n + + def is_valid_filename(self, sequence_path, fname): + """Return True if this is a valid filename (one that we care about). Otherwise, return + False. + + Args: + sequence_path: Full path to the sequence directory. + fname: Filename of current file within the sequence directory. + """ + if fname.endswith('.npz') is False: + return False + + # Find number of frames in current sequence + if sequence_path not in self.sequence_to_n_frames: + self.sequence_to_n_frames[sequence_path] = len(os.listdir(sequence_path)) + + if (self.first_n_in_sequence is not None) and not self.is_first_n_in_sequence(fname): + return False + if ((self.remove_last_n_in_sequence is not None) + and self.is_last_n_in_sequence(sequence_path, fname)): + return False + if (self.valid_only is True) or (self.behavior_ids is not None): + frame_path = os.path.join(sequence_path, fname) + frame_data = self.get_frame_data(frame_path) + + if (self.valid_only is True) and (frame_data['is_invalid'] == 1): + return False + + if ((self.behavior_ids is not None) and (frame_data['behavior_id'] not in + self.behavior_ids)): + return False + return True + + @classmethod + def affordance_list2vec(cls, affordance_list): + if affordance_list == cls.NO_AFFORDANCES_TOKEN: + return cls.NO_AFFORDANCES_VEC + + # Convert s_l, s_r to s + affordance_list = ['s' if (affordance == 's_l' or affordance == 's_r') + else affordance for affordance in affordance_list] + new_affordance_list = [] + for affordance in affordance_list: + if (affordance == 's_l' or affordance == 's_r'): + cur_affordance = 's' + elif (affordance == 'fd_l' or affordance == 'fd_r'): + cur_affordance = 'fd' + else: + cur_affordance = affordance + new_affordance_list.append(cur_affordance) + + # Print error (just in case) + if cur_affordance not in affordance_types: + print('Unrecognized affordance type: {}'.format(affordance)) + + vec = [affordance_types[idx] in affordance_list for idx in range(len(affordance_types))] + return np.asarray(vec).astype(np.float32) + + @staticmethod + def affordance_vec2list(affordance_vec): + """Convert from an affordance vector to affordance list. + + Args: + affordance_vec: Affordance vector. + """ + if affordance_vec.ndim == 2: + affordance_vec = affordance_vec[0] # Remove batch dimension + affordance_list = [] + if affordance_vec[0] != -1: + for idx in range(len(affordance_types)): + if affordance_vec[idx] != 0.: + affordance_list.append(affordance_types[idx]) + return affordance_list + + def get_frame_data(self, frame_fpath): + data = load_frame(frame_fpath) + if 'localized_behavior_id' in data: + localized_node_name, localized_behavior_id = data['localized_behavior_id'].split(' ') + else: + localized_node_name = self.NO_NODE_NAME + localized_behavior_id = self.NO_BEHAVIOR_TOKEN + processed = { + 'depth': self.depth_transform(data['depth']), + 'rgb': self.rgb_transform(data['rgb']), + 'vel': torch.from_numpy(data['vel']), + 'area_name': data.get('area_name'), + 'room_name': data['room_name'], + 'is_invalid': 1 if data.get('is_invalid', False) is True else False, + 'position': data['gt_odom']['position'], # For debugging only + 'orientation': data['gt_odom']['orientation'], # For junction behavior detector + 'sequence_idx': data['sequence_idx'], # For debugging only + 'behavior_id': data.get('behavior_id', self.NO_BEHAVIOR_TOKEN), + 'localized_node_name': localized_node_name, # This is used as a sanity check and shouldn't actually be used (use node_name) instead + 'localized_behavior_id': localized_behavior_id, + 'affordance_vec': self.affordance_list2vec(data.get('affordance_list', self.NO_AFFORDANCES_TOKEN)), + 'node_name': data.get('node_name', self.NO_NODE_NAME), + 'phase': data.get('phase', -1.), + 'frame_path': frame_fpath, # Used for building cache + } + if processed['localized_behavior_id'] != self.NO_BEHAVIOR_TOKEN: + assert processed['localized_node_name'] == processed['node_name'] + return processed diff --git a/src/semnav/learning/__init__.py b/src/semnav/learning/__init__.py new file mode 100644 index 0000000..316c6f0 --- /dev/null +++ b/src/semnav/learning/__init__.py @@ -0,0 +1,206 @@ +from __future__ import print_function +from __future__ import division + +import torch + +from semnav.learning.behavior_net.behavior_cnn import BehaviorCNN +from semnav.learning.behavior_net.behavior_rnn import BehaviorRNN +from semnav.learning.graph_net.graph_net import GraphNet +from semnav.lib.categories import SemanticCategory + + +def get_net(net_class, cfg): + if cfg.dataset_type == 'frame_by_frame': + in_channels = 1 + elif ((cfg.dataset_type == 'temporal') or (cfg.dataset_type == 'phase_net') + or (cfg.dataset_type == 'graph_net')): + in_channels = cfg.n_frames_per_sample + else: + raise ValueError('Unsupported dataset type.') + + if cfg.use_semantic_class is not None: + in_channels *= 2 # For every timestep, we have 1 more frame/channel + + if net_class == 'behavior_cnn': + net = BehaviorCNN(in_channels=in_channels).to(cfg.device) + elif net_class == 'behavior_rnn': + net = BehaviorRNN(rnn_type='lstm', hidden_size=512, num_layers=2).to(cfg.device) + elif net_class == 'graph_net': + # Because of GNBlock execution order (edge -> node -> global), if doing node classification, + # Make sure out_edge_feat_size is of decent size (e.g. 256 instead of 1) since the NodeBlock + # utilizes the updated edge features + out_global_feat_size = None + out_node_feat_size = 1 + out_edge_feat_size = 1 + + if (cfg.gn_classification == 'node') or (cfg.gn_classification == 'joint'): + assert out_node_feat_size == 1 + if (cfg.gn_classification == 'edge') or (cfg.gn_classification == 'joint'): + assert out_edge_feat_size == 1 + net = GraphNet(img_in_channels=in_channels, num_layers=cfg.n_graphnet_layers, + aggregate_method=cfg.aggregate_method, in_global_feat_size=512, + in_node_feat_size=cfg.graphnet_feat_size, + in_edge_feat_size=cfg.graphnet_feat_size, + intermediate_global_feat_size=cfg.graphnet_feat_size, + intermediate_node_feat_size=cfg.graphnet_feat_size, + intermediate_edge_feat_size=cfg.graphnet_feat_size, + out_global_feat_size=out_global_feat_size, + out_node_feat_size=out_node_feat_size, + out_edge_feat_size=out_edge_feat_size).to(cfg.device) + else: + raise ValueError('Unsupported behavior network type.') + print(net) + print('') + + if cfg.ckpt_path is not None: + print('Loading checkpoint:', cfg.ckpt_path) + net.load_state_dict(torch.load(cfg.ckpt_path)) + else: + print('Using random weight initialization.') + print('') + + return net + + +def decode_temporal(batch, device, key, add_batch_dim): + """Get the last frame as the target output. + + Args: + batch: Batch of data. + device: Device (e.g. GPU or CPU). + key: Key for the TrajectoryDataset frame dict. + add_batch_dim: Boolean for whether to add a batch dim. + """ + target_output = batch[-1][key] + if not isinstance(target_output, list): + target_output = target_output.to(device) + if add_batch_dim is True: + target_output = torch.unsqueeze(target_output, dim=0).to(device) + return target_output + + +def get_frame_data(batch, device, decode_type, key): + """Get a single_frame input data or temporal stack of input data. + """ + # Set up the depth input + if decode_type.startswith('single_frame'): # Set up input for single-frame depth + depth = batch[key].to(device) + if depth.dim() == 3: # Add batch dimension if it doesn't exist + depth = torch.unsqueeze(depth, dim=0).to(device) + elif decode_type.startswith('temporal'): # Set up input for depth stack (temporal) + depth_list = [x[key] for x in batch] # Most recent image is at the end + if depth_list[0].dim() == 3: # Add batch dimension if it doesn't exist + depth_list = [torch.unsqueeze(depth, dim=0) for depth in depth_list] + depth_stack = torch.cat(depth_list, dim=1) + depth = depth_stack.to(device) + else: + raise ValueError('Unsupported decode type.') + return depth + + +def merge_input_tensors(input_tensors): + # Combine into a tensor like: + # [depth channel 1, semantics channel 1, depth channel 2, semantics channel 2, etc.] + n_frames = input_tensors[0].shape[1] + tensor_list = [] + for frame_idx in range(n_frames): + for cur_input_tensor in input_tensors: + tensor_list.append(torch.unsqueeze(cur_input_tensor[:, frame_idx], dim=1)) + input_tensor = torch.cat(tensor_list, dim=1) + return input_tensor + + +def decode_batch(batch, decode_type, cfg): + """Decode the batch. + + Args: + batch: Batch of data returned from the DataLoader. + decode_type: 'single_frame' or 'temporal' denoting how to decode the batch. + device: Device. + + Returns: + vel: If decode_type is 'single_frame', this is shape (batch_size x 2). + depth: If decode_type is 'single_frame', this is shape (batch_size x 1 x 240 x 320). + """ + if cfg.dataset_type == 'graph_net': + if not isinstance(batch, dict): + has_graph_info = True + (batch, node_names, node_categories, edge_categories, edge_connections, graph_idx_of_node, + graph_idx_of_edge, gt_node_idx, gt_edge_idx, n_nodes_per_graph, n_edges_per_graph) = batch + else: + has_graph_info = False + device = cfg.device + + # Default + input_tensors = [] + + # Figure out if we need to add batch dim + add_batch_dim = False + if decode_type.startswith('single_frame'): # Set up input for single-frame depth + if batch['depth'].dim() == 3: # Add batch dimension if it doesn't exist + add_batch_dim = True + elif decode_type.startswith('temporal'): # Set up input for depth stack (temporal) + if batch[0]['depth'].dim() == 3: # Add batch dimension if it doesn't exist + add_batch_dim = True + else: + raise ValueError + + depth = get_frame_data(batch, device, decode_type, key='depth') + + # Set up the target output + if decode_type == 'single_frame': + vel = batch['vel'].to(device) + if vel.dim() == 1: # Add batch dimension if it doesn't exist + vel = torch.unsqueeze(vel, dim=0).to(device) + elif decode_type == 'temporal': + # Velocity of the last frame is the target velocity + vel = decode_temporal(batch, device, key='vel', add_batch_dim=add_batch_dim) + elif decode_type == 'single_frame_phase': + phase = batch['phase'].to(device) + if (phase.dim() == 1): # Add scalar dimension if it doesn't exist + phase = torch.unsqueeze(phase, dim=1).to(device) + vel = phase.type(torch.FloatTensor).to(device) + elif (decode_type == 'temporal_graph_net') or (decode_type == 'single_frame_graph_net'): + if has_graph_info is False: # Special case that occurs in evaluation when we dont have GT labels for the current frame + vel = None + else: + (batch, node_names, node_categories, edge_categories, + edge_connections, graph_idx_of_node, graph_idx_of_edge) + graph_net_input_dict = { + 'node_names': node_names, + 'node_categories': node_categories.to(device), + 'edge_categories': edge_categories.to(device), + 'edge_connections': edge_connections.to(device), + 'graph_idx_of_node': graph_idx_of_node.to(device), + 'graph_idx_of_edge': graph_idx_of_edge.to(device), + } + target_output = { + 'gt_node_idx': gt_node_idx, + 'gt_edge_idx': gt_edge_idx, + 'n_nodes_per_graph': n_nodes_per_graph, + 'n_edges_per_graph': n_edges_per_graph, + 'batch': batch, + } + vel = graph_net_input_dict, target_output + else: + raise ValueError('Unsupported dataset type.') + + # By default, use depth as input: + input_tensors.append(depth) + + if cfg.use_semantic_class is not None: + semantic_idx_tensor = get_frame_data(batch, device, decode_type, key='semantics_idx') + door_mask = semantic_idx_tensor == SemanticCategory[cfg.use_semantic_class] + door_mask = door_mask.type(torch.FloatTensor).to(device) + input_tensors.append(door_mask) + + # Consolidate different input types into a single tensor + if len(input_tensors) > 1: + if decode_type.startswith('single_frame'): + input_tensor = torch.cat(input_tensors, dim=1) + else: # Assumes each tensor has channel dim == 1 + input_tensor = merge_input_tensors(input_tensors) + else: + input_tensor = input_tensors[0] + + return vel, input_tensor diff --git a/src/semnav/learning/behavior_net/__init__.py b/src/semnav/learning/behavior_net/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/learning/behavior_net/__init__.pyc b/src/semnav/learning/behavior_net/__init__.pyc new file mode 100644 index 0000000..3016768 Binary files /dev/null and b/src/semnav/learning/behavior_net/__init__.pyc differ diff --git a/src/semnav/learning/behavior_net/__pycache__/__init__.cpython-36.pyc b/src/semnav/learning/behavior_net/__pycache__/__init__.cpython-36.pyc new file mode 100644 index 0000000..80e1464 Binary files /dev/null and b/src/semnav/learning/behavior_net/__pycache__/__init__.cpython-36.pyc differ diff --git a/src/semnav/learning/behavior_net/__pycache__/__init__.cpython-38.pyc b/src/semnav/learning/behavior_net/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..fd01216 Binary files /dev/null and b/src/semnav/learning/behavior_net/__pycache__/__init__.cpython-38.pyc differ diff --git a/src/semnav/learning/behavior_net/__pycache__/behavior_cnn.cpython-36.pyc b/src/semnav/learning/behavior_net/__pycache__/behavior_cnn.cpython-36.pyc new file mode 100644 index 0000000..a0d45a5 Binary files /dev/null and b/src/semnav/learning/behavior_net/__pycache__/behavior_cnn.cpython-36.pyc differ diff --git a/src/semnav/learning/behavior_net/__pycache__/behavior_cnn.cpython-38.pyc b/src/semnav/learning/behavior_net/__pycache__/behavior_cnn.cpython-38.pyc new file mode 100644 index 0000000..9320972 Binary files /dev/null and b/src/semnav/learning/behavior_net/__pycache__/behavior_cnn.cpython-38.pyc differ diff --git a/src/semnav/learning/behavior_net/__pycache__/behavior_rnn.cpython-36.pyc b/src/semnav/learning/behavior_net/__pycache__/behavior_rnn.cpython-36.pyc new file mode 100644 index 0000000..9a21d64 Binary files /dev/null and b/src/semnav/learning/behavior_net/__pycache__/behavior_rnn.cpython-36.pyc differ diff --git a/src/semnav/learning/behavior_net/__pycache__/behavior_rnn.cpython-38.pyc b/src/semnav/learning/behavior_net/__pycache__/behavior_rnn.cpython-38.pyc new file mode 100644 index 0000000..7d19795 Binary files /dev/null and b/src/semnav/learning/behavior_net/__pycache__/behavior_rnn.cpython-38.pyc differ diff --git a/src/semnav/learning/behavior_net/behavior_cnn.py b/src/semnav/learning/behavior_net/behavior_cnn.py new file mode 100644 index 0000000..a1d41c8 --- /dev/null +++ b/src/semnav/learning/behavior_net/behavior_cnn.py @@ -0,0 +1,37 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class BehaviorCNN(nn.Module): + + def __init__(self, in_channels): + super(BehaviorCNN, self).__init__() + self.is_recurrent = False + + # Input resolution: 320x240 + self.conv1 = nn.Conv2d(in_channels=in_channels, out_channels=32, kernel_size=5, stride=2, padding=0) + self.conv1_bn = nn.BatchNorm2d(32) + self.conv2 = nn.Conv2d(in_channels=32, out_channels=64, kernel_size=5, stride=2, padding=0) + self.conv2_bn = nn.BatchNorm2d(64) + self.conv3 = nn.Conv2d(in_channels=64, out_channels=128, kernel_size=3, stride=2, padding=0) + self.conv3_bn = nn.BatchNorm2d(128) + self.conv4 = nn.Conv2d(in_channels=128, out_channels=256, kernel_size=3, stride=2, padding=0) + self.conv4_bn = nn.BatchNorm2d(256) + self.conv5 = nn.Conv2d(in_channels=256, out_channels=512, kernel_size=3, stride=2, padding=0) + self.conv5_bn = nn.BatchNorm2d(512) + self.conv6 = nn.Conv2d(in_channels=512, out_channels=512, kernel_size=3, stride=2, padding=0) + self.conv6_bn = nn.BatchNorm2d(512) + self.conv7 = nn.Conv2d(in_channels=512, out_channels=2, kernel_size=(2, 3), stride=1, padding=0) + + def forward(self, x): + x = F.relu(self.conv1_bn(self.conv1(x))) + x = F.relu(self.conv2_bn(self.conv2(x))) + x = F.relu(self.conv3_bn(self.conv3(x))) + x = F.relu(self.conv4_bn(self.conv4(x))) + x = F.relu(self.conv5_bn(self.conv5(x))) + x = F.relu(self.conv6_bn(self.conv6(x))) + x = torch.tanh(self.conv7(x)) + x = torch.squeeze(x, dim=3) + x = torch.squeeze(x, dim=2) + return x diff --git a/src/semnav/learning/behavior_net/behavior_cnn.pyc b/src/semnav/learning/behavior_net/behavior_cnn.pyc new file mode 100644 index 0000000..fa6d2ff Binary files /dev/null and b/src/semnav/learning/behavior_net/behavior_cnn.pyc differ diff --git a/src/semnav/learning/behavior_net/behavior_evaluator.py b/src/semnav/learning/behavior_net/behavior_evaluator.py new file mode 100644 index 0000000..c6464c1 --- /dev/null +++ b/src/semnav/learning/behavior_net/behavior_evaluator.py @@ -0,0 +1,23 @@ +from __future__ import print_function +from __future__ import division + +from semnav.learning.evaluator import Evaluator + + +class BehaviorEvaluator(Evaluator): + + def __init__(self, cfg=None): + super(BehaviorEvaluator, self).__init__(cfg=cfg) + + @staticmethod + def get_decode_type(decode_type): + if decode_type == 'temporal': + return 'temporal' + elif decode_type == 'single_frame': + return 'single_frame' + else: + raise ValueError + + +if __name__ == '__main__': + BehaviorEvaluator().test() diff --git a/src/semnav/learning/behavior_net/behavior_evaluator.pyc b/src/semnav/learning/behavior_net/behavior_evaluator.pyc new file mode 100644 index 0000000..d32ca29 Binary files /dev/null and b/src/semnav/learning/behavior_net/behavior_evaluator.pyc differ diff --git a/src/semnav/learning/behavior_net/behavior_rnn.py b/src/semnav/learning/behavior_net/behavior_rnn.py new file mode 100644 index 0000000..0178911 --- /dev/null +++ b/src/semnav/learning/behavior_net/behavior_rnn.py @@ -0,0 +1,85 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class BehaviorRNN(nn.Module): + + def __init__(self, rnn_type, hidden_size, num_layers): + super(BehaviorRNN, self).__init__() + self.is_recurrent = True + self.hidden_size = hidden_size + self.n_layers = num_layers + self.rnn_type = rnn_type + + if self.rnn_type == 'rnn': + rnn_class = nn.RNN + elif self.rnn_type == 'gru': + rnn_class = nn.GRU + elif self.rnn_type == 'lstm': + rnn_class = nn.LSTM + else: + raise ValueError('Invalid RNN type.') + + # Input resolution: 320x240 + self.conv1 = nn.Conv2d(in_channels=1, out_channels=32, kernel_size=5, stride=2, padding=0) + self.conv1_bn = nn.BatchNorm2d(32) + self.conv2 = nn.Conv2d(in_channels=32, out_channels=64, kernel_size=5, stride=2, padding=0) + self.conv2_bn = nn.BatchNorm2d(64) + self.conv3 = nn.Conv2d(in_channels=64, out_channels=128, kernel_size=3, stride=2, padding=0) + self.conv3_bn = nn.BatchNorm2d(128) + self.conv4 = nn.Conv2d(in_channels=128, out_channels=256, kernel_size=3, stride=2, padding=0) + self.conv4_bn = nn.BatchNorm2d(256) + self.conv5 = nn.Conv2d(in_channels=256, out_channels=512, kernel_size=3, stride=2, padding=0) + self.conv5_bn = nn.BatchNorm2d(512) + self.conv6 = nn.Conv2d(in_channels=512, out_channels=512, kernel_size=3, stride=2, padding=0) + self.conv6_bn = nn.BatchNorm2d(512) + + rnn_input_size = 512 * 2 * 3 + self.rnn = rnn_class(input_size=rnn_input_size, hidden_size=hidden_size, + num_layers=self.n_layers) + self.fc4 = nn.Linear(hidden_size, 2) + + def forward(self, cur_input, cur_hidden): + """Forward pass a single input (seq_len == 1) through the CNN-RNN. + + Args: + cur_input: Input of shape (batch_size x n_channels x height x width). Since we would + like to reuse this code for train and test, we only process one input at a time. + Thus, seq_len = 1 and the input should be (1 x batch_size x input_size). + cur_hidden: Current (previous?) hidden state. + + Returns: + output: Hidden state for each output. It has shape (seq_len x batch_size x hidden_size). + Since our seq_len is usually 1, this will generally be of shape + (1 x batch_size x hidden_size). + """ + # CNN encoder + x = cur_input + x = F.relu(self.conv1_bn(self.conv1(x))) + x = F.relu(self.conv2_bn(self.conv2(x))) + x = F.relu(self.conv3_bn(self.conv3(x))) + x = F.relu(self.conv4_bn(self.conv4(x))) + x = F.relu(self.conv5_bn(self.conv5(x))) + x = F.relu(self.conv6_bn(self.conv6(x))) + # x now has size torch.Size([32, 512, 2, 3]) + + batch_size = x.size(0) + x = torch.reshape(x, (batch_size, -1)) # Flatten + x = torch.unsqueeze(x, dim=0) # Add a seq_len dimension of size 1 + + # RNN + output, hidden = self.rnn(x, cur_hidden) + # output should have shape torch.Size([1, batch_size, hidden_size]) + # hidden should have shape torch.Size([self.n_layers, batch_size, hidden_size]) + output = torch.squeeze(output, dim=0) + output = self.fc4(output) + return output, hidden + + def initial_hidden(self, batch_size): + """Initial hidden state. Note that the default hidden state is zeros if not provided. + """ + if (self.rnn_type == 'rnn') or (self.rnn_type == 'gru'): + return torch.zeros(self.n_layers, batch_size, self.hidden_size) + elif self.rnn_type == 'lstm': + return [torch.zeros(self.n_layers, batch_size, self.hidden_size) for _ in range(2)] # 2 because cell state and hidden state diff --git a/src/semnav/learning/behavior_net/behavior_rnn.pyc b/src/semnav/learning/behavior_net/behavior_rnn.pyc new file mode 100644 index 0000000..5549a68 Binary files /dev/null and b/src/semnav/learning/behavior_net/behavior_rnn.pyc differ diff --git a/src/semnav/learning/behavior_net/behavior_trainer.py b/src/semnav/learning/behavior_net/behavior_trainer.py new file mode 100644 index 0000000..5cc1ea7 --- /dev/null +++ b/src/semnav/learning/behavior_net/behavior_trainer.py @@ -0,0 +1,27 @@ +from __future__ import print_function +from __future__ import division + +import torch + +from semnav.learning.trainer import Trainer +from semnav.learning.behavior_net.behavior_evaluator import BehaviorEvaluator + + +class BehaviorTrainer(Trainer): + + def __init__(self): + super(BehaviorTrainer, self).__init__() + + @staticmethod + def get_decode_type(decode_type): + return BehaviorEvaluator.get_decode_type(decode_type) + + def get_criterion(self): + return torch.nn.MSELoss() + + def get_evaluator(self): + return BehaviorEvaluator() + + +if __name__ == '__main__': + BehaviorTrainer().train() diff --git a/src/semnav/learning/evaluator.py b/src/semnav/learning/evaluator.py new file mode 100644 index 0000000..53c2663 --- /dev/null +++ b/src/semnav/learning/evaluator.py @@ -0,0 +1,316 @@ +from __future__ import print_function +from __future__ import division + +import os +import torch + +from semnav.config import get_config +from semnav.dataset import get_split_datasets +from semnav.dataset.dataset_utils import get_frame_idx +from semnav.dataset.dataset_visualizer import DatasetVisualizer +from semnav.dataset.graph_net_frame_dataset import GraphNetFrameDataset +from semnav.lib.categories import BehaviorCategory +from semnav.learning.behavior_net.behavior_cnn import BehaviorCNN +from semnav.learning.behavior_net.behavior_rnn import BehaviorRNN +from semnav.learning.graph_net.graph_net import GraphNet +from semnav.learning.phase_net.phase_rnn import PhaseRNN +from semnav.learning import decode_batch, get_net +from torch.utils.data import DataLoader + + +class Evaluator(object): + + def __init__(self, cfg=None): + if cfg is None: + self.cfg = get_config() + else: + self.cfg = cfg + self.hidden = None # Only used for BehaviorRNN + self.depth_stack = None # Only used for BehaviorCNN with temporal dataset (StackCNN) + + if self.cfg.visualize_results is True: + self.dataset_visualizer = DatasetVisualizer() + + @staticmethod + def load_eval_datasets(cfg): + """Load datasets for evaluation. Always use FrameByFrame dataset for evaluation. This way, we + can evaluate the different behavior networks (BehaviorCNN, BehaviorRNN, etc.) on the same + dataset/metrics. + + Args: + cfg: Configuration. + + Returns: + dataset_splits: Train set, validation set, and test set. + """ + # Temporarily change dataset type to be frame_by_frame + cur_dataset_type = cfg.dataset_type + if cfg.dataset_type == 'graph_net': + cfg.dataset_type = 'single_frame_graph_net' + else: + cfg.dataset_type = 'frame_by_frame' + + # Get the evaluation (frame by frame) datasets + train_set, val_set, test_set = get_split_datasets(cfg.dataset) + + # Restore dataset type + cfg.dataset_type = cur_dataset_type + return train_set, val_set, test_set + + @staticmethod + def get_evaluation_batch_size(): + """Return the batch size used for evaluation. The self.evaluate_dataset() method expects a + DataLoader with this batch size. + + Returns: + batch_size: Batch size. + """ + return 1 + + def predict(self, net, depth, is_new_episode): + """Make a prediction online. This will update the hidden state tracked by the + BehaviorEvaluator if applicable. + + Args: + net: Network. + depth: Depth input to the network. This can be a depth stack. It should have shape + (batch_size x n_channels x height x width). + + Returns: + output: Output of the network, which should be (batch_size x 2). + """ + net.eval() # Set to eval mode + + if is_new_episode is True: + print('New episode!') + + # Parse depth input (since it is different when we use a GraphNet) + if isinstance(net, GraphNet) and isinstance(depth, dict): + depth, graph_net_input = (depth['depth'], depth['graph_net_input']) + + if ((isinstance(net, BehaviorCNN) and (self.cfg.dataset_type == 'temporal')) + or (isinstance(net, GraphNet) and (self.cfg.dataset_type == 'graph_net'))): + # If this is a new episode, create a repeat of the first input image + if self.cfg.use_semantic_class is not None: + n_channels_per_frame = 2 + else: + n_channels_per_frame = 1 + if is_new_episode: + self.depth_stack = depth.repeat(1, self.cfg.n_frames_per_sample, 1, 1) + else: # Otherwise, update the current stack of input images + # Most recent image is at the end + self.depth_stack = torch.cat([self.depth_stack[:, n_channels_per_frame:, :, :], depth], dim=1) + depth = self.depth_stack + + # If this is a new episode, reset hidden state + if (isinstance(net, BehaviorRNN) or isinstance(net, PhaseRNN)) and is_new_episode: + print('Resetting hidden state') + batch_size = depth.size(0) + hidden = net.initial_hidden(batch_size=batch_size) + # Send to device + if isinstance(hidden, list): + self.hidden = [x.to(self.cfg.device) for x in hidden] + else: + self.hidden = hidden.to(self.cfg.device) + + if isinstance(net, BehaviorCNN): + output = net(depth) + elif isinstance(net, GraphNet): + output = net(depth, graph_net_input) + elif isinstance(net, BehaviorRNN) or isinstance(net, PhaseRNN): + output, self.hidden = net(depth, self.hidden) + else: + raise ValueError('Validation on this network is not supported.') + return output + + @staticmethod + def get_seq_path(frame_path): + """Return the sequence name as a String for a given (full) frame path. + """ + return os.path.dirname(frame_path) + + @classmethod + def is_new_episode(cls, last_batch, cur_batch): + """Check if the current batch is immediately after the last batch. This returns True if the + current batch is in a different sequence/episode than the previous batch. This also returns + True if there is a time gap between the last batch and the current batch. + + Assumes batches come from a FrameByFrameDataset. Also assumes a batch size of 1. + """ + if last_batch is None: + return True + + last_frame_path = last_batch['frame_path'][0] + cur_frame_path = cur_batch['frame_path'][0] + + # Check if the batches are in the same episode/sequence + last_seq_path = cls.get_seq_path(last_frame_path) + cur_seq_path = cls.get_seq_path(cur_frame_path) + if last_seq_path != cur_seq_path: + return True + + # Check if the batches are adjacent in the same episode/sequence + last_frame_idx = get_frame_idx(last_frame_path) + cur_frame_idx = get_frame_idx(cur_frame_path) + return last_frame_idx != (cur_frame_idx - 1) + + def evaluate_dataset(self, net, criterion, data_loader): + """Run evaluation online by using a FrameByFrameDataset. + + Always use a decode_type of 'single_frame'. This way, we can compare different models under + the same circumstances. + + Assumes a batch size of 1. + """ + is_training = net.training # Remember if the network is training or not + + net.eval() # Set to eval mode + + running_loss = 0. + counter = 0 + print('Make sure this is set correctly') + decode_type = 'single_frame' # Always use a decode_type of 'single_frame' + use_single_frame = decode_type == 'single_frame' + decode_type = self.get_decode_type(decode_type) + last_batch = None + localized = False # For graph net eval + last_predicted_node_name = None # For graph net eval + last_predicted_behavior_id = None # For graph net eval + if isinstance(net, PhaseRNN): + output = torch.tensor([[0.]], dtype=torch.float32) + with torch.no_grad(): + for i, batch in enumerate(data_loader): + raw_batch = batch # Only used for GraphNet + vel, depth = decode_batch(batch, decode_type, self.cfg) + + # Sanity check + if not isinstance(net, GraphNet): + # Check that batch size is 1 + batch_size = vel.size(0) # Compute batch size + assert batch_size == 1 + + # Check if this is the beginning of a new episode + if isinstance(net, PhaseRNN): + is_new_episode = (Evaluator.is_new_episode(last_batch, batch) + or self.is_new_episode(output)) + elif isinstance(net, GraphNet): + if not isinstance(batch, dict): # Graph info provided + has_graph_info = True + batch = vel[1]['batch'] + else: + has_graph_info = False + # While we have not localized the agent in this episode yet, keep the + # is_new_episode flag to True. Note that localized could be set to False from a + # previous iteration. + is_new_episode = self.is_new_episode(last_batch, batch) or not localized + else: + is_new_episode = self.is_new_episode(last_batch, batch) + + if is_new_episode: + localized = False # For graph net eval + last_predicted_node_name = None # For graph net eval + last_predicted_behavior_id = None # For graph net eval + + # Update + last_batch = batch + + # If GraphNet, check if localized (AKA if graph info has been provided) + if isinstance(net, GraphNet) and (has_graph_info is True): + localized = True # For graph net eval + + if isinstance(net, GraphNet) and (localized is True): + # Agent has been localized + # Set up the input to the network (combine it all into the depth variable) + if (is_new_episode is True) or True and (vel is not None): + cur_area_graph = self.sem_graphs[batch['area_name'][0]] + initial_graph_net_input, _ = vel + depth = { + 'depth': depth, + 'graph_net_input': initial_graph_net_input, + } + else: + # We are in the middle of a rollout for this episode. Provide the subgraph + # based on the previous localization prediction. + + cur_graph_net_input = self.construct_graph_net_input( + self.cfg, + cur_area_graph, + last_predicted_node_name, + last_predicted_behavior_id, + decode_type, + batch, + ) + + depth = { + 'depth': depth, + 'graph_net_input': cur_graph_net_input, + } + + # Start evaluating the sequence/episode once we have found the starting node/position + if isinstance(net, GraphNet) and (localized is False): + continue + + # Sanity check + if isinstance(net, GraphNet) and (localized is False): + assert torch.unique(depth['graph_net_input']['graph_idx_of_node']) == 0 + assert torch.unique(depth['graph_net_input']['graph_idx_of_edge']) == 0 + + output = self.predict(net, depth, is_new_episode) + if isinstance(net, GraphNet): + # Decode the output of GraphNetEvaluator.predict() and update the predicted location + output, last_predicted_node_name, last_predicted_behavior_id = output + + if has_graph_info is False: + # We cannot compare with GT since no ground truth is provided + continue + + # Use a different criterion (from training) for evaluating the GraphNet + # Ignore the input criterion and measure accuracy instead + gt_graph_net_dict, target_output = vel + node_names_of_gt_subgraph = gt_graph_net_dict['node_names'] + edge_categories_of_gt_subgraph = gt_graph_net_dict['edge_categories'] + assert len(target_output['gt_node_idx']) == 1 + assert len(target_output['gt_edge_idx']) == 1 + gt_node_name = node_names_of_gt_subgraph[target_output['gt_node_idx'][0]] + gt_behavior_category_enum = BehaviorCategory(int(edge_categories_of_gt_subgraph[target_output['gt_edge_idx'][0]])) + gt_behavior_id = gt_behavior_category_enum.name + + assert self.cfg.gn_classification == 'edge' + loss = (gt_node_name == last_predicted_node_name) and (gt_behavior_id == last_predicted_behavior_id) + loss = float(loss) + else: + loss = criterion(output, vel) + + # Update counters + counter += 1 + if isinstance(loss, float): + running_loss += loss + else: + running_loss += loss.item() + + if (i + 1) % self.cfg.print_freq == 0: + print(' evaluated %d iterations: %f' % (i + 1, running_loss / counter)) + + # Display the prediction + if self.cfg.visualize_results is True: + # Modify dataset_item to include the prediction + if isinstance(net, GraphNet): + prediction_as_str = self.prediction2str(output, last_predicted_node_name, last_predicted_behavior_id) + else: + prediction_as_str = self.prediction2str(output) + + if isinstance(net, GraphNet) and (has_graph_info is True): # Make sure to visualize graph info if provided + dataset_item = raw_batch + dataset_item[0]['prediction_str'] = prediction_as_str + else: + dataset_item = batch + dataset_item['prediction_str'] = prediction_as_str + + # Visualize + to_break = self.dataset_visualizer.visualize_data_loader_item(dataset_item, use_frame_by_frame=use_single_frame) + if to_break: + break + + if is_training: + net.train() # Set to train mode + return running_loss / counter diff --git a/src/semnav/learning/graph_net/__init__.py b/src/semnav/learning/graph_net/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/learning/graph_net/__init__.pyc b/src/semnav/learning/graph_net/__init__.pyc new file mode 100644 index 0000000..f5c671f Binary files /dev/null and b/src/semnav/learning/graph_net/__init__.pyc differ diff --git a/src/semnav/learning/graph_net/__pycache__/__init__.cpython-36.pyc b/src/semnav/learning/graph_net/__pycache__/__init__.cpython-36.pyc new file mode 100644 index 0000000..6de7688 Binary files /dev/null and b/src/semnav/learning/graph_net/__pycache__/__init__.cpython-36.pyc differ diff --git a/src/semnav/learning/graph_net/__pycache__/__init__.cpython-38.pyc b/src/semnav/learning/graph_net/__pycache__/__init__.cpython-38.pyc new file mode 100644 index 0000000..187210f Binary files /dev/null and b/src/semnav/learning/graph_net/__pycache__/__init__.cpython-38.pyc differ diff --git a/src/semnav/learning/graph_net/__pycache__/graph_net.cpython-36.pyc b/src/semnav/learning/graph_net/__pycache__/graph_net.cpython-36.pyc new file mode 100644 index 0000000..80a8e6f Binary files /dev/null and b/src/semnav/learning/graph_net/__pycache__/graph_net.cpython-36.pyc differ diff --git a/src/semnav/learning/graph_net/__pycache__/graph_net.cpython-38.pyc b/src/semnav/learning/graph_net/__pycache__/graph_net.cpython-38.pyc new file mode 100644 index 0000000..b875977 Binary files /dev/null and b/src/semnav/learning/graph_net/__pycache__/graph_net.cpython-38.pyc differ diff --git a/src/semnav/learning/graph_net/graph_net.py b/src/semnav/learning/graph_net/graph_net.py new file mode 100644 index 0000000..d44a565 --- /dev/null +++ b/src/semnav/learning/graph_net/graph_net.py @@ -0,0 +1,146 @@ +from __future__ import print_function +from __future__ import division + +import torch.nn as nn + +from semnav.lib.graph_net_blocks import GNBlock, CNNBlock +from semnav.lib.categories import BehaviorCategory, RoomCategory + + +class GraphNet(nn.Module): + + def __init__( + self, + img_in_channels, + num_layers, + aggregate_method, + in_global_feat_size, + in_node_feat_size, + in_edge_feat_size, + intermediate_global_feat_size, + intermediate_node_feat_size, + intermediate_edge_feat_size, + out_global_feat_size=None, + out_node_feat_size=None, + out_edge_feat_size=None, + ): + """Construct a Graph Network, which is consisted of a CNN and a series of graph network + (GNBlock) layers. + + Args: + img_in_channels: Number of input channels to the CNN. + num_layers: Number of graph network layers. + in_global_feat_size: Output dimension of CNN, which is the input dimension for the + graph global feature to the graph network. + in_node_feat_size: Dimension of the input features for each node. This is also the + dimension of the node embedding lookup table. + in_edge_feat_size: Dimension of the input features for each edge. This is also the + dimension of the edge embedding lookup table. + intermediate_global_feat_size: Dimension of global features for intermediate graph + network layers. + intermediate_node_feat_size: Dimension of node features for intermediate graph + network layers. + intermediate_edge_feat_size: Dimension of edge features for intermediate graph + network layers. + out_global_feat_size: Dimension of global features output from the last graph network layer. + out_node_feat_size: Dimension of node features output from the last graph network layer. + out_edge_feat_size: Dimension of edge features output from the last graph network layer. + """ + super(GraphNet, self).__init__() + self.is_recurrent = False + self.num_layers = num_layers + if out_node_feat_size is None: + out_node_feat_size = 1 + if out_edge_feat_size is None: + out_edge_feat_size = 1 + + self.cnn_encoder = CNNBlock(in_channels=img_in_channels, out_dim=in_global_feat_size) + self.node_embeddings = nn.Embedding(num_embeddings=len(RoomCategory), + embedding_dim=in_node_feat_size) + self.edge_embeddings = nn.Embedding(num_embeddings=len(BehaviorCategory), + embedding_dim=in_edge_feat_size) + + self.gn_layers = self._build_graph_net_layers( + num_layers, + in_global_feat_size, + in_node_feat_size, + in_edge_feat_size, + intermediate_global_feat_size, + intermediate_node_feat_size, + intermediate_edge_feat_size, + out_global_feat_size, + out_node_feat_size, + out_edge_feat_size, + aggregate_method, + ) + + @staticmethod + def _build_graph_net_layers( + num_layers, + in_global_feat_size, + in_node_feat_size, + in_edge_feat_size, + intermediate_global_feat_size, + intermediate_node_feat_size, + intermediate_edge_feat_size, + out_global_feat_size, + out_node_feat_size, + out_edge_feat_size, + aggregate_method, + ): + gn_layers = nn.ModuleList() + for layer_idx in range(num_layers): + cur_in_global_feat_size = intermediate_global_feat_size + cur_in_node_feat_size = intermediate_node_feat_size + cur_in_edge_feat_size = intermediate_edge_feat_size + cur_out_global_feat_size = intermediate_global_feat_size + cur_out_node_feat_size = intermediate_node_feat_size + cur_out_edge_feat_size = intermediate_edge_feat_size + if layer_idx == 0: # First layer + cur_in_global_feat_size = in_global_feat_size + cur_in_node_feat_size = in_node_feat_size + cur_in_edge_feat_size = in_edge_feat_size + elif layer_idx == (num_layers - 1): # Last layer + cur_out_global_feat_size = out_global_feat_size + cur_out_node_feat_size = out_node_feat_size + cur_out_edge_feat_size = out_edge_feat_size + gn_block = GNBlock(cur_in_global_feat_size, cur_in_node_feat_size, + cur_in_edge_feat_size, + out_global_feat_size=cur_out_global_feat_size, + out_node_feat_size=cur_out_node_feat_size, + out_edge_feat_size=cur_out_edge_feat_size, + aggregate_method=aggregate_method) + gn_layers.append(gn_block) + return gn_layers + + def forward(self, image_stack, input_dict): + """Given the current subgraph and the input images, predict the node/edge in the subgraph. + + Steps: + 1. Forward pass through the CNN to produce a global feature vector. + 2. Perform the forward passes through the graph net layers. + + Args: + subgraph_batch: Subgraph batch. + image_stack: Input image stack [B, C, H, W] where B is the batch size and C is the + number of channels. + + Returns: + scores: Score for each node/edge in the graph. + """ + # Forward pass through CNN encoder + initial_global_feature_batch = self.cnn_encoder(image_stack) # batch_size x global_feat_dim + + global_features = initial_global_feature_batch + node_features = self.node_embeddings(input_dict['node_categories']) + edge_features = self.edge_embeddings(input_dict['edge_categories']) + for layer in self.gn_layers: + global_features, node_features, edge_features = layer( + global_features, + node_features, + edge_features, + input_dict['edge_connections'], + input_dict['graph_idx_of_node'], + input_dict['graph_idx_of_edge'], + ) + return global_features, node_features, edge_features diff --git a/src/semnav/learning/graph_net/graph_net.pyc b/src/semnav/learning/graph_net/graph_net.pyc new file mode 100644 index 0000000..f49fc50 Binary files /dev/null and b/src/semnav/learning/graph_net/graph_net.pyc differ diff --git a/src/semnav/learning/graph_net/graph_net_evaluator.py b/src/semnav/learning/graph_net/graph_net_evaluator.py new file mode 100644 index 0000000..9faf3aa --- /dev/null +++ b/src/semnav/learning/graph_net/graph_net_evaluator.py @@ -0,0 +1,86 @@ +from __future__ import print_function +from __future__ import division + +import torch + +from semnav.dataset.graph_net_dataset import GraphNetDataset +from semnav.dataset.graph_net_frame_dataset import GraphNetFrameDataset +from semnav.lib.categories import BehaviorCategory +from semnav.learning import decode_batch +from semnav.learning.evaluator import Evaluator + + +class GraphNetEvaluator(Evaluator): + + def __init__(self, cfg=None): + super(GraphNetEvaluator, self).__init__(cfg=cfg) + self.sem_graphs = GraphNetDataset._load_graphs(self.cfg.maps_root) + + @staticmethod + def get_decode_type(decode_type): + if decode_type == 'temporal': + return 'temporal_graph_net' + elif decode_type == 'single_frame': # Used by the graph net evaluator + return 'single_frame_graph_net' + else: + raise ValueError + + @staticmethod + def construct_graph_net_input(cfg, cur_area_graph, last_predicted_node_name, + last_predicted_behavior_id, decode_type, batch_data): + # Construct the subgraph + (node_name_list, node_categories, edge_categories, edge_connections, + node_idx, edge_idx) = GraphNetDataset.get_graph_data( + area_graph=cur_area_graph, + subgraph_center_node_name=last_predicted_node_name, + subgraph_center_behavior_id=last_predicted_behavior_id, + n_neighbor_dist=cfg.n_neighbor_dist, + ) + tmp_batch = [[batch_data, node_name_list, node_categories, + edge_categories, edge_connections, node_idx, edge_idx]] + tmp_batch = GraphNetFrameDataset.collate_fn(tmp_batch) + tmp_vel, _ = decode_batch(tmp_batch, decode_type, cfg) + cur_graph_net_input, _ = tmp_vel + return cur_graph_net_input + + def predict(self, net, depth, is_new_episode): + """The output of the GraphNet is global, node, and edge features. In addition to the + output of the GraphNet, this method will compute and return the node name and edge behavior + predicted by the GraphNet. + """ + output = super(GraphNetEvaluator, self).predict(net, depth, is_new_episode) + + # Extract the predicted node name and edge name from the network output + global_features, node_features, edge_features = output + graph_net_input = depth['graph_net_input'] + node_names = graph_net_input['node_names'] + edge_categories = graph_net_input['edge_categories'] + edge_connections = graph_net_input['edge_connections'] + + # Update the last predicted node name and last predicted behavior ID + assert self.cfg.gn_classification == 'edge' + assert edge_features.size(1) == 1 + predicted_edge_idx = int(torch.squeeze(torch.argmax(edge_features, dim=0))) + behavior_category_enum = BehaviorCategory(int(edge_categories[predicted_edge_idx])) + last_predicted_behavior_id = behavior_category_enum.name + predicted_node_idx = edge_connections[predicted_edge_idx, 0] + last_predicted_node_name = node_names[predicted_node_idx] + + output_dict = { + 'global_features': global_features, + 'node_features': node_features, + 'edge_features': edge_features, + 'node_names': node_names, + 'edge_categories': edge_categories, + 'edge_connections': edge_connections, + } + + return output_dict, last_predicted_node_name, last_predicted_behavior_id + + def prediction2str(self, net_output, last_predicted_node_name, last_predicted_behavior_id): + pred_str = last_predicted_node_name + ' ' + last_predicted_behavior_id + return net_output, pred_str + + +if __name__ == '__main__': + GraphNetEvaluator().test() diff --git a/src/semnav/learning/graph_net/graph_net_evaluator.pyc b/src/semnav/learning/graph_net/graph_net_evaluator.pyc new file mode 100644 index 0000000..52711e6 Binary files /dev/null and b/src/semnav/learning/graph_net/graph_net_evaluator.pyc differ diff --git a/src/semnav/learning/graph_net/graph_net_trainer.py b/src/semnav/learning/graph_net/graph_net_trainer.py new file mode 100644 index 0000000..ea946a9 --- /dev/null +++ b/src/semnav/learning/graph_net/graph_net_trainer.py @@ -0,0 +1,79 @@ +from __future__ import print_function +from __future__ import division + +import torch + +from semnav.learning.trainer import Trainer +from semnav.learning.graph_net.graph_net_evaluator import GraphNetEvaluator + + +class GraphNetTrainer(Trainer): + + def __init__(self): + super(GraphNetTrainer, self).__init__() + + @staticmethod + def get_decode_type(decode_type): + return GraphNetEvaluator.get_decode_type(decode_type) + + @staticmethod + def edge_classification_criterion(outputs, target_output_dict): + """Computes the training loss for the GraphNet. + + Args: + outputs: Outputs from the graph network. + target_output_dict: Dict containing information such as the ground truth node index and + number of nodes per graph. + """ + # Parse inputs + global_features, node_features, edge_features = outputs + assert edge_features.size(1) == 1 + + device = edge_features.device + + graph_net_input, target_output = target_output_dict + gt_edge_idx_list = target_output['gt_edge_idx'] + n_edges_per_graph_list = target_output['n_edges_per_graph'] + + # Construct tensors for computing cross entropy loss + # The prediction matrix should have shape (N, C) where N is the batch size and C is the + # number of classes + batch_size = len(n_edges_per_graph_list) + n_cols = max(n_edges_per_graph_list) + prediction_matrix = torch.zeros(batch_size, n_cols, device=device) + start_idx = 0 + target_list = [] + for idx_in_batch, (gt_edge_idx, n_edges_in_graph) in enumerate(zip(gt_edge_idx_list, + n_edges_per_graph_list)): + # Ground truth node index + gt_edge_idx_for_sample = gt_edge_idx - start_idx + assert (gt_edge_idx_for_sample >= 0) and (gt_edge_idx_for_sample < n_edges_in_graph) + target_list.append(gt_edge_idx_for_sample) + + # Set up prediction matrix + end_idx = start_idx + n_edges_in_graph + prediction_matrix[idx_in_batch, :n_edges_in_graph] = edge_features[start_idx:end_idx, 0] + + # Update start_idx for the next iteration + start_idx += n_edges_in_graph + target = torch.tensor(target_list, dtype=torch.int64, device=device) + + # Compute cross entropy loss + losses = torch.empty(batch_size, dtype=torch.float32, device=device) + for idx_in_batch in range(batch_size): + cur_loss = (-prediction_matrix[idx_in_batch, target[idx_in_batch]] + + torch.log(torch.sum(torch.exp(prediction_matrix[idx_in_batch, :(n_edges_per_graph_list[idx_in_batch])])))) + losses[idx_in_batch] = cur_loss + total_loss = torch.mean(losses) + return total_loss + + def get_criterion(self): + assert self.cfg.gn_classification == 'edge' + return self.edge_classification_criterion + + def get_evaluator(self): + return GraphNetEvaluator() + + +if __name__ == '__main__': + GraphNetTrainer().train() diff --git a/src/semnav/learning/trainer.py b/src/semnav/learning/trainer.py new file mode 100644 index 0000000..90b2cbc --- /dev/null +++ b/src/semnav/learning/trainer.py @@ -0,0 +1,184 @@ +from __future__ import print_function +from __future__ import division + +import os +import torch +import torch.optim as optim + +from semnav.config import get_config +from semnav.learning import get_net, decode_batch +from semnav.dataset import get_split_datasets +from semnav.dataset.graph_net_frame_dataset import GraphNetFrameDataset +from semnav.learning.behavior_net.behavior_cnn import BehaviorCNN +from semnav.learning.behavior_net.behavior_rnn import BehaviorRNN +from semnav.learning.phase_net.phase_rnn import PhaseRNN +from semnav.learning.graph_net.graph_net import GraphNet +from semnav.dataset.graph_net_dataset import graph_net_collate_fn +from tensorboardX import SummaryWriter +from torch.utils.data import DataLoader + + +class Trainer(object): + + def __init__(self): + self.cfg = get_config() + assert self.cfg.log_dir is not None + self.evaluator = self.get_evaluator() + + @staticmethod + def print_train_parameters(cfg): + print('Device:', cfg.device) + print('Dataset:', cfg.dataset) + print('Log directory:', cfg.log_dir) + print('Batch size:', cfg.batch_size) + print('Learning rate:', cfg.learning_rate) + if cfg.ckpt_path is not None: + print('Checkpoint path:', cfg.ckpt_path) + print('Number of epochs:', cfg.n_epochs) + if cfg.behavior_id is not None: + print('Behavior ID:', cfg.behavior_id) + print('') + + @staticmethod + def forward_pass(net, criterion, batch, decode_type, cfg): + if isinstance(net, BehaviorCNN) or isinstance(net, GraphNet): + vel, depth = decode_batch(batch, decode_type, cfg) + + # Forward pass + if isinstance(net, GraphNet): + graph_net_input, target_output = vel + outputs = net(depth, graph_net_input) + else: + outputs = net(depth) + loss = criterion(outputs, vel) + elif isinstance(net, BehaviorRNN) or isinstance(net, PhaseRNN): # Recurrent network + seq_len = len(batch) + + # Compute batch size by parsing the batch + test_vel, _ = decode_batch(batch[0], decode_type, cfg) + batch_size = test_vel.size(0) + + hidden = net.initial_hidden(batch_size=batch_size) + # Send to device + if isinstance(hidden, list): + hidden = [x.to(cfg.device) for x in hidden] + else: + hidden = hidden.to(cfg.device) + loss = 0. + for frame_data in batch: + vel, depth = decode_batch(frame_data, decode_type, cfg) + output, hidden = net(depth, hidden) + loss += criterion(output, vel) + loss /= seq_len # Compute average loss per timestep + else: + raise ValueError('Unrecognized network type.') + return loss + + def get_decode_type(self): + raise NotImplementedError('Must be implemented by a subclass.') + + def get_criterion(self): + raise NotImplementedError('Must be implemented by a subclass.') + + def train(self): + self.print_train_parameters(self.cfg) + + # Load the network + net = get_net(self.cfg.behaviornet_type, self.cfg) + + n_val_workers = 1 # Please do not change this + n_train_workers = self.cfg.n_workers - n_val_workers + + # Load train set and data loader + train_set, _, _ = get_split_datasets(self.cfg.dataset) + if self.cfg.dataset_type == 'graph_net': + train_data_loader = DataLoader(dataset=train_set, batch_size=self.cfg.batch_size, + shuffle=True, num_workers=n_train_workers, + collate_fn=graph_net_collate_fn) + else: + train_data_loader = DataLoader(dataset=train_set, batch_size=self.cfg.batch_size, + shuffle=True, num_workers=n_train_workers) + + # Load validation set and data loader + _, val_set, _ = self.evaluator.load_eval_datasets(self.cfg) + val_batch_size = self.evaluator.get_evaluation_batch_size() + if self.cfg.dataset_type == 'graph_net': + val_data_loader = DataLoader(dataset=val_set, batch_size=val_batch_size, shuffle=False, + num_workers=n_val_workers, collate_fn=GraphNetFrameDataset.collate_fn) + else: + val_data_loader = DataLoader(dataset=val_set, batch_size=val_batch_size, shuffle=False, + num_workers=n_val_workers) + + if ((isinstance(net, BehaviorCNN) + and (self.cfg.dataset_type == 'temporal')) + or (self.cfg.dataset_type == 'graph_net')): + decode_type = self.get_decode_type('temporal') + else: + decode_type = self.get_decode_type('single_frame') + + criterion = self.get_criterion() + if self.cfg.gn_cnn_encoder_learning_rate is not None: + assert self.cfg.affordance_cnn_ckpt_path is not None + assert self.cfg.freeze_affordance_cnn_weights is not True + cnn_encoder_parameter_names, cnn_encoder_parameters = net.cnn_encoder.get_params_for_all_but_last_layer() + + all_other_net_parameters = [parameter for name, parameter in net.named_parameters() + if not name.startswith('cnn_encoder') + or (name[12:] not in cnn_encoder_parameter_names)] + + list_of_param_dicts = [ + {'params': cnn_encoder_parameters, 'lr': self.cfg.gn_cnn_encoder_learning_rate}, + {'params': all_other_net_parameters}, # Use default learning rate + ] + + optimizer = optim.Adam(list_of_param_dicts, lr=self.cfg.learning_rate) + else: + optimizer = optim.Adam(net.parameters(), lr=self.cfg.learning_rate) + iteration = 0 + running_loss = 0. + with SummaryWriter(self.cfg.log_dir) as writer: + # Train + print('Beginning training!') + for epoch in range(self.cfg.n_epochs): + for i, batch in enumerate(train_data_loader): + net.train() + + # Zero the parameter gradients + optimizer.zero_grad() + + loss = self.forward_pass(net, criterion, batch, decode_type, self.cfg) + + # Backward pass + loss.backward() + + # Gradient step + optimizer.step() + + # Update counters + iteration += 1 + running_loss += loss.item() + + # Print progress + if iteration % self.cfg.print_freq == 0: + train_loss = running_loss / self.cfg.print_freq + print('[epoch %4d, iteration in epoch %5d, iteration %6d] loss: %.3f' % + (epoch + 1, i + 1, iteration, train_loss)) + writer.add_scalar('data/train_loss', train_loss, iteration) + running_loss = 0. + + # Run validation + if iteration % self.cfg.val_freq == 0: + print('running validation...') + val_loss = self.evaluator.evaluate_dataset(net, criterion, val_data_loader) + print('validation loss: %.3f' % val_loss) + writer.add_scalar('data/val_loss', val_loss, iteration) + + # Save checkpoint + if (self.cfg.ckpt_freq is not None) and (iteration % self.cfg.ckpt_freq == 0): + ckpt_path = os.path.join(self.cfg.ckpt_dir, 'iteration-%06d.model' % iteration) + print('Saving checkpoint:', ckpt_path) + torch.save(net.state_dict(), ckpt_path) + + +if __name__ == '__main__': + Trainer().train() diff --git a/src/semnav/lib/__init__.py b/src/semnav/lib/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/lib/behavior_detectors/__init__.pyc b/src/semnav/lib/behavior_detectors/__init__.pyc new file mode 100644 index 0000000..b40d1a8 Binary files /dev/null and b/src/semnav/lib/behavior_detectors/__init__.pyc differ diff --git a/src/semnav/lib/behavior_detectors/behavior_detector.pyc b/src/semnav/lib/behavior_detectors/behavior_detector.pyc new file mode 100644 index 0000000..5be64f4 Binary files /dev/null and b/src/semnav/lib/behavior_detectors/behavior_detector.pyc differ diff --git a/src/semnav/lib/behavior_detectors/corridor_follow_behavior_detector.pyc b/src/semnav/lib/behavior_detectors/corridor_follow_behavior_detector.pyc new file mode 100644 index 0000000..09035a5 Binary files /dev/null and b/src/semnav/lib/behavior_detectors/corridor_follow_behavior_detector.pyc differ diff --git a/src/semnav/lib/behavior_detectors/find_door_behavior_detector.pyc b/src/semnav/lib/behavior_detectors/find_door_behavior_detector.pyc new file mode 100644 index 0000000..95c86db Binary files /dev/null and b/src/semnav/lib/behavior_detectors/find_door_behavior_detector.pyc differ diff --git a/src/semnav/lib/behavior_detectors/junction_turn_behavior_detector.pyc b/src/semnav/lib/behavior_detectors/junction_turn_behavior_detector.pyc new file mode 100644 index 0000000..a665477 Binary files /dev/null and b/src/semnav/lib/behavior_detectors/junction_turn_behavior_detector.pyc differ diff --git a/src/semnav/lib/behavior_executor.py b/src/semnav/lib/behavior_executor.py new file mode 100644 index 0000000..2e234f0 --- /dev/null +++ b/src/semnav/lib/behavior_executor.py @@ -0,0 +1,130 @@ +from __future__ import print_function + +import numpy as np +import os +import rospkg +import rospy +import yaml + +from cv_bridge import CvBridge, CvBridgeError +from geometry_msgs.msg import Twist +from nav_msgs.msg import Odometry +from semnav.config import get_config +from semnav.dataset.depth_transform import DepthTransform +from semnav.dataset.parsebag import BagParser +from sensor_msgs.msg import Image + + +class BehaviorExecutor(object): + + def __init__(self, node_name, mode): + """Constructor. + + Args: + mode: 'real' or 'sim', it will change which topics to subscribe. + """ + self.cfg = get_config() + self.bridge = CvBridge() + self.mode = mode + + rospy.init_node(node_name) + + rospack = rospkg.RosPack() + gibson_path = rospack.get_path('gibson-ros') + ros_cfg_yaml_filepath = os.path.join(gibson_path, 'turtlebot_rgbd.yaml') + with open(ros_cfg_yaml_filepath, 'r') as f: + ros_cfg = yaml.load(f) + + self.depth_transform = DepthTransform(min_depth=self.cfg.min_depth, + max_depth=self.cfg.max_depth, + hole_val=self.cfg.hole_val) + + # Set subscribers and publishers + if self.mode == 'sim': + # Subscribers + self.rgb_sub = rospy.Subscriber('/gibson_ros/camera/rgb/image', Image, self.rgb_cb) + self.depth_sub = rospy.Subscriber('/gibson_ros/camera/depth/image', Image, self.depth_cb) + if 'semantics' in ros_cfg['output']: # If semantics are published + self.sem_sub = rospy.Subscriber('/gibson_ros/camera/semantics/image', Image, self.sem_cb) + self.odom_sub = rospy.Subscriber('/ground_truth_odom', Odometry, self.odom_cb) + + # Publishers + self.vel_pub = rospy.Publisher('/navigation_velocity_smoother/raw_cmd_vel', Twist, queue_size=10) + + self.velocity_multiplier = 1. + else: # Real world + # Subscribers + self.depth_sub = rospy.Subscriber('/gibson_ros/camera_goggle/depth/image', Image, self.depth_cb) + self.rgb_sub = rospy.Subscriber('/gibson_ros/camera_goggle/rgb/image', Image, self.rgb_cb) + + # Publishers + self.vel_pub = rospy.Publisher('/cmd_vel_mux/gibson/raw_cmd_vel', Twist, queue_size=10) + + self.velocity_multiplier = 0.5 # Reduce speed of agent + + self.last_rgb = None + self.last_depth = None + # self.last_depth_raw = None + self.last_sem = None + + # Ground truth odom + self.last_position = None + self.last_orientation = None + + def rgb_cb(self, image_message): + try: + cv_image = self.bridge.imgmsg_to_cv2(image_message, desired_encoding="passthrough") + self.last_rgb = cv_image + except CvBridgeError as e: + print(e) + + def depth_cb(self, image_message): + try: + cv_image = self.bridge.imgmsg_to_cv2(image_message, desired_encoding="passthrough") + self.last_depth = cv_image + except CvBridgeError as e: + print(e) + + def sem_cb(self, image_message): + try: + cv_image = self.bridge.imgmsg_to_cv2(image_message, desired_encoding="passthrough") + except CvBridgeError as e: + print(e) + semantic_img = BagParser.get_semantic_idx(cv_image) + self.last_sem = semantic_img + + def odom_cb(self, odom_message): + self.last_position = np.array([odom_message.pose.pose.position.x, + odom_message.pose.pose.position.y, + odom_message.pose.pose.position.z, + ]).astype(np.float32) + self.last_orientation = np.array([odom_message.pose.pose.orientation.x, + odom_message.pose.pose.orientation.y, + odom_message.pose.pose.orientation.z, + odom_message.pose.pose.orientation.w, + ]).astype(np.float32) + + def create_vel_msg(self, vel): + msg = Twist() + msg.linear.x = vel[0] + msg.linear.y = 0. + msg.linear.z = 0. + msg.angular.x = 0. + msg.angular.y = 0. + msg.angular.z = vel[1] + return msg + + def execute_vel(self, output_vel): + """Publish the velocity command. + + Args: + output_vel: Velocity Torch tensor of shape (batch_size x 2) where batch_size should be 1. + """ + output_vel = output_vel.cpu() + output_vel = output_vel.data.numpy() + output_vel = output_vel[0] # Remove batch size dimension + + output_vel *= self.velocity_multiplier + vel_msg = self.create_vel_msg(output_vel) + + self.vel_pub.publish(vel_msg) diff --git a/src/semnav/lib/bounding_box_visualizer.py b/src/semnav/lib/bounding_box_visualizer.py new file mode 100644 index 0000000..c32d5d0 --- /dev/null +++ b/src/semnav/lib/bounding_box_visualizer.py @@ -0,0 +1,122 @@ +#!/usr/bin/env python + +"""Visualize bounding boxes (which are identified by name). +""" + +import numpy as np +import rospy + +from jsk_recognition_msgs.msg import BoundingBox, BoundingBoxArray + + +class BoundingBoxVisualizer(object): + """A node that publishes a BoundingBoxArray(). + + A bounding box is a dict containing the following keys: + - upper_left_px: [row, col] of upper left bounding box corner in pixel coordinates + - lower_right_px: [row, col] of lower right bounding box corner in pixel coordinates + """ + + def __init__(self, img2map, topic=None): + self.img2map = img2map + self.bb_msg_list_dict = {} + if topic is None: + topic = '/bounding_box_array' + self.bb_pub = rospy.Publisher(topic, BoundingBoxArray, queue_size=10) + + self.bb_array_msg = self.create_bb_array_msg([]) + + # self.bb_pub.publish(self.bb_array_msg) + # rospy.spin() + + # rate = rospy.Rate(10) # 10hz + # while not rospy.is_shutdown(): + # self.bb_pub.publish(self.bb_array_msg) + # rate.sleep() + + def clear(self): + self.bb_msg_list_dict = {} + + def create_bb_msg(self, cur_bb, is_map_coord=False): + bb_corners = np.array([cur_bb['upper_left_px'], cur_bb['lower_right_px']]) + if is_map_coord is True: + bb_corners_map_coord = bb_corners + else: + bb_corners_px_coord = bb_corners + bb_corners_map_coord = self.img2map.pixel2map(bb_corners_px_coord) + bb_corners_mean = np.mean(bb_corners_map_coord, axis=0) + bb_corners_diff = np.abs(bb_corners_map_coord[0, :] - bb_corners_map_coord[1, :]) + + cur_bb_msg = BoundingBox() + cur_bb_msg.header.frame_id = 'map' + cur_bb_msg.header.stamp = rospy.Time.now() + cur_bb_msg.pose.position.x = bb_corners_mean[0] + cur_bb_msg.pose.position.y = bb_corners_mean[1] + cur_bb_msg.pose.position.z = 0 + cur_bb_msg.pose.orientation.x = 0 + cur_bb_msg.pose.orientation.y = 0 + cur_bb_msg.pose.orientation.z = 0 + cur_bb_msg.pose.orientation.w = 1 + cur_bb_msg.dimensions.x = bb_corners_diff[0] + cur_bb_msg.dimensions.y = bb_corners_diff[1] + cur_bb_msg.dimensions.z = 0.1 + cur_bb_msg.value = 1.0 + cur_bb_msg.label = 1 + return cur_bb_msg + + def create_bb_msg_list(self, names, bounding_box_list, is_map_coord=False): + """Create a dict that maps name -> BoundingBox msg. + + Args: + names: List of bounding box names. + bounding_box_list: List of bounding boxes (defined in class name). + + Returns: + boxes: A dict mapping from name -> BoundingBox msg. + """ + # NOTE: The conversion from pixel to map coordinates can be vectorized across the bounding box + # list if necessary. + boxes = {} + for cur_name, cur_bb in zip(names, bounding_box_list): + cur_bb_msg = self.create_bb_msg(cur_bb, is_map_coord=is_map_coord) + boxes[cur_name] = cur_bb_msg + return boxes + + def create_bb_array_msg(self, bb_msg_list): + """Create a BoundingBoxArray msg from a bounding box list dict (output from + self.create_bb_msg_list). + + Args: + bounding_box_list: A list of bounding box dicts as defined in read_bounding_boxes(). + + Returns: + oh_bb: An instance of the BoundingBoxArray msg. + """ + oh_bb = BoundingBoxArray() + oh_bb.header.frame_id = 'map' + oh_bb.header.stamp = rospy.Time.now() + oh_bb.boxes = bb_msg_list + return oh_bb + + def add_bounding_box_list(self, names, bounding_box_list, is_map_coord=False): + # Create a list of bounding box messages for new bounding box list + new_bb_msg_list_dict = self.create_bb_msg_list(names, bounding_box_list, + is_map_coord=is_map_coord) + + # Add it to the existing bounding box list + for cur_name, cur_bb in new_bb_msg_list_dict.iteritems(): + if cur_name in self.bb_msg_list_dict: + raise ValueError('Name already exists in bounding box list!') + self.bb_msg_list_dict[cur_name] = cur_bb + + # Create the new BoundingBoxArray message + self.bb_array_msg = self.create_bb_array_msg(self.bb_msg_list_dict.values()) + + # Publish updated BoundingBoxArray message + self.publish_bb() + + def add_bounding_box(self, name, bounding_box): + self.add_bounding_box_list([name], [bounding_box]) + + def publish_bb(self): + self.bb_pub.publish(self.bb_array_msg) diff --git a/src/semnav/lib/categories.py b/src/semnav/lib/categories.py new file mode 100644 index 0000000..e71b9ca --- /dev/null +++ b/src/semnav/lib/categories.py @@ -0,0 +1,82 @@ +from enum import IntEnum, unique + + +@unique +class SemanticCategory(IntEnum): + """Semantic classes. + """ + UNK = 0 + ceiling = 1 + floor = 2 + window = 3 + door = 4 + column = 5 + beam = 6 + wall = 7 + sofa = 8 + chair = 9 + table = 10 + board = 11 + bookcase = 12 + clutter = 13 + + +@unique +class NavPlanDifficulty(IntEnum): + """Difficulty of navigation plan. + """ + easy = 0 + moderate = 1 + hard = 2 + + +@unique +class BehaviorCategory(IntEnum): + """Behavior ID/edge in the semantic graph. + """ + fd = 0 + tl = 1 + tr = 2 + cf = 3 + s = 4 + + +affordance_types = [behavior_id.name for behavior_id in BehaviorCategory] + + +@unique +class RoomCategory(IntEnum): + """Category of each room/node in the semantic graph. + """ + room = 0 + hallway = 1 + open_space = 2 + + +room2category_dict = { + 'auditorium': RoomCategory.room, + 'conferenceRoom': RoomCategory.room, + 'copyRoom': RoomCategory.room, + 'hallway': RoomCategory.hallway, + 'lobby': RoomCategory.hallway, + 'lounge': RoomCategory.open_space, + 'office': RoomCategory.room, + 'openspace': RoomCategory.open_space, + 'pantry': RoomCategory.room, + 'storage': RoomCategory.room, + 'WC': RoomCategory.room, + } + + +def room2category(room_name): + for key, room_category in room2category_dict.iteritems(): + if room_name.startswith(key): + return room_category + raise ValueError('No category for this type of room: {}'.format(room_name)) + + +def behavior_id2category(behavior_id): + for name, member in BehaviorCategory.__members__.items(): + if behavior_id.startswith(name): + return member + raise ValueError('No category for this behavior ID: {}'.format(behavior_id)) diff --git a/src/semnav/lib/corridor_sampler.py b/src/semnav/lib/corridor_sampler.py new file mode 100644 index 0000000..bead714 --- /dev/null +++ b/src/semnav/lib/corridor_sampler.py @@ -0,0 +1,78 @@ +"""Sample start and end locations within a corridor. +""" + +# from __future__ import print_function +from __future__ import division + +import numpy as np +import random + +from semnav.lib.room_sampler import RoomSampler + + +class CorridorSampler(RoomSampler): + """Sample start (spawn) and end points in a corridor. + """ + + LONG_EDGE_MIN = 4. # Meters + MIN_SAMPLING_ASPECT_RATIO = 2. + END_PT_DIST_FROM_SHORT_EDGE = 1 # Meters + + def __init__(self, semantic_map, clutter_map, room_dict, resolution): + super(CorridorSampler, self).__init__(semantic_map, clutter_map, room_dict, resolution) + assert room_dict['name'].startswith('hallway') + + # It makes sense to sample only if the aspect ratio is above a minimum + # Also, the corridor has to be sufficiently long/large. + self.is_valid = (self.is_valid + and (self.aspect_ratio > self.MIN_SAMPLING_ASPECT_RATIO) + and ((self.long_edge * self.resolution) > self.LONG_EDGE_MIN)) + + self.end_point_px_dist_from_short_edge = int(self.END_PT_DIST_FROM_SHORT_EDGE + // self.resolution) + + # The end points are fixed to two particular locations + # Order of points if self.is_wide is True: [left, right] + # Order of points if self.is_wide is False: [top, bottom] + row = self.short_edge // 2 + col_left = self.end_point_px_dist_from_short_edge + col_right = self.long_edge - self.end_point_px_dist_from_short_edge + normalized_end_points = ([row, col_left], [row, col_right]) + self.end_points = [self.unnormalize_px_coord(normalized_end_points[0]), + self.unnormalize_px_coord(normalized_end_points[1])] + for idx, (end_pt, normalized_end_pt) in enumerate(zip(self.end_points, + normalized_end_points)): + if not self.is_valid_point(end_pt): + self.end_points[idx] = self.find_close_valid_point(normalized_end_pt) + + def find_close_valid_point(self, normalized_px_coord): + """Find a nearby valid point by searching in short-edge direction. + + Args: + normalized_px_coord: Pixel coordinates of query point. + + Returns: + px_coord: Normalized pixel coordinates of nearest point. + """ + found_valid_point = False + dist_from_query = 0 + while not found_valid_point: + dist_from_query += 1 + px_coord_above = [normalized_px_coord[0] - dist_from_query, normalized_px_coord[1]] + px_coord_below = [normalized_px_coord[0] + dist_from_query, normalized_px_coord[1]] + + if self.is_valid_point(self.unnormalize_px_coord(px_coord_above)): + found_valid_point = True + return self.unnormalize_px_coord(px_coord_above) + elif self.is_valid_point(self.unnormalize_px_coord(px_coord_below)): + found_valid_point = True + return self.unnormalize_px_coord(px_coord_below) + + if (px_coord_above[0] == 0) or (px_coord_below[0] == (self.short_edge - 1)): + raise AssertionError('Cannot find good corridor endpoint.') + + def sample_end_pt(self): + """Sample an end point in the corridor (located at one end of the corridor or another). + """ + end_point = random.choice(self.end_points) # Uniformly choose an end point + return end_point diff --git a/src/semnav/lib/discrete_sampler.py b/src/semnav/lib/discrete_sampler.py new file mode 100644 index 0000000..e944a1a --- /dev/null +++ b/src/semnav/lib/discrete_sampler.py @@ -0,0 +1,25 @@ +"""Sample items in a list, given a probability distribution. +""" + +from __future__ import division + +import numpy as np + + +class DiscreteSampler(object): + """Sample items in a list, given a probability distribution. + """ + + def __init__(self, item_list, unnormalized_prob): + self.items = item_list + self.p = self.normalize_prob(unnormalized_prob) + assert len(item_list) == self.p.shape[0] + + @staticmethod + def normalize_prob(unnormalized_prob): + unnormalized_prob = np.array(unnormalized_prob) + assert unnormalized_prob.ndim == 1 + return unnormalized_prob / np.sum(unnormalized_prob) + + def sample_once(self): + return np.random.choice(self.items, p=self.p) diff --git a/src/semnav/lib/graph_net_blocks.py b/src/semnav/lib/graph_net_blocks.py new file mode 100644 index 0000000..2f1de6f --- /dev/null +++ b/src/semnav/lib/graph_net_blocks.py @@ -0,0 +1,244 @@ +import torch +import torch.nn as nn +import torch.nn.functional as F + + +class EdgeBlock(nn.Module): + """This module updates the edge attributes. + + The inputs are the edge, vertex, and global attributes. + """ + + def __init__(self, global_feat_size, node_feat_size, edge_feat_size, out_edge_feat_size): + super(EdgeBlock, self).__init__() + self.fc1 = nn.Linear(global_feat_size + 2 * node_feat_size + edge_feat_size, 256) + self.fc1_bn = nn.BatchNorm1d(num_features=256) + self.fc2 = nn.Linear(256, 256) + self.fc2_bn = nn.BatchNorm1d(num_features=256) + self.fc3 = nn.Linear(256, 256) + self.fc3_bn = nn.BatchNorm1d(num_features=256) + self.fc4 = nn.Linear(256, out_edge_feat_size) + + def forward(self, x): + """Forward pass through the edge block to get updated edge attributes. + """ + x = F.relu(self.fc1_bn(self.fc1(x))) + x = F.relu(self.fc2_bn(self.fc2(x))) + x = F.relu(self.fc3_bn(self.fc3(x))) + x = self.fc4(x) + return x + + +class NodeBlock(nn.Module): + """This module updates the node attributes. + + The inputs are the global, vertex, and (updated and aggregated) edge attributes. + """ + + def __init__(self, global_feat_size, node_feat_size, edge_feat_size, out_node_feat_size): + super(NodeBlock, self).__init__() + self.f_n = nn.Sequential( + nn.Linear(global_feat_size + node_feat_size + edge_feat_size, 256), + nn.BatchNorm1d(num_features=256), + nn.ReLU(), + nn.Linear(256, 256), + nn.BatchNorm1d(num_features=256), + nn.ReLU(), + nn.Linear(256, 256), + nn.BatchNorm1d(num_features=256), + nn.ReLU(), + nn.Linear(256, out_node_feat_size), + ) + + def forward(self, x): + """Forward pass through the node block to get updated node attributes. + """ + return self.f_n(x) + + +class GlobalBlock(nn.Module): + """This module updates the global attributes. + + The inputs are the global, (updated and aggregated) vertex, and (updated and aggregated) + edge attributes. + """ + + def __init__(self, global_feat_size, node_feat_size, edge_feat_size, out_global_feat_size): + super(GlobalBlock, self).__init__() + self.f_g = nn.Sequential( + nn.Linear(global_feat_size + node_feat_size + edge_feat_size, 256), + nn.BatchNorm1d(num_features=256), + nn.ReLU(), + nn.Linear(256, 256), + nn.BatchNorm1d(num_features=256), + nn.ReLU(), + nn.Linear(256, 256), + nn.BatchNorm1d(num_features=256), + nn.ReLU(), + nn.Linear(256, out_global_feat_size), + ) + + def forward(self, x): + """Forward pass through the global block to get updated global attributes. + """ + return self.f_g(x) + + +class GNBlock(nn.Module): + """Graph Net Block. A single graph net layer. + + The inputs are the global, vertex, and edge attributes. + The outputs are the updated global, vertex, and edge attributes. + """ + + def __init__(self, global_feat_size, node_feat_size, edge_feat_size, out_global_feat_size, + out_node_feat_size, out_edge_feat_size, aggregate_method='sum'): + """Constructor. + + Args: + global_feat_size: Dimension of global features input to the GNBlock. + node_feat_size: Dimension of node features input to the GNBlock. + edge_feat_size: Dimension of edge features input to the GNBlock. + out_global_feat_size: Size of output global features. This can be None, which saves + computation by skipping over the global block entirely. + out_node_feat_size: Dimension of node features output from the GNBlock. + out_edge_feat_size: Dimension of edge features output from the GNBlock. + aggregate_method: Method of aggregating/pooling node and edge features ('sum' or 'avg'). + """ + super(GNBlock, self).__init__() + self.global_feat_size = global_feat_size + self.node_feat_size = node_feat_size + self.edge_feat_size = edge_feat_size + self.aggregate_method = aggregate_method + self.out_global_feat_size = out_global_feat_size + assert (self.aggregate_method == 'sum') or (self.aggregate_method == 'avg') + + self.edge_block = EdgeBlock(self.global_feat_size, self.node_feat_size, self.edge_feat_size, + out_edge_feat_size) + self.node_block = NodeBlock(self.global_feat_size, self.node_feat_size, out_edge_feat_size, + out_node_feat_size) + if self.out_global_feat_size is not None: + self.global_block = GlobalBlock(self.global_feat_size, out_node_feat_size, + out_edge_feat_size, self.out_global_feat_size) + + def _forward_batch(subgraph_batch, image_stack): + """Forward pass a batch. Try to do this efficiently by computing a single pass through each + graph net block (node block, edge block, global block). + """ + pass + + def _forward_single(subgraph_batch, image_stack): + """Forward pass a single input instance. + """ + pass + + def forward(self, global_features, node_features, edge_features, edge_connections, + graph_idx_of_node, graph_idx_of_edge): + """Forward pass through the graph net block, updating the features/attributes in-place. + """ + device = global_features.device + + # Update edge features + start_node_features = F.embedding(edge_connections[:, 0], node_features) + end_node_features = F.embedding(edge_connections[:, 1], node_features) + global_features_by_edge = F.embedding(graph_idx_of_edge, global_features) + edge_block_input = torch.cat([global_features_by_edge, start_node_features, + end_node_features, edge_features], dim=1) + new_edge_features = self.edge_block(edge_block_input) + + # Update node features + # Aggregate updated edge features for each node + # Edges are directed, so only aggregate on receiver nodes + aggregated_edge_features_per_node = torch.zeros(node_features.size(0), + new_edge_features.size(1), + device=device) + end_node_idx = edge_connections[:, 1].view(-1, 1).expand_as(new_edge_features) + aggregated_edge_features_per_node.scatter_add_(0, end_node_idx, new_edge_features) + + if self.aggregate_method == 'avg': + raise NotImplementedError() + + global_features_by_node = F.embedding(graph_idx_of_node, global_features) + node_block_input = torch.cat([global_features_by_node, node_features, + aggregated_edge_features_per_node], dim=1) + new_node_features = self.node_block(node_block_input) + + # Update global features + if self.out_global_feat_size is None: + new_global_features = None + else: + aggregated_edge_features_per_graph = torch.zeros(global_features.size(0), + new_edge_features.size(1), + device=device) + aggregated_node_features_per_graph = torch.zeros(global_features.size(0), + new_node_features.size(1), + device=device) + graph_idx_of_edge_exp = graph_idx_of_edge.view(-1, 1).expand_as(new_edge_features) + graph_idx_of_node_exp = graph_idx_of_node.view(-1, 1).expand_as(new_node_features) + aggregated_edge_features_per_graph.scatter_add_(0, graph_idx_of_edge_exp, new_edge_features) + aggregated_node_features_per_graph.scatter_add_(0, graph_idx_of_node_exp, new_node_features) + + if self.aggregate_method == 'avg': + raise NotImplementedError() + + global_block_input = torch.cat([global_features, aggregated_node_features_per_graph, + aggregated_edge_features_per_graph], dim=1) + new_global_features = self.global_block(global_block_input) + + return new_global_features, new_node_features, new_edge_features + + +class CNNBlock(nn.Module): + + def __init__(self, in_channels, out_dim): + super(CNNBlock, self).__init__() + + # Input resolution: 320x240 + self.conv1 = nn.Conv2d(in_channels=in_channels, out_channels=32, kernel_size=5, stride=2, padding=0) + self.conv1_bn = nn.BatchNorm2d(32) + self.conv2 = nn.Conv2d(in_channels=32, out_channels=64, kernel_size=5, stride=2, padding=0) + self.conv2_bn = nn.BatchNorm2d(64) + self.conv3 = nn.Conv2d(in_channels=64, out_channels=128, kernel_size=3, stride=2, padding=0) + self.conv3_bn = nn.BatchNorm2d(128) + self.conv4 = nn.Conv2d(in_channels=128, out_channels=256, kernel_size=3, stride=2, padding=0) + self.conv4_bn = nn.BatchNorm2d(256) + self.conv5 = nn.Conv2d(in_channels=256, out_channels=512, kernel_size=3, stride=2, padding=0) + self.conv5_bn = nn.BatchNorm2d(512) + self.conv6 = nn.Conv2d(in_channels=512, out_channels=512, kernel_size=3, stride=2, padding=0) + self.conv6_bn = nn.BatchNorm2d(512) + self.conv7 = nn.Conv2d(in_channels=512, out_channels=out_dim, kernel_size=(2, 3), stride=1, padding=0) + + def freeze_all_but_last_layer(self): + print('--> Freezing the following CNNBlock parameters:') + unfrozen_parameter_names = [] + for name, param in self.named_parameters(): + if not name.startswith('conv7'): + print(' {}'.format(name)) + param.requires_grad = False + else: + unfrozen_parameter_names.append(name) + print('--> The following parameters of CNNBlock are NOT frozen:') + for name in unfrozen_parameter_names: + print(' {}'.format(name)) + print('') + + def get_params_for_all_but_last_layer(self): + names_list = [] + params_list = [] + for name, param in self.named_parameters(): + if not name.startswith('conv7'): + names_list.append(name) + params_list.append(param) + return names_list, params_list + + def forward(self, x): + x = F.relu(self.conv1_bn(self.conv1(x))) + x = F.relu(self.conv2_bn(self.conv2(x))) + x = F.relu(self.conv3_bn(self.conv3(x))) + x = F.relu(self.conv4_bn(self.conv4(x))) + x = F.relu(self.conv5_bn(self.conv5(x))) + x = F.relu(self.conv6_bn(self.conv6(x))) + x = torch.tanh(self.conv7(x)) + x = torch.squeeze(x, dim=3) + x = torch.squeeze(x, dim=2) + return x diff --git a/src/semnav/lib/image_map_transformer.py b/src/semnav/lib/image_map_transformer.py new file mode 100644 index 0000000..c95b44d --- /dev/null +++ b/src/semnav/lib/image_map_transformer.py @@ -0,0 +1,104 @@ +import cv2 +import numpy as np +import os +import yaml + +from semnav.lib.utils import read_area_data + + +class Image2MapTransformer(object): + """Class for transforming image pixel coordinates (row, col) to /map coordinates (x, y). + """ + + def __init__(self, yaml_filepath): + # Load yaml file containing map data + with open(yaml_filepath, 'r') as f: + map_yaml = yaml.load(f) + img_path = os.path.join(os.path.dirname(yaml_filepath), map_yaml['image']) + + self.origin = map_yaml['origin'] # World coordinates of bottom-left pixel + self.resolution = map_yaml['resolution'] # (n_row, n_col) + self.image_size = cv2.imread(img_path).shape[:2] # (n_rows, n_cols) + # Bottom left pixel in (col, row) format + self.bottom_left_modified = np.array([0, self.image_size[0] - 1]) + + # For self.get_room_name() + mat_filepath = os.path.join(os.path.dirname(yaml_filepath), map_yaml['mat_filepath']) + self.area_data = read_area_data(mat_filepath) + self.id2name = {room['id']: room['name'] for room in self.area_data['rooms']} + + def pixel2map(self, px_coord): + """Convert pixel coordinates (row, col) to /map coordinates in ROS. + + Args: + px_coord: Nx2 array of pixel coordinates (row, col). + + Returns: + map_coord: Nx2 array of map coordinates (x, y). + """ + one_d = False + if px_coord.shape == (2,): + px_coord = px_coord.reshape((1, 2)) + one_d = True + + # Check bounds + mins = np.amin(px_coord, axis=0) + maxes = np.amax(px_coord, axis=0) + assert np.all(mins >= 0) + assert np.all(maxes < self.image_size) + + # Compute distance from bottom-left pixel + px_coord_rolled = np.roll(px_coord, 1, axis=1) + px_coord_rolled[:, 0] = -px_coord_rolled[:, 0] + + map_coord = (self.bottom_left_modified - px_coord_rolled).astype(np.float32) * self.resolution + self.origin[:2] + if one_d is True: + map_coord = map_coord.reshape((2,)) + return map_coord + + def map2pixel(self, map_coord): + """Convert /map coordinates (x, y) to pixel coordinates. + + Args: + map_coord: Nx2 array of map coordinates (x, y). + + Returns: + px_coord: Nx2 array of pixel coordinates (row, col). + """ + one_d = False + if map_coord.shape == (2,): + map_coord = map_coord.reshape((1, 2)) + one_d = True + + # Set origin to bottom left pixel + centered_map_coord = map_coord - self.origin[:2] + px_from_bottom_left = centered_map_coord.astype(np.float32) / self.resolution + row_coord = self.image_size[0] - px_from_bottom_left[:, 1] - 1 + col_coord = px_from_bottom_left[:, 0] + row_coord = row_coord[:, np.newaxis] + col_coord = col_coord[:, np.newaxis] + px_from_top_left = np.hstack((row_coord, col_coord)) + px_coord = np.rint(px_from_top_left).astype(np.int32) + + # Check bounds + mins = np.amin(px_coord, axis=0) + maxes = np.amax(px_coord, axis=0) + assert np.all(mins >= 0) + assert np.all(maxes < self.image_size) + + if one_d is True: + px_coord = px_coord.reshape((2,)) + return px_coord + + def get_room_name(self, position, xy=False): + """Get the room name for the given position. + + Args: + position: xyz coordinates representing the agent position. If xy is True, then position + is xy coordinates. + """ + if xy is False: + position = position[:2] # Convert from xyz to xy + px_coord = self.map2pixel(np.array(position)) + room_name = self.id2name.get(self.area_data['semantic_map'][px_coord[0], px_coord[1]]) + return room_name diff --git a/src/semnav/lib/navigation_brain.py b/src/semnav/lib/navigation_brain.py new file mode 100644 index 0000000..5920532 --- /dev/null +++ b/src/semnav/lib/navigation_brain.py @@ -0,0 +1,496 @@ +from __future__ import print_function + +import copy +import numpy as np +import rospy +import torch + +import actionlib + +from collections import deque +from enum import Enum, unique + +from semnav.learning import get_net, merge_input_tensors +from semnav.learning.behavior_net.behavior_evaluator import BehaviorEvaluator +from semnav.lib.behavior_detectors import BehaviorDetector +from semnav.lib.behavior_executor import BehaviorExecutor +from semnav.lib.categories import SemanticCategory +from semnav.lib.image_map_transformer import Image2MapTransformer +from semnav.lib.navigation_plan import NavigationGoal, NavigationPlan +from semnav.lib.sem_graph import SemGraph +from semnav.lib.utils import compute_dist, compute_angle_delta + +from semnav_ros.msg import NavCommandAction, NavCommandFeedback, NavCommandResult + + +@unique +class BrainState(Enum): + FINISHED = 0 + EXECUTING = 1 + + +@unique +class EpisodeResult(Enum): + SUCCESS = 0 + DEVIATED = 1 + STUCK = 2 + ABORTED = 3 + + +class NavigationBrain(BehaviorExecutor): + """High-level navigation planner. Allows creation of navigation goals, determines the + sequence of behaviors to be executed, and selects the execution behavior on-the-fly. + """ + + def __init__(self, node_name, mode, yaml_filepath, n_recent_poses=50, stuck_threshold_dist=0.5, + stuck_threshold_angle=20): + """Constructor. + + Args: + yaml_filepath: Path to area yaml. + n_recent_poses: Integer used for determining when the robot is stuck. Compares the + current agent position with the position n_recent_poses frames/updates ago. + stuck_threshold_dist: Float (meters) used in conjunction with n_recent_poses. Checks + whether the distance traveled between current frame and n_recent_poses + frames/updates ago is within the stuck_threshold_dist. + """ + assert mode == 'sim' # Only sim is supported for now + super(NavigationBrain, self).__init__(node_name, mode=mode) + self.sem_graph = SemGraph(yaml_filepath) + self.behavior_detector = BehaviorDetector() + self.n_recent_poses = n_recent_poses + self.stuck_threshold_dist = stuck_threshold_dist + self.stuck_threshold_angle_radians = float(stuck_threshold_angle) / 180 * np.pi + self.step_frequency = 5 # Hz + self.rate = rospy.Rate(self.step_frequency) # Hz + self.feedback_frequency = 2 # Hz + self.feedback_frequency_in_steps = self.step_frequency / self.feedback_frequency + + if mode == 'sim': + self.img2map = Image2MapTransformer(yaml_filepath) + + self.load_behavior_nets() + + self.reset_goal() + + self.action_server = actionlib.SimpleActionServer('navigation_command', NavCommandAction, + execute_cb=self.action_server_cb, + auto_start=False) + self.action_server.register_preempt_callback(self.action_server_preempt_cb) + self.action_server.start() + + @property + def recent_poses(self): + return self._recent_poses + + @property + def nav_goal(self): + return self.nav_plan.nav_goal + + @property + def nav_plan(self): + return self._nav_plan + + @property + def state(self): + return self._state + + @property + def current_node(self): + return self._current_node + + def load_behavior_nets(self): + # Turn left behavior + tl_cfg = copy.copy(self.cfg) + tl_cfg.dataset_type = 'temporal' + tl_cfg.behaviornet_type = 'behavior_rnn' + tl_cfg.ckpt_path = '/cvgl2/u/kchen92/sem-nav/experiments/v0.2/behavior_rnn-2-layer-lstm-512-hidden-size/tl/models/iteration-005000.model' + tl_cfg.n_frames_per_sample = 20 + + # Turn right behavior + tr_cfg = copy.copy(self.cfg) + tr_cfg.dataset_type = 'temporal' + tr_cfg.behaviornet_type = 'behavior_rnn' + tr_cfg.ckpt_path = '/cvgl2/u/kchen92/sem-nav/experiments/v0.2/behavior_rnn-2-layer-lstm-512-hidden-size/tr/models/iteration-005000.model' + tr_cfg.n_frames_per_sample = 20 + + # Go straight behavior + s_cfg = copy.copy(self.cfg) + s_cfg.dataset_type = 'temporal' + s_cfg.behaviornet_type = 'behavior_rnn' + s_cfg.ckpt_path = '/cvgl2/u/kchen92/sem-nav/experiments/v0.2/behavior_rnn-2-layer-lstm-512-hidden-size/s/models/iteration-007500.model' + s_cfg.n_frames_per_sample = 20 + + # Corridor follow behavior + cf_cfg = copy.copy(self.cfg) + cf_cfg.dataset_type = 'temporal' + cf_cfg.behaviornet_type = 'behavior_cnn' + cf_cfg.ckpt_path = '/cvgl2/u/kchen92/sem-nav/experiments/v0.2/behavior_cnn_stack-less-freq-val-2/cf/models/iteration-019000.model' + cf_cfg.n_frames_per_sample = 20 + + # Find door behavior + fd_cfg = copy.copy(self.cfg) + fd_cfg.dataset_type = 'temporal' + fd_cfg.behaviornet_type = 'behavior_cnn' + fd_cfg.ckpt_path = '/cvgl2/u/kchen92/sem-nav/experiments/v0.2/behavior_cnn_stack-less-freq-val-2/fd/models/iteration-017000.model' + fd_cfg.n_frames_per_sample = 20 + + behavior_cfgs = { + 'tl': tl_cfg, + 'tr': tr_cfg, + 's': s_cfg, + 'cf': cf_cfg, + 'fd': fd_cfg, + } + + # Assume cfg.n_frames_per_sample is the same for all networks + all_n_frames_per_sample = [] + for cur_cfg in behavior_cfgs.values(): + if cur_cfg.n_frames_per_sample is not None: + all_n_frames_per_sample.append(cur_cfg.n_frames_per_sample) + if len(all_n_frames_per_sample) > 0: + assert len(set(all_n_frames_per_sample)) == 1 + self.n_frames_per_sample = all_n_frames_per_sample[0] + else: + self.n_frames_per_sample = None + + # Load networks + print('Loading networks...') + self.behavior_nets = {behavior_id: get_net(behavior_cfg.behaviornet_type, behavior_cfg) + for behavior_id, behavior_cfg in behavior_cfgs.iteritems()} + print('Mapping fd_r, fd_l to fd network') + self.behavior_nets['fd_r'] = self.behavior_nets['fd'] + self.behavior_nets['fd_l'] = self.behavior_nets['fd'] + print('Mapping s_r, s_l to s network') + self.behavior_nets['s_r'] = self.behavior_nets['s'] + self.behavior_nets['s_l'] = self.behavior_nets['s'] + print('Networks loaded') + + # Set all networks to eval mode + for cur_net in self.behavior_nets.values(): + cur_net.eval() + + # Create evaluators + self.evaluators = {behavior_id: BehaviorEvaluator(cfg=behavior_cfg) + for behavior_id, behavior_cfg in behavior_cfgs.iteritems()} + print('Mapping fd_r, fd_l to fd network') + self.evaluators['fd_r'] = self.evaluators['fd'] + self.evaluators['fd_l'] = self.evaluators['fd'] + print('Mapping s_r, s_l to s network') + self.evaluators['s_r'] = self.evaluators['s'] + self.evaluators['s_l'] = self.evaluators['s'] + + self.behavior_cfgs = behavior_cfgs + + def run_episode(self): + """Run the main loop for the navigation brain. + """ + steps_since_last_feedback_publish = 0 + with torch.no_grad(): + while not self.is_episode_finished(): + self.update_brain() + behavior_id = self.get_behavior() + self.execute_behavior(behavior_id) + + # Publish feedback + steps_since_last_feedback_publish += 1 + if steps_since_last_feedback_publish > self.feedback_frequency_in_steps: + self.action_server_publish_feedback(behavior_id) + steps_since_last_feedback_publish = 0 + + self.rate.sleep() + if self.is_episode_successful() is True: + result = EpisodeResult.SUCCESS + elif self.is_deviated() is True: + result = EpisodeResult.DEVIATED + elif self.is_stuck() is True: + result = EpisodeResult.STUCK + else: + raise ValueError + print(result) + return result + + def update_visuals(self): + """Update any visuals used by the brain/behavior networks. This is called from + self.update_brain(). + """ + # Read depth image + cur_depth = self.depth_transform(self.last_depth) # Shape (H, W) + cur_depth = torch.from_numpy(cur_depth[np.newaxis, np.newaxis, :]).to(self.cfg.device) + + # Create a new image stack if at beginning of sim + if (self.n_frames_per_sample is not None) and (self.depth_stack is None): + self.depth_stack = cur_depth.repeat(1, self.n_frames_per_sample, 1, 1) + + # Keep an updated image stack if necessary + if (self.n_frames_per_sample is not None) and (self.depth_stack is not None): + # Most recent image is at the end + self.depth_stack = torch.cat([self.depth_stack[:, 1:, :, :], cur_depth], dim=1) + + self.cur_depth = cur_depth + + def update_sim_info(self): + """Update brain with simulation information. + """ + # Update the location in the topological map + room_name = self.img2map.get_room_name(self.last_position) + if room_name is None: + print('Lost! Could not find current room name.') + self._current_node = None + else: + self._current_node = self.sem_graph.get_closest_node(room_name, self.last_position, + self.last_orientation, + alignment_matters=True) + + # Make sure current node is correctly set when in a room, even when agent does not face + # the correct direction (similar to if alignment_matters is False) + if (self.behavior_detector.in_room_by_name(room_name) + and (self.last_valid_node is not None) + and ((self.current_node is None) + or (not self.behavior_detector.in_room_by_name(self.current_node.name)))): + if room_name in self.sem_graph.nodes: + self._current_node = self.sem_graph.nodes[room_name] + + if self.current_node in self.nav_plan.node_list: + self.last_valid_node = self.current_node + + # Update self.recent_poses + last_pose = (self.last_position, self.last_orientation) + if len(self.recent_poses) < self.n_recent_poses: + self._recent_poses.append(last_pose) + else: # queue is full + self._recent_poses.popleft() + self._recent_poses.append(last_pose) + + def update_brain(self): + """Update the brain with the latest information, such as visual input and location in map. + Keeping the brain updated allows it to also update/localize the agent in the topological map. + """ + if self.mode == 'sim': + self.update_sim_info() + self.update_visuals() + + def get_gt_behavior(self): + """Using the brain's (GT) estimate of the agent's position in the topological map, return + the correct behavior for getting to the current navigation goal. + + Returns: + behavior_id: The correct behavior_id to execute if at a valid node on the current + navigation plan. Otherwise, return None. + """ + if self.nav_plan is None: + return None + + edge = self.nav_plan.node2edge.get(self.current_node) + if edge is not None: + return edge.behavior_id + else: + if self.current_node is not None: + print('Current node not part of navigation plan:', self.current_node.name) + return None + + def execute_behavior(self, behavior_id): + """Execute the behavior specified by behavior_id. + + Args: + behavior_id: A behavior ID. If this is None, the behavior ID is assumed to be STOP. + """ + if behavior_id is None: # Nonbehavior keypress + exec_behavior_id = 'STOP' + else: # If valid behavior keypress + exec_behavior_id = behavior_id # Execute new behavior + + # Check if we are executing a new/different behavior compared to previous exec behavior + if exec_behavior_id != self.exec_behavior_id: + is_exec_new_behavior_id = True + else: + is_exec_new_behavior_id = False + + self.exec_behavior_id = exec_behavior_id + + if exec_behavior_id == 'STOP': + output_vel = torch.zeros(1, 2) + else: + net = self.behavior_nets[exec_behavior_id] + evaluator = self.evaluators[exec_behavior_id] + + cur_behavior_cfg = self.behavior_cfgs[exec_behavior_id] + if cur_behavior_cfg.use_semantic_class is None: # Depth only input + # When we execute a new behavior, reset the internal depth stack + if (self.n_frames_per_sample is not None) and (is_exec_new_behavior_id is True): + evaluator.depth_stack = self.depth_stack + + cur_input = self.cur_depth + else: # Depth + semantics input + semantic_mask_stack = self.semantic_stack == SemanticCategory[cur_behavior_cfg.use_semantic_class] + semantic_mask_stack = semantic_mask_stack.type(torch.FloatTensor).to(self.cfg.device) + depth_semantic_stack = merge_input_tensors([self.depth_stack, semantic_mask_stack]) + + # When we execute a new behavior, reset the internal depth/semantic stack + if (self.n_frames_per_sample is not None) and (behavior_id is not None): + evaluator.depth_stack = depth_semantic_stack + + cur_semantic = self.cur_semantic == SemanticCategory[cur_behavior_cfg.use_semantic_class] + cur_semantic = cur_semantic.type(torch.FloatTensor).to(self.cfg.device) + cur_frame = torch.cat([self.cur_depth, cur_semantic], dim=1) + + cur_input = cur_frame + if net.is_recurrent is True: + # For recurrent models, we want to set is_new_episode to True whenever a behavior + # switch occurs so that the hidden state can reset + if is_exec_new_behavior_id is True: + is_new_episode = True + else: + is_new_episode = False + else: + # For simple feedforward networks, we always set is_new_episode to False because + # we already manually updated the evaluator depth stack + is_new_episode = False + output_vel = evaluator.predict(net, cur_input, is_new_episode=is_new_episode) + self.execute_vel(output_vel) + + def is_stuck(self): + """Return whether the agent is stuck or not. + """ + assert self.nav_plan is not None + if len(self.recent_poses) < self.n_recent_poses: + return False + position_delta = compute_dist(self.recent_poses[0][0][:2], + self.recent_poses[-1][0][:2]) + orientation_delta = compute_angle_delta(self.recent_poses[0][1][2], + self.recent_poses[-1][1][2]) + if ((position_delta < self.stuck_threshold_dist) + and (orientation_delta < self.stuck_threshold_angle_radians)): + return True + else: + return False + + def is_deviated(self): + """Whether the agent has deviated from the navigation goal (visited a node not in the + navigation plan). + """ + assert self.nav_plan is not None + return (self.current_node is not None) and (self.current_node not in self.nav_plan.node_list) + + def _is_at_nav_goal(self): + """Whether the robot is currently at the navigation goal or not. + """ + return self.current_node is self.nav_goal.end_node + + def is_episode_finished(self): + """Report whether agent is done with attempting the current navigation goal. This can be due + to being stuck, traveling to the wrong location, or successfully finishing the navigation goal. + """ + assert self.nav_plan is not None + if self.is_stuck() or self.is_deviated() or self._is_at_nav_goal(): + self._state = BrainState.FINISHED + return self.state is BrainState.FINISHED + + def is_episode_successful(self): + """Check if the episode is successful. This should only be called after + self.is_episode_finished() returns True. Otherwise, this method will return None. + """ + assert self.nav_plan is not None + if self.state is not BrainState.FINISHED: + return None + return self._is_at_nav_goal() + + def reset_goal(self): + """Clear/forget the current goal (so that there is no goal). + """ + self._nav_plan = None + self._state = BrainState.FINISHED + self._recent_poses = deque([], maxlen=self.n_recent_poses) + self._current_node = None + self.last_valid_node = None + self.depth_stack = None + self.semantic_stack = None + self.exec_behavior_id = None + + def execute_nav_plan(self, nav_plan): + """Set a new navigation goal, overwriting the current one if it exists. + + Args: + start_node: Start node. + end_node: End/destination node. + shortest_path: Boolean for whether to use the shortest path to destination or not. + """ + if self.state is not BrainState.FINISHED: + print('Failed to set goal. Brain is still executing a previous navigation goal.') + result = EpisodeResult.ABORTED + return result + + self.reset_goal() + self._state = BrainState.EXECUTING + self._nav_plan = nav_plan + result = self.run_episode() + print(result) + return result + + def execute_nav_goal_by_name(self, start_node_name, end_node_name): + """Create and execute a shortest path NavigationPlan from start_node_name to end_node_name. + This method of commanding the NavigationBrain bypasses the action server. By default, a + NavigationPlanner should be used for sending commands to the NavigationBrain. + """ + start_node = self.sem_graph.nodes[start_node_name] + end_node = self.sem_graph.nodes[end_node_name] + nav_goal = NavigationGoal(start_node, end_node) + node_list = self.sem_graph.find_shortest_path(nav_goal.start_node, + nav_goal.end_node) + nav_plan = NavigationPlan(node_list=node_list) + return self.execute_nav_plan(nav_plan) + + def action_server_cb(self, nav_plan_msg): + episode_idx, nav_plan = NavigationPlan.from_msg(self.sem_graph, nav_plan_msg) + print('Received goal: {} to {}'.format(nav_plan.nav_goal.start_node.name, + nav_plan.nav_goal.end_node.name)) + result = self.execute_nav_plan(nav_plan) + rospy.loginfo('Episode {}: {}'.format(episode_idx, result)) + if self.last_valid_node is None: + percentage_plan_completed = 0. + else: + percentage_plan_completed = self.nav_plan.percentage_plan_completed(self.last_valid_node) + result_msg = NavCommandResult(episode_result=result.value, + percentage_plan_completed=percentage_plan_completed) + if result is EpisodeResult.SUCCESS: + self.action_server.set_succeeded(result_msg) + else: + self.action_server.set_aborted(result_msg) + + def action_server_preempt_cb(self): + rospy.loginfo('Preempted!') + self.action_server.set_preempted() + + def action_server_publish_feedback(self, behavior_id): + feedback = NavCommandFeedback() + + # Current node + if self.current_node is None: + feedback.cur_node_name = '' + else: + feedback.cur_node_name = self.current_node.name + print('Current node: {}'.format(self.current_node.name)) + + # Current room + cur_room_name = self.img2map.get_room_name(self.last_position) + if cur_room_name is None: + feedback.cur_room_name = '' + else: + feedback.cur_room_name = cur_room_name + + # Current GT behavior + gt_behavior = self.get_gt_behavior() + if gt_behavior is None: + feedback.gt_behavior_id = '' + else: + feedback.gt_behavior_id = gt_behavior + + # Current executing behavior + if behavior_id is None: + feedback.exec_behavior_id = '' + else: + feedback.exec_behavior_id = behavior_id + print('Executing Behavior: {}'.format(self.exec_behavior_id)) + print('-------------') + + self.action_server.publish_feedback(feedback) diff --git a/src/semnav/lib/navigation_plan.py b/src/semnav/lib/navigation_plan.py new file mode 100644 index 0000000..1ca3f25 --- /dev/null +++ b/src/semnav/lib/navigation_plan.py @@ -0,0 +1,108 @@ +from __future__ import print_function + +import numpy as np + +from collections import namedtuple, OrderedDict + +from semnav_ros.msg import NavCommandGoal +from semnav.lib.categories import NavPlanDifficulty + + +NavigationGoal = namedtuple('NavigationGoal', ['start_node', 'end_node']) + + +class NavigationPlan(object): + """Navigation plan as a sequence of nodes/behaviors. + """ + + def __init__(self, node_list): + assert len(node_list) > 0 + + # Build edge list + edge_list = [] + node2edge = OrderedDict() + for idx, cur_node in enumerate(node_list): + if (idx + 1) < len(node_list): + next_node = node_list[idx + 1] + for edge in cur_node.outgoing_edges: + if edge.end_node is next_node: + edge_list.append(edge) + node2edge[cur_node] = edge + break + assert len(edge_list) == (len(node_list) - 1) + + self._node_list = tuple(node_list) + self._edge_list = tuple(edge_list) + self._node2edge = node2edge + self._nav_goal = NavigationGoal(self.node_list[0], self.node_list[-1]) + assert self.is_valid_nav_plan() is True + self._estimated_distance = self.compute_estimated_distance() # Map coord units (meters) + if len(node_list) < 10: + self._difficulty = NavPlanDifficulty.easy + elif len(node_list) < 20: + self._difficulty = NavPlanDifficulty.moderate + else: + self._difficulty = NavPlanDifficulty.hard + + def compute_estimated_distance(self): + total_dist = 0. + for edge in self.edge_list: + cur_dist = np.linalg.norm(edge.end_node.map_coord - edge.start_node.map_coord) + total_dist += cur_dist + return total_dist + + def percentage_plan_completed(self, last_valid_node): + cur_node_step = 0 + for node in self.node_list: + cur_node_step += 1 + if node is last_valid_node: + break + return float(cur_node_step) / len(self.node_list) + + def to_ros_msg(self, episode_idx): + nav_plan_string = ' '.join([node.name for node in self.node_list]) + nav_command_goal = NavCommandGoal(episode_idx=episode_idx, nav_plan=nav_plan_string) + return nav_command_goal + + @staticmethod + def from_msg(sem_graph, ros_msg): + """Decode a nav_plan_msg (ROS msg) to a NavigationPlan. + """ + node_names = ros_msg.nav_plan.split(' ') + node_list = [sem_graph.nodes[node_name] for node_name in node_names] + nav_plan = NavigationPlan(node_list) + return int(ros_msg.episode_idx), nav_plan + + def is_valid_nav_plan(self): + """Performs the following checks to make sure the navigation plan is valid: + - Navigation plan has length greater than 0 + - Navigation plan starts in room + - Navigation plan ends in room + + We should never visit the same node twice for any given navigation plan. + """ + return len(self.node_list) > 0 + + @property + def node_list(self): + return self._node_list + + @property + def edge_list(self): + return self._edge_list + + @property + def node2edge(self): + return self._node2edge + + @property + def nav_goal(self): + return self._nav_goal + + @property + def estimated_distance(self): + return self._estimated_distance + + @property + def difficulty(self): + return self._difficulty diff --git a/src/semnav/lib/robot_navigator.py b/src/semnav/lib/robot_navigator.py new file mode 100644 index 0000000..e4f1a80 --- /dev/null +++ b/src/semnav/lib/robot_navigator.py @@ -0,0 +1,246 @@ +"""Robot navigator. + +Based on Patrick's RobotNavigator. +""" + +import rospy +import actionlib + +from actionlib_msgs.msg import GoalStatus +from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped, Twist +from move_base_msgs.msg import MoveBaseAction, MoveBaseGoal, MoveBaseActionResult +from nav_msgs.srv import GetPlan, GetPlanRequest +from sensor_msgs.msg import LaserScan +from std_srvs.srv import Empty +from rosgraph_msgs.msg import Log +from std_msgs.msg import Bool +from tf.transformations import quaternion_from_euler +from math import pow, sqrt + + +class RobotNavigator(object): + + def __init__(self, move_base_timeout=60, pause_interval=3, map_frame='map'): + # Maximum time to wait (in seconds) for a goal to be reached + self.move_base_timeout = move_base_timeout + + # How long to wait in between goals + self.pause_interval = pause_interval + self.map_frame = map_frame + + # Goal state return values + self.goal_states = ['PENDING', 'ACTIVE', 'PREEMPTED', + 'SUCCEEDED', 'ABORTED', 'REJECTED', + 'PREEMPTING', 'RECALLING', 'RECALLED', + 'LOST'] + + # Keep track of the robot's position as returned by AMCL or Ground Truth + self.robot_pose = PoseStamped() + + # Publisher to manually control the robot (e.g. to stop it, queue_size=5) + self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5) + + # Publisher for manually operated goals + self.goal_pose_pub = rospy.Publisher('move_base/current_goal', PoseStamped, queue_size=5) + + # Publish results for manually operated goals + self.goal_result_pub = rospy.Publisher('move_base/result', MoveBaseActionResult, queue_size=5) + + # Subscribe to the move_base action server + self.move_base = actionlib.SimpleActionClient('move_base', MoveBaseAction) + + rospy.loginfo('Waiting for move_base action server...') + + # Wait up to 10 seconds for the action server to become available + self.move_base.wait_for_server(rospy.Duration(10.0)) + + rospy.loginfo('Connected to move base server') + + # Connect to the move_base/clear_costmaps service + self.clear_costmaps = rospy.ServiceProxy('move_base/clear_costmaps', Empty) + + # A service to get a global plan + self.get_plan_service = rospy.ServiceProxy('move_base/make_plan', GetPlan, persistent=True) + + # Publisher to clear the current goal + + # Subscribe to ROS log messages so we can see when move_base is in trouble + rospy.Subscriber('rosout_agg', Log, self.get_log_messages) + + # Cancel any left over goals + self.cancel_nav_goals() + + # A variable to hold the initial pose of the robot to be set by the user in RViz + self.initial_pose = None + + # Variables to keep track of success rate, running time, and distance traveled + self.n_runs = 0 + self.n_successes = 0 + self.distance_traveled = 0 + self.start_time = rospy.Time.now() + self.running_time = 0 + + rospy.Subscriber('initialpose', PoseWithCovarianceStamped, self.update_initial_pose) + + self.amcl_sub = rospy.Subscriber('amcl_pose_ground_truth', PoseWithCovarianceStamped, self.amcl_callback) + rospy.loginfo("Waiting for robot pose...") # rospy.loginfo("Waiting for AMCL...") + rospy.wait_for_message('amcl_pose_ground_truth', PoseWithCovarianceStamped) + + # TODO: What does this do? + while self.robot_pose == PoseStamped(): + rospy.sleep(0.1) + + # We need this variable to track distance travelled + self.last_pose = self.robot_pose + + rospy.loginfo('Robot Navigator ready.') + + def cancel_nav_goals(self): + """ + Cancel navigation goals + """ + self.move_base.cancel_all_goals() + # Wait a moment for them to cancel + rospy.sleep(1.0) + + def set_goal(self, x, y, z, theta, goal_frame='map'): + # Execute move_base normally + robot_stuck = self.send_goal(x, y, z, theta) + + rospy.loginfo('Pausing for ' + str(self.pause_interval) + ' seconds...') + rospy.sleep(self.pause_interval) + + return robot_stuck + + def send_goal(self, x, y, z, theta, goal_frame='map'): + # Set up the next goal location + goal = MoveBaseGoal() + goal.target_pose.pose.position.x = x + goal.target_pose.pose.position.y = y + + quat = quaternion_from_euler(0, 0, theta) + + goal.target_pose.pose.orientation.x = quat[0] + goal.target_pose.pose.orientation.y = quat[1] + goal.target_pose.pose.orientation.z = quat[2] + goal.target_pose.pose.orientation.w = quat[3] + + goal.target_pose.header.frame_id = goal_frame + goal.target_pose.header.stamp = rospy.Time.now() + + # Let the user know where the robot is going next + rospy.loginfo('Going to: (' + str(x) + ', ' + str(y) + ')') + + # Increment the counter + self.n_runs += 1 + + # Start the robot toward the next location + self.move_base.send_goal(goal, done_cb=self.nav_done_cb, feedback_cb=self.nav_feedback_cb, active_cb=self.nav_active_cb) + + rospy.loginfo('Waiting for result...') + + # This flag is set to True in the nav_done_cb() callback + self.nav_action_finished = False + + # Flag to indicate if the robot got stuck + self.robot_stuck = False + + # A timer to test for a timeout + start_time = rospy.Time.now() + + state = None + + # We cannot use the move_base.wait_for_result() method here as it will block the entire + # script so we break it down into small time slices + while not self.nav_action_finished and not self.robot_stuck: + if (rospy.Time.now() - start_time).to_sec() > self.move_base_timeout: + self.move_base.cancel_goal() + rospy.loginfo('Timed out achieving goal') + state = GoalStatus.ABORTED + break + + rospy.sleep(0.05) + + if state is None: + state = self.move_base.get_state() + + if state == GoalStatus.SUCCEEDED: + rospy.loginfo('Goal succeeded!') + self.n_successes += 1 + else: + rospy.loginfo('Goal failed with error code: ' + str(self.goal_states[state])) + if state == GoalStatus.ABORTED: + self.robot_stuck = True + + # How long have we been running? + running_time = rospy.Time.now() - self.start_time + running_time = running_time.secs / 60.0 + + # Print a summary success/failure, distance traveled and time elapsed + try: + rospy.loginfo('Success so far: ' + str(self.n_successes) + '/' + + str(self.n_runs) + ' = ' + + str(100 * self.n_successes / self.n_runs) + '%') + rospy.loginfo('Running time: ' + str(trunc(running_time, 1)) + + ' min Distance: ' + str(trunc(self.distance_traveled, 1)) + + ' m Ave Speed: ' + str(trunc(self.distance_traveled / running_time / 60.0, 2)) + ' m/s') + except ZeroDivisionError: + # Division by zero if robot is already at first goal location + pass + + return self.robot_stuck + + def amcl_callback(self, msg): + self.robot_pose = msg.pose + + def nav_active_cb(self): + rospy.loginfo('Goal activated.') + + def nav_done_cb(self, status, result): + if status == GoalStatus.PREEMPTED: + rospy.loginfo('PREEMPTED!') + + self.clear_costmaps() + self.nav_action_finished = True + + def nav_feedback_cb(self, msg): + distance = sqrt(pow(self.robot_pose.pose.position.x - self.last_pose.pose.position.x, 2) + + pow(self.robot_pose.pose.position.y - self.last_pose.pose.position.y, 2)) + + self.last_pose.pose = msg.base_position.pose + + self.distance_traveled += distance # TODO: Why do we care about total distance traveled among all episodes? + + def update_initial_pose(self, initial_pose): + self.initial_pose = initial_pose + + def get_log_messages(self, msg): + stuck_msgs = ('Aborting', 'Clearing costmap', 'recovery behaviors') + failure_msgs = ('Aborted', 'ABORTED') + if msg.name == '/move_base': + # rospy.loginfo(msg.msg) # Gibson node is already printing this + + if any(substring in msg.msg for substring in stuck_msgs): + rospy.logwarn(msg.msg) + rospy.logwarn('move_base says robot is stuck!') + self.robot_stuck = True + self.nav_action_finished = True + + elif any(substring in msg.msg for substring in failure_msgs): + rospy.logwarn(msg.msg) + rospy.logwarn('Goal not reachable. Getting new goal.') + self.clear_costmaps() + self.nav_action_finished = True + + def shutdown(self): + rospy.loginfo('Stopping the robot...') + self.cancel_nav_goals() + rospy.sleep(2) + self.cmd_vel_pub.publish(Twist()) + rospy.sleep(1) + + +def trunc(f, n): + # Truncates/pads a float f to n decimal places without rounding + slen = len('%.*f' % (n, f)) + return float(str(f)[:slen]) diff --git a/src/semnav/lib/room_border_finder.py b/src/semnav/lib/room_border_finder.py new file mode 100644 index 0000000..0170ebb --- /dev/null +++ b/src/semnav/lib/room_border_finder.py @@ -0,0 +1,105 @@ +from __future__ import print_function +from __future__ import division + +import numpy as np +import os +import yaml + +from enum import Enum, unique # , auto +from semnav.lib.utils import read_area_data + + +@unique +class RoomAdjRelationship(Enum): + """Relationship enumeration between two possibly adjacent rooms. + """ + LEFT = 1 # auto() + RIGHT = 2 # auto() + ABOVE = 3 # auto() + BELOW = 4 # auto() + NOT_ADJACENT = 5 # auto() + + +class RoomBorderFinder(object): + """Given two rooms, find where they border each other. Assume the border is axis-aligned. + """ + + def __init__(self, yaml_filepath, adjacent_edge_threshold=1.): + # Load yaml file containing map data + with open(yaml_filepath, 'r') as f: + map_yaml = yaml.load(f) + + mat_filepath = os.path.join(os.path.dirname(yaml_filepath), map_yaml['mat_filepath']) + self.area_data = read_area_data(mat_filepath) + + # Maximum distance (meters) for which edges of two rooms would be considered adjacent + # Convert from meters to number of pixels + self.adjacent_edge_threshold = adjacent_edge_threshold / self.area_data['resolution'] + + self.rooms = {room_dict['name']: room_dict for room_dict in self.area_data['rooms']} + + def get_room_dict(self, room_name): + """Return the room dict for a room of the given name. + """ + if room_name in self.rooms: + return self.rooms[room_name] + else: + raise ValueError('Invalid room name.') + + def get_border(self, room_name_1, room_name_2): + """Get the border between the two rooms. If they are not adjacent, return (None, None). Note + that two rooms (e.g. corridor and room) can be considered as adjacent even if there is no + door connecting them. + + Args: + room_name_1: Name of room 1. The bounding box edges of this room will be returned if the + two rooms are found to be adjacent. + room_name_2: Name of room 2. + + Returns: + row_val: A np.int32 (pixel coordinates) representing the boundary between two rooms. + This is based off selecting the correct edge from the bounding box of room 1. + col_val: A np.int32 (pixel coordinates) representing the boundary between two rooms. + This is based off selecting the correct edge from the bounding box of room 1. + relationship: RoomAdjRelationship between room 1 and room 2 in the following manner: + room 1 is *relationship* (of) room 2. Example: room 1 is RIGHT of room 2. + """ + room_dict1, room_dict2 = (self.get_room_dict(room_name_1), self.get_room_dict(room_name_2)) + bb1, bb2 = (room_dict1['bounding_box'], room_dict2['bounding_box']) + + row_val, col_val = (None, None) + dists = np.asarray([ + np.abs(bb1['upper_left_px'][0] - bb2['lower_right_px'][0]), + np.abs(bb1['lower_right_px'][0] - bb2['upper_left_px'][0]), + np.abs(bb1['upper_left_px'][1] - bb2['lower_right_px'][1]), + np.abs(bb1['lower_right_px'][1] - bb2['upper_left_px'][1]), + ]) + min_index = np.argmin(dists) + if dists[min_index] <= self.adjacent_edge_threshold: + print('room 1:', room_name_1) + print('room 2:', room_name_2) + # Compare top edge of bb1 with bottom edge of bb2 + if min_index == 0: + print('below') + row_val = bb1['upper_left_px'][0] + relationship = RoomAdjRelationship.BELOW + # Compare bottom edge of bb1 with top edge of bb2 + elif min_index == 1: + print('above') + row_val = bb1['lower_right_px'][0] + relationship = RoomAdjRelationship.ABOVE + # Compare left edge of bb1 with right edge of bb2 + elif min_index == 2: + print('right') + col_val = bb1['upper_left_px'][1] + relationship = RoomAdjRelationship.RIGHT + # Compare right edge of bb1 with left edge of bb2 + elif min_index == 3: + print('left') + col_val = bb1['lower_right_px'][1] + relationship = RoomAdjRelationship.LEFT + else: + raise ValueError + else: # Not adjacent + relationship = RoomAdjRelationship.NOT_ADJACENT + return row_val, col_val, relationship diff --git a/src/semnav/lib/room_sampler.py b/src/semnav/lib/room_sampler.py new file mode 100644 index 0000000..5f33824 --- /dev/null +++ b/src/semnav/lib/room_sampler.py @@ -0,0 +1,149 @@ +"""Sample locations within a room. +""" + +# from __future__ import print_function +from __future__ import division + +import numpy as np + + +class RoomSampler(object): + """Sample spawn locations in the room. + """ + + START_PT_MIN_DIST_FROM_LONG_EDGE = 0.20 # Meters + START_PT_MIN_DIST_FROM_SHORT_EDGE = 0.20 # Meters + + def __init__(self, semantic_map, clutter_map, room_dict, resolution): + self.name = room_dict['name'] + self.id = room_dict['id'] + self.bounding_box = room_dict['bounding_box'] + self.points_px = room_dict['points_px'] + self.semantic_map = semantic_map + self.clutter_map = clutter_map + self.resolution = resolution + + self.n_pixel_horz = (self.bounding_box['lower_right_px'][1] + - self.bounding_box['upper_left_px'][1]) + self.n_pixel_vert = (self.bounding_box['lower_right_px'][0] + - self.bounding_box['upper_left_px'][0]) + assert self.n_pixel_horz > 0 + assert self.n_pixel_vert > 0 + + self.aspect_ratio = float(self.n_pixel_horz) / self.n_pixel_vert + if self.aspect_ratio > 1: + self.is_wide = True + self.long_edge = self.n_pixel_horz # Length of edge in pixels + self.short_edge = self.n_pixel_vert # Length of edge in pixels + else: + self.is_wide = False + self.short_edge = self.n_pixel_horz # Length of edge in pixels + self.long_edge = self.n_pixel_vert # Length of edge in pixels + self.aspect_ratio = 1. / self.aspect_ratio # Make aspect ratio >= 1 + + self.start_pt_min_px_dist_from_long_edge = int(self.START_PT_MIN_DIST_FROM_LONG_EDGE + // self.resolution) + self.start_pt_min_px_dist_from_short_edge = int(self.START_PT_MIN_DIST_FROM_SHORT_EDGE + // self.resolution) + + # Important for self.sample_once() + is_valid_1 = (self.start_pt_min_px_dist_from_long_edge + < (self.short_edge - self.start_pt_min_px_dist_from_long_edge)) + is_valid_2 = (self.start_pt_min_px_dist_from_short_edge + < (self.long_edge - self.start_pt_min_px_dist_from_short_edge)) + + self.is_valid = is_valid_1 and is_valid_2 + + def unnormalize_px_coord(self, normalized_coord): + """Unnormalize the pixel coordinates. Most computation is done in normalized coordinates + such that the top-left corner of the bounding box is [0, 0] and the long edge is horizontal. + Unnormalizing the coordinates simply translates, and possibly reflects/flips, the bounding + box. + + Normalized coordinates: + + (0, 0) (self.long_edge - 1, 0) + --------------------------------------------- + | | + | | + | | + | | + | | + --------------------------------------------- + (self.short_edge - 1, 0) (self.short_edge -1, self.long_edge - 1) + + + Unnormalized box: + (0, 0) + -------------- + | | + | | + | | + | | + | | + | | + | | + | | + | | + | | + | | + | | + | | + | | + -------------- (self.long_edge, self.short_edge) + + Args: + normalized_coord: Numpy array of shape (2,) representing normalized pixel coordinates + + Returns: + unnormalized_coord: Numpy array of shape (2,) representing coordinates of query pixel + in the map. + """ + normalized_coord = np.asarray(normalized_coord) + if not self.is_wide: + normalized_coord = normalized_coord[::-1] + return self.bounding_box['upper_left_px'] + normalized_coord + + def is_valid_point(self, query_px_coord): + """Check if the point is within the corridor (not free space or another room), and check + that point is not on (or close to) clutter. + + Args: + query_px_coord: Location of query point in pixel coordinates. + + Returns: + is_valid: Whether queried location is valid. + """ + return ((self.semantic_map[query_px_coord[0], query_px_coord[1]] == self.id) + and (self.clutter_map[query_px_coord[0], query_px_coord[1]] == 0)) + + def sample_once(self): + """Sample a (start) point in the room. Returns None if the current room is invalid. + + Steps: + 1. Sample a start point anywhere in the room, as long as it is a minimum distance + (MIN_DIST_FROM_SHORT_EDGE) from the short edge. + 2. Make sure the sampled point is valid. Repeat until it is. + + Returns: + traj_start_end: Dict containing start and end points of trajectory in pixel coordinates. + """ + if not self.is_valid: + return None + + found_valid_sample = False + max_iterations = 50 + cur_iteration = 0 + while not found_valid_sample: + row = np.random.randint(self.start_pt_min_px_dist_from_long_edge, + self.short_edge - self.start_pt_min_px_dist_from_long_edge) + col = np.random.randint(self.start_pt_min_px_dist_from_short_edge, + self.long_edge - self.start_pt_min_px_dist_from_short_edge) + start_point = self.unnormalize_px_coord([row, col]) + found_valid_sample = self.is_valid_point(start_point) + + cur_iteration += 1 + if cur_iteration == max_iterations: + return None + + return start_point diff --git a/src/semnav/lib/sem_graph.py b/src/semnav/lib/sem_graph.py new file mode 100644 index 0000000..c9d2edf --- /dev/null +++ b/src/semnav/lib/sem_graph.py @@ -0,0 +1,256 @@ +from __future__ import print_function + + +import json +import networkx as nx +import numpy as np +import os +import yaml + +from collections import namedtuple, Counter + +from semnav.lib.image_map_transformer import Image2MapTransformer +from semnav.lib.behavior_detectors import BehaviorDetector +from semnav.lib.categories import NavPlanDifficulty +from semnav.lib.success_tracker import SuccessTracker +from semnav.lib.utils import compute_angle_delta, compute_dist_to_node +try: + from tf.transformations import euler_from_quaternion +except ImportError: + from semnav.third_party.transformations import euler_from_quaternion + + +Edge = namedtuple('Edge', ['angle', 'behavior_id', 'start_node', 'end_node', 'success_tracker']) + + +class Node(object): + + def __init__(self, name, map_coord, node_size=1.): + """Constructor. + + Args: + node_size: Size of node, AKA how distances scale relative to node. See + semnav.utils.compute_dist_to_node(). + """ + self.name = name + self.map_coord = map_coord + self.node_size = node_size + self.success_tracker = SuccessTracker() + self._outgoing_edges = [] + self._incoming_edges = [] + + def add_outgoing_edge(self, edge): + assert edge.start_node == self + self._outgoing_edges.append(edge) + + def add_incoming_edge(self, edge): + assert edge.end_node == self + self._incoming_edges.append(edge) + + def get_edge_to_node(self, end_node): + """Return the outgoing edge that goes to end_node. + """ + for edge in self.outgoing_edges: + if edge.end_node is end_node: + return edge + return None + + @property + def edges(self): + return self.outgoing_edges + self.incoming_edges + + @property + def affordances(self): + affordances = [] + for edge in self.outgoing_edges: + affordances.append(edge.behavior_id) + return tuple(affordances) + + def get_smallest_angle(self, orientation): + """Compute the smallest (yaw) angle delta between a given orientation and any of the + outgoing or incoming edges. Return the angle delta and the edge. + + Args: + orientation: Orientation (e.g. cur_frame['gt_odom']['orientation']). + + Returns: + min_edge: Edge with the smallest (yaw) angle delta. + min_yaw_delta: Difference in angle between closest edge and input orientation. + """ + _, _, cur_yaw = euler_from_quaternion(orientation) + min_yaw_delta = float('inf') + min_edge = None + for edge in self.edges: + angle_delta = abs(compute_angle_delta(cur_yaw, edge.angle)) + if angle_delta < min_yaw_delta: + min_edge = edge + min_yaw_delta = angle_delta + return min_edge, min_yaw_delta + + @property + def outgoing_edges(self): + return self._outgoing_edges + + @property + def incoming_edges(self): + return self._incoming_edges + + +class SemGraph(object): + """Abstraction for graph. + """ + + def __init__(self, yaml_filepath): + img2map = Image2MapTransformer(yaml_filepath) + + # Load yaml file containing map data + with open(yaml_filepath, 'r') as f: + map_yaml = yaml.load(f) + graph_filepath = os.path.join(os.path.dirname(yaml_filepath), map_yaml['graph_filepath']) + node_sizes = map_yaml.get('node_sizes', {}) + self.nodes, self.edges, self.nxG = self.parse_graph(graph_filepath, img2map, node_sizes) + + # Use this primarily for the in_room() method + self.behavior_detector = BehaviorDetector() + + # Keep track of statistics for each behavior + behavior_id_set = set([edge.behavior_id for edge in self.edges]) + self.behavior_id_success_trackers = {behavior_id: SuccessTracker() + for behavior_id in behavior_id_set} + + # Success rate for each difficulty + self.difficulty_success_trackers = {difficulty: SuccessTracker() + for difficulty in NavPlanDifficulty} + + # Percentage plan completed per difficulty + self.difficulty_percentage_plan_complete = {difficulty: [] + for difficulty in NavPlanDifficulty} + + self.behavior_preds_per_edge = {edge: Counter() for edge in self.edges} + self.executed_nav_plans = [] + + @staticmethod + def compute_angle(start_node, end_node): + """Compute the angle of the edge between two nodes. + """ + delta_x = end_node.map_coord[0] - start_node.map_coord[0] + delta_y = end_node.map_coord[1] - start_node.map_coord[1] + return np.arctan2(delta_y, delta_x) + + @classmethod + def parse_graph(cls, graph_filepath, img2map, node_sizes={}): + """Parse the graph. + + raw_nodes: A list of nodes in the graph, where each node is represented as a list. The + Example node: + [495.0, 298.0, 501.0, 304.0, {u'tags': u'node_0', + u'outline': u'red', + u'fill': u'red'}] + + Example edge: + [435.0, 301.0, 498.0, 301.0, {u'tags': u'edge_0 node_1 node_0', + u'arrow': u'last', + u'fill': u'green'}] + + Example node text: + [437.0, 276.0, {u'text': u'WC_1', + u'fill': u'blue', + u'tags': u'node_1'}] + + Example edge text: + [475.5, 268.0, {u'text': u'tr', + u'fill': u'blue', + u'tags': u'edge_333 node_183 node_1'}] + """ + with open(graph_filepath, 'r') as f: + graph_data = json.load(f) + raw_nodes = graph_data['oval'] + raw_node_and_edge_text = graph_data['text'] + raw_edges = graph_data['line'] + + # Tag is node_id or edge_tag, text is node name or edge behavior + tag2text = {str(text[2]['tags']): str(text[2]['text']) for text in raw_node_and_edge_text} + + # Create a networkx directed graph + nxG = nx.OrderedDiGraph() + + # Build node dict + nodes = {} + for raw_node in raw_nodes: + node_id = raw_node[4]['tags'] + node_name = tag2text[node_id] + + # Get pixel coordinates [row, col] + x = (raw_node[0] + raw_node[2]) / 2 + y = (raw_node[1] + raw_node[3]) / 2 + px_coord = np.asarray([[y, x]]) # 1x2 array + map_coord = img2map.pixel2map(px_coord) # Map coordinates as 1x2 array + + # Add node to node dict + node_size = node_sizes.get(node_name, 1.) + if node_name in node_sizes: + print('Setting node size of {} to {}'.format(node_name, node_size)) + nodes[node_name] = Node(node_name, map_coord[0], node_size=node_size) + + nxG.add_node(nodes[node_name]) + + # Build edge list and add to graph + edges = [] + print('Check angle computation') + for raw_edge in raw_edges: + edge_id, start_node_id, end_node_id = [str(x) for x in raw_edge[4]['tags'].split(' ')] + behavior_id = tag2text[raw_edge[4]['tags']] + start_node_name = tag2text[start_node_id] + end_node_name = tag2text[end_node_id] + + # Create edge + start_node = nodes[start_node_name] + end_node = nodes[end_node_name] + angle = cls.compute_angle(start_node, end_node) + edge = Edge(angle=angle, behavior_id=behavior_id, start_node=start_node, end_node=end_node, success_tracker=SuccessTracker()) + + # Add edge to node edge lists + start_node.add_outgoing_edge(edge) + end_node.add_incoming_edge(edge) + + edges.append(edge) + + nxG.add_edge(start_node, end_node, object=edge) + nx.freeze(nxG) + + return nodes, edges, nxG + + def get_closest_node(self, room_name, position, orientation, alignment_matters): + """Get the closest node to the given position. + + Args: + alignment_matters: Boolean for whether we care that the orientation matches edge angle. + """ + closest_node = None + min_dist = float('inf') + for cur_node_name, cur_node in self.nodes.iteritems(): + # Flag for whether the room_name belongs to an actual room (e.g. office instead of corridor) + in_room = self.behavior_detector.in_room_by_name(room_name) + + same_room_check = not in_room or (in_room and cur_node_name.startswith(room_name)) + cur_dist = compute_dist_to_node(position, cur_node) + if (same_room_check # If in room, make sure node is in room + and (not alignment_matters or (alignment_matters and (cur_node.get_smallest_angle(orientation)[1] < (0.20 * np.pi)))) + and (cur_dist < min_dist)): + closest_node = cur_node + min_dist = cur_dist + return closest_node + + def find_shortest_path_by_name(self, start_node_name, end_node_name): + return self.find_shortest_path(self.nodes[start_node_name], self.nodes[end_node_name]) + + def find_shortest_path(self, start_node, end_node): + return nx.shortest_path(self.nxG, start_node, end_node) + + def find_all_paths_by_name(self, start_node_name, end_node_name): + return self.find_all_paths_fast(self.nodes[start_node_name], self.nodes[end_node_name]) + + def find_all_paths_fast(self, start_node, end_node): + # This can be used once we find a way to not include paths which enter and and leave rooms + raise NotImplementedError + return nx.all_simple_paths(self.nxG, start_node, end_node) diff --git a/src/semnav/lib/sub_graph.py b/src/semnav/lib/sub_graph.py new file mode 100644 index 0000000..c0e3be6 --- /dev/null +++ b/src/semnav/lib/sub_graph.py @@ -0,0 +1,140 @@ +from __future__ import print_function + +import networkx as nx + +from semnav.lib.categories import room2category, behavior_id2category +from semnav.lib.sem_graph import Node, Edge + + +class SubGraph(object): + """Sub-graph of SemGraph used for graph networks. + """ + + def __init__(self, sem_graph, cur_position, n_neighbor_dist, cur_behavior_id=None): + """Build a local subgraph from sem_graph centered around the cur_position node or + cur_behavior_id edge (which is an outgoing edge of the cur_position node). The subgraph + extends to a max of n_neighbor_dist nodes or edges away from the current node/edge. + + Args: + sem_graph: Semantic graph. + cur_position: Node or Edge representing the current position in the graph, or a str + representing the node name of a Node. + n_neighbor_dist: Int representing the max distance from the current position that the subgraph + will contain. + cur_behavior_id: Current edge behavior ID as a string (e.g. 'tr'). If this is None, then + the subgraph will be cropped centered around the current node (cur_position). If + cur_behavior_id is NOT None, then the subgraph will be centered around the + current edge (which is computed based on cur_position and cur_behavior_id). + """ + self.nxG, self.nodes, self.edges, self.nxG_compact = self._build_subgraph( + sem_graph, + cur_position, + n_neighbor_dist, + cur_behavior_id=cur_behavior_id + ) + + @classmethod + def get_successors(cls, cur_node, depth, forward): + if depth <= 0: + return [] + + if forward is True: # Find successors + neighboring_edges = cur_node.outgoing_edges + start_or_end_node = 'end_node' + elif forward is False: # Find predecessors + neighboring_edges = cur_node.incoming_edges + start_or_end_node = 'start_node' + else: + raise ValueError('The forward parameter must be a boolean.') + + successor_nodes = [] + for edge in neighboring_edges: + successor_nodes.append(getattr(edge, start_or_end_node)) + + all_future_edges = [] + if depth > 1: + all_future_successors = [] + for successor_node in successor_nodes: + future_successors, future_edges = cls.get_successors(successor_node, depth - 1, forward=forward) + all_future_successors.extend(future_successors) + all_future_edges.extend(future_edges) + successor_nodes.extend(all_future_successors) + + successor_edges = neighboring_edges + all_future_edges + return successor_nodes, successor_edges + + def _build_subgraph(self, sem_graph, cur_position, n_neighbor_dist, cur_behavior_id=None): + """Build a list of nodes (nbunch) and let networkx extract the subgraph. + """ + if isinstance(cur_position, str): + cur_position = sem_graph.nodes[cur_position] + + if cur_behavior_id is not None: # Set cur_position to be an Edge + assert isinstance(cur_position, Node) + for edge in cur_position.outgoing_edges: + if edge.behavior_id == cur_behavior_id: + cur_position = edge + break + + if isinstance(cur_position, Node): # Build local graph centered around node + cur_node = cur_position + forward_dist = n_neighbor_dist + elif isinstance(cur_position, Edge): # Build local graph centered around edge + cur_node = cur_position.start_node + forward_dist = n_neighbor_dist + 1 + else: + raise ValueError('Invalid current position input type.') + nbunch = [cur_node] + + # Look at successors and successors of successors + successor_nodes, successor_edges = self.get_successors(cur_node, depth=forward_dist, forward=True) + nbunch += successor_nodes + + # Look at predecessors and predecessors of predecessors + predecessor_nodes, predecessor_edges = self.get_successors(cur_node, depth=n_neighbor_dist, forward=False) + nbunch += predecessor_nodes + + nbunch_edges = successor_edges + predecessor_edges + + nx_subgraph = nx.OrderedDiGraph() + nx_subgraph.add_nodes_from(nbunch) + for u, v, cur_obj in sem_graph.nxG.edges(data='object'): + if (u in nx_subgraph) and (v in nx_subgraph) and True: + nx_subgraph.add_edge(u, v, object=cur_obj) + + nodes = {node.name: node for node in nx_subgraph.nodes} + edges = [edge_tuple[2] for edge_tuple in nx_subgraph.edges(data='object')] + + nxG_compact = self.convert_to_compact(nx_subgraph, store_features=False) + return nx_subgraph, nodes, edges, nxG_compact + + def convert_to_compact(self, G, store_features): + """Generates a compact networkx graph for the input graph. The features of each node and + edge are converted to room categories and behavior categories, which may result in a loss + of information (e.g. s_r -> s category) in the networkx compact graph. + """ + nxG_compact = nx.OrderedDiGraph() + + # Create nodes + for node in G.nodes: + # Create node + if store_features is True: # Store a features attribute + nxG_compact.add_node(node.name, room_category=room2category(node.name), + features=node['features']) + else: + nxG_compact.add_node(node.name, room_category=room2category(node.name)) + + # Create edges + for u, v, edge in G.edges(data='object'): + if store_features is True: + nxG_compact.add_edge(u.name, v.name, + behavior_category=behavior_id2category(edge.behavior_id), + features=edge['features']) + else: + nxG_compact.add_edge(u.name, v.name, + behavior_category=behavior_id2category(edge.behavior_id)) + + assert len(nxG_compact.nodes) == len(G.nodes) + assert len(nxG_compact.edges) == len(G.edges) + + return nxG_compact diff --git a/src/semnav/lib/success_tracker.py b/src/semnav/lib/success_tracker.py new file mode 100644 index 0000000..7f2c153 --- /dev/null +++ b/src/semnav/lib/success_tracker.py @@ -0,0 +1,29 @@ +from __future__ import division + + +class SuccessTracker(object): + + def __init__(self): + self._n_attempts = 0 + self._n_successes = 0 + + def update_tracker(self, is_success): + assert isinstance(is_success, bool) + self._n_attempts += 1 + if is_success is True: + self._n_successes += 1 + + @property + def n_attempts(self): + return self._n_attempts + + @property + def n_successes(self): + return self._n_successes + + @property + def success_rate(self): + if self.n_attempts == 0: + return None + + return float(self.n_successes) / self.n_attempts diff --git a/src/semnav/lib/utils.py b/src/semnav/lib/utils.py new file mode 100644 index 0000000..bb05cf7 --- /dev/null +++ b/src/semnav/lib/utils.py @@ -0,0 +1,191 @@ +"""Utility functions. +""" + +from __future__ import print_function +from __future__ import division + +import cv2 +import glob +import numpy as np +import os +import scipy.io as sio + + +def read_area_data(mat_filepath): + """Read the mat data. + + Area data: + resolution: Float. + clutter_map: Numpy array with map size and type np.uint8 with values in {0, 1}. + occupancy_map: Numpy array with map size and type np.uint8 in range [0, 255]. + semantic_map: Numpy array with map size and type np.uint8. + rooms: List of dicts. + + Args: + mat_filepath: Path to mat file. + + Returns: + area_data: Dict containing area data. + """ + mat_data = sio.loadmat(mat_filepath) + mat_area_data = mat_data['area_data'][0, 0] + mat_rooms = mat_area_data['rooms'] + rooms = [] + for room_idx in range(mat_rooms.shape[1]): + cur_room = mat_rooms[0, room_idx] + cur_bb = { + 'upper_left_px': cur_room['bounding_box'][0, 0]['upper_left_px'][0].astype(np.int32), + 'lower_right_px': cur_room['bounding_box'][0, 0]['lower_right_px'][0].astype(np.int32), + } + cur_room_dict = { + 'name': cur_room['name'][0].encode('ascii', 'ignore'), + 'id': int(cur_room['id'][0][0]), + 'points_px': cur_room['points'].astype(np.int32), + 'bounding_box': cur_bb, + } + rooms.append(cur_room_dict) + + area_data = { + 'occupancy_map': mat_area_data['occupancy_grid'], + 'clutter_map': mat_area_data['clutter_grid'], + 'semantic_map': mat_area_data['semantic_map'], + 'resolution': float(mat_area_data['resolution'][0, 0]), + 'rooms': rooms, + } + assert area_data['occupancy_map'].shape == area_data['clutter_map'].shape + assert area_data['occupancy_map'].shape == area_data['semantic_map'].shape + + return area_data + + +def dilate_map(cur_map, kernel_shape, iterations=1): + """Perform a dilation on the image/map. + + Args: + cur_map: 2D map of shape (height, width) with dtype uint8. + kernel_shape: Shape of rectangular kernel (e.g. [5, 5]). + + Returns: + dilated_map: Dilated map/image. + """ + kernel = np.ones(kernel_shape, np.uint8) + dilation = cv2.dilate(cur_map, kernel, iterations=iterations) + return dilation + + +def compute_orientation(start_px_coord, end_px_coord, noise=0): + """Compute the general direction/orientation from the start point to the end point. Assumes + coordinate frame is 'map'. If noise > 0, noise will be added to the computed orientation. + + The general direction/orientation can be one of the following: + - Right in image map (0 radians): Towards positive X-axis + - Upwards in image map (1.57 radians): Towards positive Y-axis + - Left in image map (3.14 radians): Away from positive X + - Downwards in image map (4.71 radians): Negative Y-axis direction + + Args: + start_px_coord: Start point in pixel coordinates as ndarray. + end_px_coord: End point in pixel coordinates as ndarray. + noise: The plus/minus delta that is added to the final computed orientation in DEGREES. + + Returns: + theta: Euler angle theta wrt z-axis. + """ + if noise < 0: + raise ValueError('Noise must be nonnegative.') + + diff = end_px_coord - start_px_coord + abs_diff = np.abs(diff) + if abs_diff[0] > abs_diff[1]: # Either upwards or downwards + if diff[0] < 0: # Up + theta = np.pi / 2 + else: # Down + theta = 3 * np.pi / 2 + else: # Either left or right + if diff[1] < 0: # Left + theta = np.pi + else: # Right + theta = 0. + + if noise > 0: + # Convert noise to radians + noise_radians = float(noise) / 180 * np.pi + + # Sample + delta = np.random.uniform(low=-noise_radians, high=noise_radians) + + # Add to theta + theta += delta + + return theta + + +def mkdir(cur_dir, verbose=False): + """Make the directory if it doesn't exist. + """ + if not os.path.isdir(cur_dir): + os.makedirs(cur_dir) + + if verbose: + print('Making directory:', cur_dir) + + +def compute_angle_delta(initial_angle, final_angle): + delta = final_angle - initial_angle + if np.abs(delta) > np.pi: + if final_angle < 0.: + delta = delta + 2. * np.pi + else: + delta = delta - 2. * np.pi + return delta + + +def compute_dist(map_coord1, map_coord2): + """Given two map coordinates, compute the Euclidean distance. + """ + return np.linalg.norm(map_coord2 - map_coord1) + + +def compute_dist_to_node(position, node): + """Given a position and node, compute the planar (xy) distance from position to node as + Euclidean distance. The distance scales inversely with the node's node_size. + + Args: + position: Position (e.g. cur_frame['gt_odom']['position']). This should be a (3,) np.ndarray. + node: Node. + """ + return compute_dist(position[:2], node.map_coord) / node.node_size + + +def sigmoid_np(x): + return 1. / (1. + np.exp(-x)) + + +def load_frame(frame_path): + with np.load(frame_path) as raw_data: + frame_data = raw_data['arr_0'].item() + return frame_data + + +def get_frame_paths(sequence_dir): + """Return a list of frame filepaths for the given sequence. + + Args: + sequence_dir: Full path to the sequence directory. + + Returns: + frame_paths: List of (full) filepaths to frames in the sequence in sorted order. + """ + glob_input = os.path.join(sequence_dir, '*.npz') + frame_fnames = sorted(glob.glob(glob_input)) + frame_paths = [os.path.join(sequence_dir, f) for f in frame_fnames] + return frame_paths + + +def get_frame_idx(frame_path): + """Get the index of the frame (1-based indexing). + + Args: + frame_path: Path to the frame (.npz). This can be the full path or just the filename. + """ + return int(os.path.splitext(frame_path)[0].split('_')[-1]) diff --git a/src/semnav/nodes/__init__.py b/src/semnav/nodes/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/nodes/navigation_brain/__init__.py b/src/semnav/nodes/navigation_brain/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/nodes/navigation_brain/graph_net_navigation_brain.py b/src/semnav/nodes/navigation_brain/graph_net_navigation_brain.py new file mode 100755 index 0000000..7048149 --- /dev/null +++ b/src/semnav/nodes/navigation_brain/graph_net_navigation_brain.py @@ -0,0 +1,109 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import copy +import rospy + +from semnav.lib.categories import behavior_id2category +from semnav.learning import get_net +from semnav.learning.graph_net.graph_net_evaluator import GraphNetEvaluator +from semnav.lib.navigation_brain import NavigationBrain + + +class GraphNetNavigationBrain(NavigationBrain): + """Use the GraphNet model to select which behaviors to execute at runtime. + """ + + def __init__(self, mode='sim'): + """Constructor. + + Args: + mode: 'real' or 'sim', it will change which topics to subscribe. + """ + yaml_filepath = rospy.get_param("/map_file") + print('Using yaml filepath: {}'.format(yaml_filepath)) + super(GraphNetNavigationBrain, self).__init__(node_name='graph_net_navigation_brain', + mode=mode, yaml_filepath=yaml_filepath) + + while self.last_depth is None: + rospy.sleep(0.2) # Let some messages come in + + assert self.cfg.dataset_type == 'graph_net' + assert self.cfg.gn_classification == 'edge' + + # Load the network + graph_net_cfg = copy.copy(self.cfg) + graph_net_cfg.dataset_type = 'graph_net' + graph_net_cfg.behaviornet_type = 'graph_net' + graph_net_cfg.ckpt_path = '/data/sem-nav/experiments/v0.2/graph-net-3/models/iteration-015000.model' + graph_net_cfg.n_frames_per_sample = 20 + self.net = get_net(graph_net_cfg.behaviornet_type, graph_net_cfg) + + self.evaluator = GraphNetEvaluator(cfg=graph_net_cfg) + self.decode_type = self.evaluator.get_decode_type('single_frame') + + def reset_goal(self): + super(GraphNetNavigationBrain, self).reset_goal() + self.last_predicted_node_name = None + self.last_predicted_behavior_id = None + self.last_executed_valid_behavior_id = 'fd' + self.localized = False # Used for determining when to provide GT subgraph input + + def get_behavior(self): + """Get the current behavior that should be executed. + """ + if self.localized is False: + print('Using GT node position for initial graph input.') + + # If this is the first iteration of the episode, use the ground truth initial position + # for constructing the subgraph + self.last_predicted_node_name = self.current_node + self.last_predicted_behavior_id = self.get_gt_behavior() + try: + assert (self.last_predicted_node_name is not None + and self.last_predicted_behavior_id is not None) + except AssertionError: + return 'fd' + + is_new_episode = True + + self.localized = True + else: + is_new_episode = False + + # Construct the subgraph from the most recently reported position (node/edge) + dummy_item = {'depth': self.cur_depth} + cur_graph_net_input = GraphNetEvaluator.construct_graph_net_input( + self.cfg, + self.sem_graph, + self.last_predicted_node_name, + self.last_predicted_behavior_id, + self.decode_type, + dummy_item, + ) + + graph_net_input = { + 'depth': self.cur_depth, + 'graph_net_input': cur_graph_net_input, + } + output = self.evaluator.predict(self.net, graph_net_input, is_new_episode=is_new_episode) + + # Decode the output of GraphNetEvaluator.predict() and update the predicted location + _, self.last_predicted_node_name, self.last_predicted_behavior_id = output + + # Once we have localized ourselves, figure out which behavior to execute + edge = self.nav_plan.node2edge.get(self.sem_graph.nodes[self.last_predicted_node_name]) + if edge is not None: + exec_behavior_id = behavior_id2category(edge.behavior_id).name + self.last_executed_valid_behavior_id = exec_behavior_id + return exec_behavior_id + else: + return self.last_executed_valid_behavior_id + + +if __name__ == '__main__': + try: + GraphNetNavigationBrain(mode='sim') + except rospy.ROSInterruptException: + rospy.loginfo('GraphNet Navigation Brain terminated.') diff --git a/src/semnav/nodes/navigation_planner.py b/src/semnav/nodes/navigation_planner.py new file mode 100755 index 0000000..215dc33 --- /dev/null +++ b/src/semnav/nodes/navigation_planner.py @@ -0,0 +1,233 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import actionlib +import networkx as nx +import numpy as np +import pickle +import random +import rospy + +from semnav.lib.image_map_transformer import Image2MapTransformer +from semnav.lib.navigation_brain import EpisodeResult +from semnav.lib.navigation_plan import NavigationGoal, NavigationPlan +from semnav.lib.sem_graph import SemGraph +from semnav.nodes.room_data_collector import RoomDataCollector +from semnav_ros.msg import NavCommandAction + + +class NavigationPlanner(RoomDataCollector): + """Navigation planner. + + Creates navigation plans and sends them to the navigation brain, which executes the plan. + """ + + def __init__(self, yaml_filepath, start_navigator=True, sample_rooms_only=False, nav_plan_file=None): + super(NavigationPlanner, self).__init__(start_navigator=start_navigator, + sample_rooms_only=sample_rooms_only) + self.sem_graph = SemGraph(yaml_filepath) + self.nav_plan = None + self.img2map = Image2MapTransformer(yaml_filepath) + self.percentage_plan_completed_num = 0. + self.percentage_plan_completed_denom = 0. + + if nav_plan_file is not None: + print('Loading trajectories from: {}'.format(nav_plan_file)) + self.traj_idx = 0 + with open(nav_plan_file, 'rb') as f: + self.trajectory_list = pickle.load(f) + else: + self.trajectory_list = None + + def start_navigator(self): + self.client = actionlib.SimpleActionClient('navigation_command', NavCommandAction) + self.client.wait_for_server() + + def get_plan_from_goal(self, nav_goal): + """Return a NavigationPlan for the given NavigationGoal. + """ + # Default is to get the shortest path + node_list = self.sem_graph.find_shortest_path(nav_goal.start_node, + nav_goal.end_node) + nav_plan = NavigationPlan(node_list=node_list) + return nav_plan + + def get_start_node_with_shortest_path(self, start_node_1_name, start_node_2_name, end_node): + shortest_path_1 = float('inf') + shortest_path_2 = float('inf') + if start_node_1_name in self.sem_graph.nodes: + shortest_path_1 = nx.shortest_path_length(self.sem_graph.nxG, source=self.sem_graph.nodes[start_node_1_name], target=end_node) + if start_node_2_name in self.sem_graph.nodes: + shortest_path_2 = nx.shortest_path_length(self.sem_graph.nxG, source=self.sem_graph.nodes[start_node_2_name], target=end_node) + if shortest_path_1 < shortest_path_2: + chosen_start_node_name = start_node_1_name + else: + chosen_start_node_name = start_node_2_name + start_node = self.sem_graph.nodes[chosen_start_node_name] + return start_node + + def get_end_node_with_shortest_path(self, start_node, end_node_1_name, end_node_2_name): + shortest_path_1 = float('inf') + shortest_path_2 = float('inf') + if end_node_1_name in self.sem_graph.nodes: + shortest_path_1 = nx.shortest_path_length(self.sem_graph.nxG, source=start_node, target=self.sem_graph.nodes[end_node_1_name]) + if end_node_2_name in self.sem_graph.nodes: + shortest_path_2 = nx.shortest_path_length(self.sem_graph.nxG, source=start_node, target=self.sem_graph.nodes[end_node_2_name]) + if shortest_path_1 < shortest_path_2: + chosen_end_node_name = end_node_1_name + else: + chosen_end_node_name = end_node_2_name + end_node = self.sem_graph.nodes[chosen_end_node_name] + return end_node + + def choose_random_start_node(self, start_node, dir_1, dir_2): + option_1 = start_node.name[:-1] + dir_1 + option_2 = start_node.name[:-1] + dir_2 + if (option_1 in self.sem_graph.nodes) and (option_2 in self.sem_graph.nodes): + chosen_start_node_name = random.choice([option_1, option_2]) + start_node = self.sem_graph.nodes[chosen_start_node_name] + return start_node + + def sample_trajectory(self): + """Determine a NavigationGoal and a NavigationPlan. + """ + if self.trajectory_list is None: # Sample a random navigation plan + cur_traj = super(NavigationPlanner, self).sample_trajectory() + else: # Execute trajectories from the trajectory list in order + # If we are done evaluating all trajectories, print statistics and exit + if self.traj_idx >= len(self.trajectory_list): + print('--> Done running all trajectories!') + raise rospy.ROSInterruptException # Not the most graceful way to exit... + + # Print progress + if (self.traj_idx + 1) % 1 == 0: + print('--> Executing plan {} / {}'.format(self.traj_idx + 1, len(self.trajectory_list))) + + # Get the trajectory to execute + cur_traj = self.trajectory_list[self.traj_idx]['traj'] + + # Convert from pixel coordinates to xy coordinates + start_pt_xy = self.img2map.pixel2map(cur_traj['start_pt']) + end_pt_xy = self.img2map.pixel2map(cur_traj['end_pt']) + + # Get nodes + if self.trajectory_list is None: + start_room_name = self.img2map.get_room_name(start_pt_xy, xy=True) + end_room_name = self.img2map.get_room_name(end_pt_xy, xy=True) + if start_room_name in self.sem_graph.nodes: + start_node = self.sem_graph.nodes[start_room_name] + else: + start_node = self.sem_graph.get_closest_node(start_room_name, start_pt_xy, + orientation=None, alignment_matters=False) + if start_node.name.endswith('_door') and (start_node.name[:-5] in self.sem_graph.nodes): + start_node = self.sem_graph.nodes[start_node.name[:-5]] + assert 'door' not in start_node.name + + if start_node.name[-2].isdigit() and (start_node.name.endswith('l') or start_node.name.endswith('r')): + start_node = self.choose_random_start_node(start_node, dir_1='l', dir_2='r') + elif start_node.name[-2].isdigit() and (start_node.name.endswith('u') or start_node.name.endswith('d')): + start_node = self.choose_random_start_node(start_node, dir_1='u', dir_2='d') + if end_room_name in self.sem_graph.nodes: + end_node = self.sem_graph.nodes[end_room_name] + else: + end_node = self.sem_graph.get_closest_node(end_room_name, end_pt_xy, + orientation=None, alignment_matters=False) + if end_node.name.endswith('_door') and (end_node.name[:-5] in self.sem_graph.nodes): + end_node = self.sem_graph.nodes[end_node.name[:-5]] + assert 'door' not in end_node.name + + if end_node.name[-2].isdigit() and (end_node.name.endswith('l') or end_node.name.endswith('r')): + end_node_1_name = end_node.name[:-1] + 'l' + end_node_2_name = end_node.name[:-1] + 'r' + end_node = self.get_end_node_with_shortest_path(start_node, end_node_1_name, end_node_2_name) + elif end_node.name[-2].isdigit() and (end_node.name.endswith('u') or end_node.name.endswith('d')): + end_node_1_name = end_node.name[:-1] + 'u' + end_node_2_name = end_node.name[:-1] + 'd' + end_node = self.get_end_node_with_shortest_path(start_node, end_node_1_name, end_node_2_name) + + if start_node.name[-2].isdigit() and (start_node.name.endswith('l') or start_node.name.endswith('r')): + start_node_1_name = start_node.name[:-1] + 'l' + start_node_2_name = start_node.name[:-1] + 'r' + start_node = self.get_start_node_with_shortest_path(start_node_1_name, start_node_2_name, end_node) + elif start_node.name[-2].isdigit() and (start_node.name.endswith('u') or start_node.name.endswith('d')): + start_node_1_name = start_node.name[:-1] + 'u' + start_node_2_name = start_node.name[:-1] + 'd' + start_node = self.get_start_node_with_shortest_path(start_node_1_name, start_node_2_name, end_node) + + if end_node.name[-2].isdigit() and (end_node.name.endswith('l') or end_node.name.endswith('r')): + end_node_1_name = end_node.name[:-1] + 'l' + end_node_2_name = end_node.name[:-1] + 'r' + end_node = self.get_end_node_with_shortest_path(start_node, end_node_1_name, end_node_2_name) + elif end_node.name[-2].isdigit() and (end_node.name.endswith('u') or end_node.name.endswith('d')): + end_node_1_name = end_node.name[:-1] + 'u' + end_node_2_name = end_node.name[:-1] + 'd' + end_node = self.get_end_node_with_shortest_path(start_node, end_node_1_name, end_node_2_name) + else: + start_node = self.sem_graph.nodes[self.trajectory_list[self.traj_idx]['start_node_name']] + end_node = self.sem_graph.nodes[self.trajectory_list[self.traj_idx]['end_node_name']] + + nav_goal = NavigationGoal(start_node, end_node) + self.nav_plan = self.get_plan_from_goal(nav_goal) + for node in self.nav_plan.node_list[2:]: + try: + assert 'door' not in node.name, [node.name for node in self.nav_plan.node_list] + except AssertionError: + pass + print('Estimated plan length (meters):', self.nav_plan.estimated_distance) + + # Compute orientation for self.compute_orientation()...a bit ugly + if self.trajectory_list is None: + start_node = self.nav_plan.node_list[0] + edge = start_node.get_edge_to_node(self.nav_plan.node_list[1]) + start_orientation = edge.angle + noise_degrees = 20. + noise_radians = float(noise_degrees) / 180 * np.pi + delta = np.random.uniform(low=-noise_radians, high=noise_radians) + start_orientation += delta + self.start_orientation = start_orientation + else: + self.start_orientation = self.trajectory_list[self.traj_idx]['start_orientation'] + self.traj_idx += 1 # Increment index in trajectory list + + # Set self.start_node and self.end_node for NavPlanFileCreator + self.start_node = start_node + self.end_node = end_node + + return cur_traj + + def compute_orientation(self, cur_traj): + return self.start_orientation # Ugly + + def send_goal(self, end_pt, end_orientation): + """Send the NavigationPlan to the NavigationBrain. + """ + print('Sending goal: {} to {}'.format(self.nav_plan.nav_goal.start_node.name, + self.nav_plan.nav_goal.end_node.name)) + nav_plan_msg = self.nav_plan.to_ros_msg(self.episode_count) + + self.client.wait_for_server() + self.client.send_goal(nav_plan_msg) + self.client.wait_for_result() + result_msg = self.client.get_result() + result = EpisodeResult(result_msg.episode_result) + + self.percentage_plan_completed_num += result_msg.percentage_plan_completed + self.percentage_plan_completed_denom += 1. + print('') + + return result is EpisodeResult.SUCCESS + + +if __name__ == '__main__': + nav_plan_file = None + sample_rooms_only = False + + try: + yaml_filepath = rospy.get_param("/map_file") + print('Using yaml filepath: {}'.format(yaml_filepath)) + navigation_planner = NavigationPlanner(yaml_filepath, sample_rooms_only=sample_rooms_only, + nav_plan_file=nav_plan_file) + navigation_planner.run() + except rospy.ROSInterruptException: + rospy.loginfo("Navigation planner terminated.") diff --git a/src/semnav/nodes/publish_true_map_to_odom_tf.py b/src/semnav/nodes/publish_true_map_to_odom_tf.py new file mode 100755 index 0000000..f92da48 --- /dev/null +++ b/src/semnav/nodes/publish_true_map_to_odom_tf.py @@ -0,0 +1,244 @@ +#!/usr/bin/env python +# +# ROS node to publish the true map from odom transform (map -> odom) +# using the ground truth location provided by gazebo and the +# known transform world from map (world -> map). The latter +# transform can be computed with print_world_map_coordinates.py +# and compute_world_map_transform.py. +# +# Author: Marynel Vazquez (marynelv@stanford.edu) +# Creation Date: 12/29/17 + +import os +import rospy +from nav_msgs.msg import Odometry +from geometry_msgs.msg import PoseStamped, PoseWithCovarianceStamped +import tf, tf2_ros +from visualization_msgs.msg import Marker, MarkerArray +import copy + + + +# hacky matrix inverse because BLAS has an issue that makes it use all GPUs!! +# see bug here: +# https://github.com/numpy/numpy/issues/8120 +# +# This inverse method is from here: +# https://stackoverflow.com/questions/32114054/matrix-inversion-without-numpy + +def transposeMatrix(m): + return map(list,zip(*m)) + +def getMatrixMinor(m,i,j): + return [row[:j] + row[j+1:] for row in (m[:i]+m[i+1:])] + +def getMatrixDeternminant(m): + #base case for 2x2 matrix + if len(m) == 2: + + return m[0][0]*m[1][1]-m[0][1]*m[1][0] + determinant = 0 + for c in range(len(m)): + determinant += ((-1)**c)*m[0][c]*getMatrixDeternminant(getMatrixMinor(m,0,c)) + return determinant + +def getMatrixInverse(m): + determinant = getMatrixDeternminant(m) + #special case for 2x2 matrix: + if len(m) == 2: + return [[m[1][1]/determinant, -1*m[0][1]/determinant], + [-1*m[1][0]/determinant, m[0][0]/determinant]] + + #find matrix of cofactors + cofactors = [] + for r in range(len(m)): + cofactorRow = [] + for c in range(len(m)): + minor = getMatrixMinor(m,r,c) + cofactorRow.append(((-1)**(r+c)) * getMatrixDeternminant(minor)) + cofactors.append(cofactorRow) + cofactors = transposeMatrix(cofactors) + for r in range(len(cofactors)): + for c in range(len(cofactors)): + cofactors[r][c] = cofactors[r][c]/determinant + return cofactors + +## end of hacky matrix inverse + + + +class TrueMapOdomNode(): + """Node that publishes the true map -> odom transform""" + + def __init__(self): + + # vars + self.ground_truth_odom = None + + # params + self.world_frame = rospy.get_param("~world_frame", "world") + self.map_frame = rospy.get_param("~map_frame", "map") + self.odom_frame = rospy.get_param("~odom_frame", "odom") + self.baselink_frame = rospy.get_param("~baselink_frame", "base_link") + self.publish_rate = rospy.get_param("~publish_rate", 50) + self.ground_truth_topic = rospy.get_param("~ground_truth_topic", "ground_truth_odom") + self.publish_pose_in_map_marker = rospy.get_param("~pose_in_map_marker", "true") + + # connections + self.tf_listener = tf.TransformListener() + self.tf_broadcaster = tf.TransformBroadcaster() + + if self.publish_pose_in_map_marker: + self.marker_pub = rospy.Publisher('markers_true_pose', Marker, queue_size=10) + + # Publish the pose on a pseudo amcl ground truth topic + self.pose_in_map_pub = rospy.Publisher('amcl_pose_ground_truth', PoseWithCovarianceStamped, queue_size=10) + + # get world->map static transform + # (we do this only once since we know the transform is static) + map_from_world_tup = None + last_check = rospy.Time.now() + while map_from_world_tup is None: + rospy.sleep(0.1) + + try: + self.tf_listener.waitForTransform(self.map_frame, self.world_frame, + rospy.Time(0), rospy.Duration(0.1)) + map_from_world_tup = self.tf_listener.lookupTransform(self.map_frame, self.world_frame, rospy.Time.now()) + + t_map_from_world, q_map_from_world = map_from_world_tup + self.T_map_from_world = tf.transformations.translation_matrix(t_map_from_world) + self.R_map_from_world = tf.transformations.quaternion_matrix(q_map_from_world) + + except (tf2_ros.TransformException, + tf.LookupException, + tf.ConnectivityException, + tf.ExtrapolationException) as e: + + if (rospy.Time.now() - last_check).to_sec() > 2.0: + rospy.logwarn("Waiting for {}->{} transform. Got exception {}.".\ + format(self.world_frame, self.map_frame, e)) + + last_check = rospy.Time.now() + + rospy.loginfo("Got static transform {}->{}".format(self.world_frame, self.map_frame)) + + self.gt_sub = rospy.Subscriber(self.ground_truth_topic, Odometry, self.ground_truth_callback) + + rospy.spin() + + def got_frame(self, frame_name): + """Query if a frame exists in the tf tree""" + frame_exists = False + try: + frame_exists = self.tf_listener.frameExists(frame_name) + except AttributeError: + # This exception handling is necessary due to a bug in tf + # see https://github.com/ros/geometry/issues/152 + pass + return frame_exists + + def make_R_t_from_pose(self,pose): + T = tf.transformations.translation_matrix([pose.position.x, + pose.position.y, + pose.position.z]) + Rq = tf.transformations.quaternion_matrix([pose.orientation.x, + pose.orientation.y, + pose.orientation.z, + pose.orientation.w]) + return Rq, T + + def ground_truth_callback(self, odometry_msg): + + # save groun truth odom + self.ground_truth_odom = copy.deepcopy(odometry_msg) + + # convert ground truth pose (world->base_link) to the map frame + # using the world->map static transform + R_world_from_baselink, T_world_from_baselink = \ + self.make_R_t_from_pose(self.ground_truth_odom.pose.pose) + T_map_from_baselink = tf.transformations.concatenate_matrices(self.T_map_from_world, self.R_map_from_world, \ + T_world_from_baselink, R_world_from_baselink) + + # separate the transform into the rotation and translation components + t_baselink = tf.transformations.translation_from_matrix(T_map_from_baselink) + q_baselink = tf.transformations.quaternion_from_matrix(T_map_from_baselink) + + # publish the baselink-in-map ground truth marker (should align with /amcl_pose visually) + if self.publish_pose_in_map_marker: + pose_in_map_marker = Marker() + pose_in_map_marker.header.frame_id = self.map_frame + pose_in_map_marker.header.stamp = rospy.Time.now() + pose_in_map_marker.ns = "true_pose_markers" + pose_in_map_marker.id = 0 + pose_in_map_marker.type = 0 # arrow + pose_in_map_marker.pose.position.x = t_baselink[0] + pose_in_map_marker.pose.position.y = t_baselink[1] + pose_in_map_marker.pose.position.z = t_baselink[2] + pose_in_map_marker.pose.orientation.x = q_baselink[0] + pose_in_map_marker.pose.orientation.y = q_baselink[1] + pose_in_map_marker.pose.orientation.z = q_baselink[2] + pose_in_map_marker.pose.orientation.w = q_baselink[3] + pose_in_map_marker.scale.x = 0.5 # arrow length + pose_in_map_marker.scale.y = 0.1 + pose_in_map_marker.scale.z = 0.2 + pose_in_map_marker.color.r = 1.0 + pose_in_map_marker.color.g = 0.0 + pose_in_map_marker.color.b = 1.0 + pose_in_map_marker.color.a = 1.0 + pose_in_map_marker.lifetime = rospy.Time(0.5) + self.marker_pub.publish(pose_in_map_marker) + + # publish baselink-in-map pose on /amcl_pose_ground_truth topic + pose_in_map = PoseWithCovarianceStamped() + pose_in_map.header.frame_id = self.map_frame + pose_in_map.header.stamp = rospy.Time.now() + pose_in_map.pose.pose.position.x = t_baselink[0] + pose_in_map.pose.pose.position.y = t_baselink[1] + pose_in_map.pose.pose.position.z = t_baselink[2] + pose_in_map.pose.pose.orientation.x = q_baselink[0] + pose_in_map.pose.pose.orientation.y = q_baselink[1] + pose_in_map.pose.pose.orientation.z = q_baselink[2] + pose_in_map.pose.pose.orientation.w = q_baselink[3] + self.pose_in_map_pub.publish(pose_in_map) + + # now go in the other direction: compute map pose in base_link frame + #T_baselink_from_map = tf.transformations.inverse_matrix(T_map_from_baselink) + T_baselink_from_map = getMatrixInverse(T_map_from_baselink.tolist()) + + # get the baselink -> odom transform + try: + self.tf_listener.waitForTransform(self.baselink_frame, self.odom_frame, + odometry_msg.header.stamp, rospy.Duration(1.0)) + + t_baselink_from_odom, q_baselink_from_odom = \ + self.tf_listener.lookupTransform(self.baselink_frame, self.odom_frame, odometry_msg.header.stamp) + + + except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException) as e: + rospy.logwarn(e) + return + + # compute the map from odom transform (map -> odom) + T_map_from_odom = \ + tf.transformations.concatenate_matrices(T_map_from_baselink, + tf.transformations.translation_matrix(t_baselink_from_odom), + tf.transformations.quaternion_matrix(q_baselink_from_odom)) + + t_map = tf.transformations.translation_from_matrix(T_map_from_odom) + q_map = tf.transformations.quaternion_from_matrix(T_map_from_odom) + + self.tf_broadcaster.sendTransform(t_map, q_map, + rospy.Time.now(), + self.odom_frame, + self.map_frame) + + +if __name__ == '__main__': + rospy.init_node('publish_true_map_to_odom_tf', anonymous=True) + + try: + mynode = TrueMapOdomNode() + + except rospy.ROSInitException: + pass diff --git a/src/semnav/nodes/room_data_collector.py b/src/semnav/nodes/room_data_collector.py new file mode 100755 index 0000000..c880700 --- /dev/null +++ b/src/semnav/nodes/room_data_collector.py @@ -0,0 +1,239 @@ +#!/usr/bin/env python + +"""Data collection for going from room to room. +""" + +from __future__ import print_function +from __future__ import division + +import argparse +import numpy as np +import os +import random +import rospy +import yaml + +from geometry_msgs.msg import PoseStamped +from semnav.lib.room_sampler import RoomSampler +from semnav.lib.discrete_sampler import DiscreteSampler +from semnav.lib.image_map_transformer import Image2MapTransformer +from semnav.lib.robot_navigator import RobotNavigator +from semnav.lib.bounding_box_visualizer import BoundingBoxVisualizer +from semnav.lib.utils import compute_orientation, dilate_map, read_area_data +from tf.transformations import quaternion_from_euler + + +class RoomDataCollector(object): + + UNIFORM_SAMPLING = False + + def __init__(self, start_navigator=True, sample_rooms_only=False): + self.sample_rooms_only = sample_rooms_only + if self.sample_rooms_only is True: + print('Sampling from ROOMS ONLY') + else: + print('Sampling from ALL ROOMS') + + rospy.init_node('room_data_collector') + yaml_filepath = rospy.get_param('map_file') + print(yaml_filepath) + + # Load yaml file containing map data + with open(yaml_filepath, 'r') as f: + map_yaml = yaml.load(f) + + self.img2map = Image2MapTransformer(yaml_filepath) + + mat_filepath = os.path.join(os.path.dirname(yaml_filepath), map_yaml['mat_filepath']) + self.area_data = read_area_data(mat_filepath) + if start_navigator is True: # This is False when running NavPlanFileCreator + self.start_navigator() + + # Find valid rooms + self.valid_rooms = [] + rooms = self.area_data['rooms'] + for room in rooms: + if ((room['name'] not in map_yaml.get('invalid_rooms', [])) + and self.is_correct_room_type(room)): + # Shrink the clutter map dilation kernel size until we find a valid kernel size + kernel_size = 11 + found_valid_kernel = False + while not found_valid_kernel: + if kernel_size < 1: + raise ValueError('Cannot find good endpoints for room') + try: + # Dilate clutter map + # Dilation kernel shape should depend on map resolution + dilated_clutter_map = dilate_map(self.area_data['clutter_map'], + kernel_shape=[kernel_size, kernel_size]) + + # Make a room sampler + room_sampler = self.create_room_sampler(dilated_clutter_map, room) + except AssertionError: + kernel_size -= 2 + continue + found_valid_kernel = True + if room_sampler.is_valid: + self.valid_rooms.append(room_sampler) + + # Bounding box visualization + self.bb_visualizer = BoundingBoxVisualizer(self.img2map) + rospy.sleep(1.) # Give time to establish connections + print('Number of valid rooms:', len(self.valid_rooms)) + names = [] + bounding_boxes = [] + for cs in self.valid_rooms: + names.append(cs.name) + bounding_boxes.append(cs.bounding_box) + self.bb_visualizer.add_bounding_box_list(names, bounding_boxes) + + if not self.UNIFORM_SAMPLING: + # Build a sampler for sampling which room to choose based on bounding box area + room_areas = [] + for cur_room in self.valid_rooms: + cur_area = cur_room.long_edge * cur_room.short_edge + room_areas.append(cur_area) + self.room_sampler = DiscreteSampler(self.valid_rooms, room_areas) + + self.episode_count = 0 + + # Robot teleport publisher (reset pose) + self.tp_pub = rospy.Publisher('reset_pose', PoseStamped, queue_size=10) + rospy.sleep(3.) # Wait for connections to be established + + def run(self): + n_success = 0 + while not rospy.is_shutdown(): + print('Starting new episode...') + + self.episode_count += 1 + + # Publish bounding box visualizer + self.bb_visualizer.publish_bb() + + # Sample a trajectory + print('Sampling trajectory...') + cur_traj = self.sample_trajectory() + + # Convert from pixel coordinates to xy coordinates + start_pt_xy = self.img2map.pixel2map(cur_traj['start_pt']) + end_pt_xy = self.img2map.pixel2map(cur_traj['end_pt']) + + # Compute robot orientation + print('Computing initial orientation') + start_orientation = self.compute_orientation(cur_traj) + + # Teleport robot + print('Teleporting robot') + tp_msg = self.get_tp_msg(start_pt_xy, start_orientation) + self.tp_pub.publish(tp_msg) + + # End orientation + end_orientation = compute_orientation(cur_traj['start_pt'], cur_traj['end_pt'], + noise=0) # Euler + + # Give it time to reposition + rospy.sleep(0.5) # This isnt super necessary + + # Send the nav goal + print('Sending robot goal...') + end_pt_z = 0. + end_pt = np.array([end_pt_xy[0], end_pt_xy[1], end_pt_z]) + success = self.send_goal(end_pt, end_orientation) + + # Update statistics + if success: + n_success += 1 + + def compute_orientation(self, cur_traj): + start_orientation = compute_orientation(cur_traj['start_pt'], cur_traj['end_pt'], + noise=60) # Euler + return start_orientation + + def start_navigator(self): + self.robot_navigator = RobotNavigator(move_base_timeout=300, pause_interval=2) + + def send_goal(self, end_pt, end_orientation): + robot_stuck = self.robot_navigator.set_goal(end_pt[0], end_pt[1], end_pt[2], + end_orientation) + return not robot_stuck + + def is_correct_room_type(self, room): + """Check if the room type is correct. + """ + if self.sample_rooms_only: + return (not room['name'].startswith('hallway') + and not room['name'].startswith('storage') + and not room['name'].startswith('openspace') + and not room['name'].startswith('lounge')) + else: + return True + + def create_room_sampler(self, dilated_clutter_map, room): + return RoomSampler(self.area_data['semantic_map'], + dilated_clutter_map, + room, + self.area_data['resolution']) + + def sample_trajectory(self): + """Sample a trajectory. + + Returns: + cur_traj: Dict containing start_pt and end_pt in pixel coordinates. + """ + start_pt = None + end_pt = None + while (start_pt is None) or (end_pt is None): + while True: + start_room_sampler = self.sample_room() # Select a room to sample from + end_room_sampler = self.sample_room() # Select a room to sample from + if start_room_sampler is not end_room_sampler: + break + + start_pt = start_room_sampler.sample_once() + end_pt = end_room_sampler.sample_once() + print('Start room:', start_room_sampler.name) + print('End room:', end_room_sampler.name) + cur_traj = { + 'start_pt': start_pt, + 'end_pt': end_pt, + 'start_room': start_room_sampler.name, + 'end_room': end_room_sampler.name, + } + return cur_traj + + def get_tp_msg(self, start_xy, theta): + tp_msg = PoseStamped() + tp_msg.header.frame_id = 'map' + tp_msg.header.stamp = rospy.Time.now() + tp_msg.pose.position.x = start_xy[0] + tp_msg.pose.position.y = start_xy[1] + tp_msg.pose.position.z = 0.5 + + # Compute orientation from theta + quat = quaternion_from_euler(0, 0, theta) + tp_msg.pose.orientation.x = quat[0] + tp_msg.pose.orientation.y = quat[1] + tp_msg.pose.orientation.z = quat[2] + tp_msg.pose.orientation.w = quat[3] + return tp_msg + + def sample_room(self): + """Choose a room sampler from self.valid_rooms. + """ + if self.UNIFORM_SAMPLING: + return random.choice(self.valid_rooms) # Uniform sampling + else: + return self.room_sampler.sample_once() # Sample based on area + + +if __name__ == '__main__': + parser = argparse.ArgumentParser(description='Room data collector') + parser.add_argument('--sample_rooms_only', action='store_true') + args = parser.parse_args() + + try: + room_data_collector = RoomDataCollector(sample_rooms_only=args.sample_rooms_only) + room_data_collector.run() + except rospy.ROSInterruptException: + rospy.loginfo("Room data collector terminated.") diff --git a/src/semnav/nodes/run_behavior.py b/src/semnav/nodes/run_behavior.py new file mode 100755 index 0000000..85b52b2 --- /dev/null +++ b/src/semnav/nodes/run_behavior.py @@ -0,0 +1,52 @@ +#!/usr/bin/env python + +from __future__ import print_function + +import numpy as np +import torch +import rospy + +from semnav.learning import get_net +from semnav.learning.behavior_net.behavior_evaluator import BehaviorEvaluator +from semnav.lib.behavior_executor import BehaviorExecutor + + +class BehaviorNode(BehaviorExecutor): + """Execute a behavior using a behavior network. + """ + + def __init__(self, mode): + """Constructor. + + Args: + mode: 'real' or 'sim', it will change which topics to subscribe. + """ + super(BehaviorNode, self).__init__(node_name='behavior_node', mode=mode) + print('Loading network...') + self.net = get_net(self.cfg.behaviornet_type, self.cfg) + self.net.eval() # Set to eval mode + print('Network loaded') + self.evaluator = BehaviorEvaluator() + + while self.last_depth is None: + rospy.sleep(0.2) # Let some messages come in + + rate = rospy.Rate(5) # 5 Hz + is_new_episode = True + print('Running loop...') + with torch.no_grad(): + while not rospy.is_shutdown(): + cur_depth = self.depth_transform(self.last_depth) # Shape (H, W) + # Add batch and channel dimensions + cur_depth = torch.from_numpy(cur_depth[np.newaxis, np.newaxis, :]).to(self.cfg.device) + output_vel = self.evaluator.predict(self.net, cur_depth, is_new_episode) + self.execute_vel(output_vel) + is_new_episode = False + rate.sleep() + + +if __name__ == '__main__': + try: + BehaviorNode(mode='sim') + except rospy.ROSInterruptException: + rospy.loginfo('Behavior node terminated.') diff --git a/src/semnav/third_party/__init__.py b/src/semnav/third_party/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/src/semnav/third_party/__init__.pyc b/src/semnav/third_party/__init__.pyc new file mode 100644 index 0000000..0d0abf7 Binary files /dev/null and b/src/semnav/third_party/__init__.pyc differ diff --git a/src/semnav/third_party/transformations.py b/src/semnav/third_party/transformations.py new file mode 100644 index 0000000..da20da9 --- /dev/null +++ b/src/semnav/third_party/transformations.py @@ -0,0 +1,1705 @@ +# -*- coding: utf-8 -*- +# transformations.py + +# Copyright (c) 2006, Christoph Gohlke +# Copyright (c) 2006-2009, The Regents of the University of California +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in the +# documentation and/or other materials provided with the distribution. +# * Neither the name of the copyright holders nor the names of any +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE +# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR +# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF +# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS +# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN +# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) +# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +"""Homogeneous Transformation Matrices and Quaternions. + +A library for calculating 4x4 matrices for translating, rotating, reflecting, +scaling, shearing, projecting, orthogonalizing, and superimposing arrays of +3D homogeneous coordinates as well as for converting between rotation matrices, +Euler angles, and quaternions. Also includes an Arcball control object and +functions to decompose transformation matrices. + +:Authors: + `Christoph Gohlke `__, + Laboratory for Fluorescence Dynamics, University of California, Irvine + +:Version: 20090418 + +Requirements +------------ + +* `Python 2.6 `__ +* `Numpy 1.3 `__ +* `transformations.c 20090418 `__ + (optional implementation of some functions in C) + +Notes +----- + +Matrices (M) can be inverted using numpy.linalg.inv(M), concatenated using +numpy.dot(M0, M1), or used to transform homogeneous coordinates (v) using +numpy.dot(M, v) for shape (4, \*) "point of arrays", respectively +numpy.dot(v, M.T) for shape (\*, 4) "array of points". + +Calculations are carried out with numpy.float64 precision. + +This Python implementation is not optimized for speed. + +Vector, point, quaternion, and matrix function arguments are expected to be +"array like", i.e. tuple, list, or numpy arrays. + +Return types are numpy arrays unless specified otherwise. + +Angles are in radians unless specified otherwise. + +Quaternions ix+jy+kz+w are represented as [x, y, z, w]. + +Use the transpose of transformation matrices for OpenGL glMultMatrixd(). + +A triple of Euler angles can be applied/interpreted in 24 ways, which can +be specified using a 4 character string or encoded 4-tuple: + + *Axes 4-string*: e.g. 'sxyz' or 'ryxy' + + - first character : rotations are applied to 's'tatic or 'r'otating frame + - remaining characters : successive rotation axis 'x', 'y', or 'z' + + *Axes 4-tuple*: e.g. (0, 0, 0, 0) or (1, 1, 1, 1) + + - inner axis: code of axis ('x':0, 'y':1, 'z':2) of rightmost matrix. + - parity : even (0) if inner axis 'x' is followed by 'y', 'y' is followed + by 'z', or 'z' is followed by 'x'. Otherwise odd (1). + - repetition : first and last axis are same (1) or different (0). + - frame : rotations are applied to static (0) or rotating (1) frame. + +References +---------- + +(1) Matrices and transformations. Ronald Goldman. + In "Graphics Gems I", pp 472-475. Morgan Kaufmann, 1990. +(2) More matrices and transformations: shear and pseudo-perspective. + Ronald Goldman. In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. +(3) Decomposing a matrix into simple transformations. Spencer Thomas. + In "Graphics Gems II", pp 320-323. Morgan Kaufmann, 1991. +(4) Recovering the data from the transformation matrix. Ronald Goldman. + In "Graphics Gems II", pp 324-331. Morgan Kaufmann, 1991. +(5) Euler angle conversion. Ken Shoemake. + In "Graphics Gems IV", pp 222-229. Morgan Kaufmann, 1994. +(6) Arcball rotation control. Ken Shoemake. + In "Graphics Gems IV", pp 175-192. Morgan Kaufmann, 1994. +(7) Representing attitude: Euler angles, unit quaternions, and rotation + vectors. James Diebel. 2006. +(8) A discussion of the solution for the best rotation to relate two sets + of vectors. W Kabsch. Acta Cryst. 1978. A34, 827-828. +(9) Closed-form solution of absolute orientation using unit quaternions. + BKP Horn. J Opt Soc Am A. 1987. 4(4), 629-642. +(10) Quaternions. Ken Shoemake. + http://www.sfu.ca/~jwa3/cmpt461/files/quatut.pdf +(11) From quaternion to matrix and back. JMP van Waveren. 2005. + http://www.intel.com/cd/ids/developer/asmo-na/eng/293748.htm +(12) Uniform random rotations. Ken Shoemake. + In "Graphics Gems III", pp 124-132. Morgan Kaufmann, 1992. + + +Examples +-------- + +>>> alpha, beta, gamma = 0.123, -1.234, 2.345 +>>> origin, xaxis, yaxis, zaxis = (0, 0, 0), (1, 0, 0), (0, 1, 0), (0, 0, 1) +>>> I = identity_matrix() +>>> Rx = rotation_matrix(alpha, xaxis) +>>> Ry = rotation_matrix(beta, yaxis) +>>> Rz = rotation_matrix(gamma, zaxis) +>>> R = concatenate_matrices(Rx, Ry, Rz) +>>> euler = euler_from_matrix(R, 'rxyz') +>>> numpy.allclose([alpha, beta, gamma], euler) +True +>>> Re = euler_matrix(alpha, beta, gamma, 'rxyz') +>>> is_same_transform(R, Re) +True +>>> al, be, ga = euler_from_matrix(Re, 'rxyz') +>>> is_same_transform(Re, euler_matrix(al, be, ga, 'rxyz')) +True +>>> qx = quaternion_about_axis(alpha, xaxis) +>>> qy = quaternion_about_axis(beta, yaxis) +>>> qz = quaternion_about_axis(gamma, zaxis) +>>> q = quaternion_multiply(qx, qy) +>>> q = quaternion_multiply(q, qz) +>>> Rq = quaternion_matrix(q) +>>> is_same_transform(R, Rq) +True +>>> S = scale_matrix(1.23, origin) +>>> T = translation_matrix((1, 2, 3)) +>>> Z = shear_matrix(beta, xaxis, origin, zaxis) +>>> R = random_rotation_matrix(numpy.random.rand(3)) +>>> M = concatenate_matrices(T, R, Z, S) +>>> scale, shear, angles, trans, persp = decompose_matrix(M) +>>> numpy.allclose(scale, 1.23) +True +>>> numpy.allclose(trans, (1, 2, 3)) +True +>>> numpy.allclose(shear, (0, math.tan(beta), 0)) +True +>>> is_same_transform(R, euler_matrix(axes='sxyz', *angles)) +True +>>> M1 = compose_matrix(scale, shear, angles, trans, persp) +>>> is_same_transform(M, M1) +True + +""" + +from __future__ import division + +import warnings +import math + +import numpy + +# Documentation in HTML format can be generated with Epydoc +__docformat__ = "restructuredtext en" + + +def identity_matrix(): + """Return 4x4 identity/unit matrix. + + >>> I = identity_matrix() + >>> numpy.allclose(I, numpy.dot(I, I)) + True + >>> numpy.sum(I), numpy.trace(I) + (4.0, 4.0) + >>> numpy.allclose(I, numpy.identity(4, dtype=numpy.float64)) + True + + """ + return numpy.identity(4, dtype=numpy.float64) + + +def translation_matrix(direction): + """Return matrix to translate by direction vector. + + >>> v = numpy.random.random(3) - 0.5 + >>> numpy.allclose(v, translation_matrix(v)[:3, 3]) + True + + """ + M = numpy.identity(4) + M[:3, 3] = direction[:3] + return M + + +def translation_from_matrix(matrix): + """Return translation vector from translation matrix. + + >>> v0 = numpy.random.random(3) - 0.5 + >>> v1 = translation_from_matrix(translation_matrix(v0)) + >>> numpy.allclose(v0, v1) + True + + """ + return numpy.array(matrix, copy=False)[:3, 3].copy() + + +def reflection_matrix(point, normal): + """Return matrix to mirror at plane defined by point and normal vector. + + >>> v0 = numpy.random.random(4) - 0.5 + >>> v0[3] = 1.0 + >>> v1 = numpy.random.random(3) - 0.5 + >>> R = reflection_matrix(v0, v1) + >>> numpy.allclose(2., numpy.trace(R)) + True + >>> numpy.allclose(v0, numpy.dot(R, v0)) + True + >>> v2 = v0.copy() + >>> v2[:3] += v1 + >>> v3 = v0.copy() + >>> v2[:3] -= v1 + >>> numpy.allclose(v2, numpy.dot(R, v3)) + True + + """ + normal = unit_vector(normal[:3]) + M = numpy.identity(4) + M[:3, :3] -= 2.0 * numpy.outer(normal, normal) + M[:3, 3] = (2.0 * numpy.dot(point[:3], normal)) * normal + return M + + +def reflection_from_matrix(matrix): + """Return mirror plane point and normal vector from reflection matrix. + + >>> v0 = numpy.random.random(3) - 0.5 + >>> v1 = numpy.random.random(3) - 0.5 + >>> M0 = reflection_matrix(v0, v1) + >>> point, normal = reflection_from_matrix(M0) + >>> M1 = reflection_matrix(point, normal) + >>> is_same_transform(M0, M1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + # normal: unit eigenvector corresponding to eigenvalue -1 + l, V = numpy.linalg.eig(M[:3, :3]) + i = numpy.where(abs(numpy.real(l) + 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue -1") + normal = numpy.real(V[:, i[0]]).squeeze() + # point: any unit eigenvector corresponding to eigenvalue 1 + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue 1") + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + return point, normal + + +def rotation_matrix(angle, direction, point=None): + """Return matrix to rotate about axis defined by point and direction. + + >>> angle = (random.random() - 0.5) * (2*math.pi) + >>> direc = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> R0 = rotation_matrix(angle, direc, point) + >>> R1 = rotation_matrix(angle-2*math.pi, direc, point) + >>> is_same_transform(R0, R1) + True + >>> R0 = rotation_matrix(angle, direc, point) + >>> R1 = rotation_matrix(-angle, -direc, point) + >>> is_same_transform(R0, R1) + True + >>> I = numpy.identity(4, numpy.float64) + >>> numpy.allclose(I, rotation_matrix(math.pi*2, direc)) + True + >>> numpy.allclose(2., numpy.trace(rotation_matrix(math.pi/2, + ... direc, point))) + True + + """ + sina = math.sin(angle) + cosa = math.cos(angle) + direction = unit_vector(direction[:3]) + # rotation matrix around unit vector + R = numpy.array(((cosa, 0.0, 0.0), + (0.0, cosa, 0.0), + (0.0, 0.0, cosa)), dtype=numpy.float64) + R += numpy.outer(direction, direction) * (1.0 - cosa) + direction *= sina + R += numpy.array((( 0.0, -direction[2], direction[1]), + ( direction[2], 0.0, -direction[0]), + (-direction[1], direction[0], 0.0)), + dtype=numpy.float64) + M = numpy.identity(4) + M[:3, :3] = R + if point is not None: + # rotation not around origin + point = numpy.array(point[:3], dtype=numpy.float64, copy=False) + M[:3, 3] = point - numpy.dot(R, point) + return M + + +def rotation_from_matrix(matrix): + """Return rotation angle and axis from rotation matrix. + + >>> angle = (random.random() - 0.5) * (2*math.pi) + >>> direc = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> R0 = rotation_matrix(angle, direc, point) + >>> angle, direc, point = rotation_from_matrix(R0) + >>> R1 = rotation_matrix(angle, direc, point) + >>> is_same_transform(R0, R1) + True + + """ + R = numpy.array(matrix, dtype=numpy.float64, copy=False) + R33 = R[:3, :3] + # direction: unit eigenvector of R33 corresponding to eigenvalue of 1 + l, W = numpy.linalg.eig(R33.T) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue 1") + direction = numpy.real(W[:, i[-1]]).squeeze() + # point: unit eigenvector of R33 corresponding to eigenvalue of 1 + l, Q = numpy.linalg.eig(R) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no unit eigenvector corresponding to eigenvalue 1") + point = numpy.real(Q[:, i[-1]]).squeeze() + point /= point[3] + # rotation angle depending on direction + cosa = (numpy.trace(R33) - 1.0) / 2.0 + if abs(direction[2]) > 1e-8: + sina = (R[1, 0] + (cosa-1.0)*direction[0]*direction[1]) / direction[2] + elif abs(direction[1]) > 1e-8: + sina = (R[0, 2] + (cosa-1.0)*direction[0]*direction[2]) / direction[1] + else: + sina = (R[2, 1] + (cosa-1.0)*direction[1]*direction[2]) / direction[0] + angle = math.atan2(sina, cosa) + return angle, direction, point + + +def scale_matrix(factor, origin=None, direction=None): + """Return matrix to scale by factor around origin in direction. + + Use factor -1 for point symmetry. + + >>> v = (numpy.random.rand(4, 5) - 0.5) * 20.0 + >>> v[3] = 1.0 + >>> S = scale_matrix(-1.234) + >>> numpy.allclose(numpy.dot(S, v)[:3], -1.234*v[:3]) + True + >>> factor = random.random() * 10 - 5 + >>> origin = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> S = scale_matrix(factor, origin) + >>> S = scale_matrix(factor, origin, direct) + + """ + if direction is None: + # uniform scaling + M = numpy.array(((factor, 0.0, 0.0, 0.0), + (0.0, factor, 0.0, 0.0), + (0.0, 0.0, factor, 0.0), + (0.0, 0.0, 0.0, 1.0)), dtype=numpy.float64) + if origin is not None: + M[:3, 3] = origin[:3] + M[:3, 3] *= 1.0 - factor + else: + # nonuniform scaling + direction = unit_vector(direction[:3]) + factor = 1.0 - factor + M = numpy.identity(4) + M[:3, :3] -= factor * numpy.outer(direction, direction) + if origin is not None: + M[:3, 3] = (factor * numpy.dot(origin[:3], direction)) * direction + return M + + +def scale_from_matrix(matrix): + """Return scaling factor, origin and direction from scaling matrix. + + >>> factor = random.random() * 10 - 5 + >>> origin = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> S0 = scale_matrix(factor, origin) + >>> factor, origin, direction = scale_from_matrix(S0) + >>> S1 = scale_matrix(factor, origin, direction) + >>> is_same_transform(S0, S1) + True + >>> S0 = scale_matrix(factor, origin, direct) + >>> factor, origin, direction = scale_from_matrix(S0) + >>> S1 = scale_matrix(factor, origin, direction) + >>> is_same_transform(S0, S1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + M33 = M[:3, :3] + factor = numpy.trace(M33) - 2.0 + try: + # direction: unit eigenvector corresponding to eigenvalue factor + l, V = numpy.linalg.eig(M33) + i = numpy.where(abs(numpy.real(l) - factor) < 1e-8)[0][0] + direction = numpy.real(V[:, i]).squeeze() + direction /= vector_norm(direction) + except IndexError: + # uniform scaling + factor = (factor + 2.0) / 3.0 + direction = None + # origin: any eigenvector corresponding to eigenvalue 1 + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no eigenvector corresponding to eigenvalue 1") + origin = numpy.real(V[:, i[-1]]).squeeze() + origin /= origin[3] + return factor, origin, direction + + +def projection_matrix(point, normal, direction=None, + perspective=None, pseudo=False): + """Return matrix to project onto plane defined by point and normal. + + Using either perspective point, projection direction, or none of both. + + If pseudo is True, perspective projections will preserve relative depth + such that Perspective = dot(Orthogonal, PseudoPerspective). + + >>> P = projection_matrix((0, 0, 0), (1, 0, 0)) + >>> numpy.allclose(P[1:, 1:], numpy.identity(4)[1:, 1:]) + True + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> persp = numpy.random.random(3) - 0.5 + >>> P0 = projection_matrix(point, normal) + >>> P1 = projection_matrix(point, normal, direction=direct) + >>> P2 = projection_matrix(point, normal, perspective=persp) + >>> P3 = projection_matrix(point, normal, perspective=persp, pseudo=True) + >>> is_same_transform(P2, numpy.dot(P0, P3)) + True + >>> P = projection_matrix((3, 0, 0), (1, 1, 0), (1, 0, 0)) + >>> v0 = (numpy.random.rand(4, 5) - 0.5) * 20.0 + >>> v0[3] = 1.0 + >>> v1 = numpy.dot(P, v0) + >>> numpy.allclose(v1[1], v0[1]) + True + >>> numpy.allclose(v1[0], 3.0-v1[1]) + True + + """ + M = numpy.identity(4) + point = numpy.array(point[:3], dtype=numpy.float64, copy=False) + normal = unit_vector(normal[:3]) + if perspective is not None: + # perspective projection + perspective = numpy.array(perspective[:3], dtype=numpy.float64, + copy=False) + M[0, 0] = M[1, 1] = M[2, 2] = numpy.dot(perspective-point, normal) + M[:3, :3] -= numpy.outer(perspective, normal) + if pseudo: + # preserve relative depth + M[:3, :3] -= numpy.outer(normal, normal) + M[:3, 3] = numpy.dot(point, normal) * (perspective+normal) + else: + M[:3, 3] = numpy.dot(point, normal) * perspective + M[3, :3] = -normal + M[3, 3] = numpy.dot(perspective, normal) + elif direction is not None: + # parallel projection + direction = numpy.array(direction[:3], dtype=numpy.float64, copy=False) + scale = numpy.dot(direction, normal) + M[:3, :3] -= numpy.outer(direction, normal) / scale + M[:3, 3] = direction * (numpy.dot(point, normal) / scale) + else: + # orthogonal projection + M[:3, :3] -= numpy.outer(normal, normal) + M[:3, 3] = numpy.dot(point, normal) * normal + return M + + +def projection_from_matrix(matrix, pseudo=False): + """Return projection plane and perspective point from projection matrix. + + Return values are same as arguments for projection_matrix function: + point, normal, direction, perspective, and pseudo. + + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.random.random(3) - 0.5 + >>> direct = numpy.random.random(3) - 0.5 + >>> persp = numpy.random.random(3) - 0.5 + >>> P0 = projection_matrix(point, normal) + >>> result = projection_from_matrix(P0) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + >>> P0 = projection_matrix(point, normal, direct) + >>> result = projection_from_matrix(P0) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=False) + >>> result = projection_from_matrix(P0, pseudo=False) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + >>> P0 = projection_matrix(point, normal, perspective=persp, pseudo=True) + >>> result = projection_from_matrix(P0, pseudo=True) + >>> P1 = projection_matrix(*result) + >>> is_same_transform(P0, P1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + M33 = M[:3, :3] + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not pseudo and len(i): + # point: any eigenvector corresponding to eigenvalue 1 + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + # direction: unit eigenvector corresponding to eigenvalue 0 + l, V = numpy.linalg.eig(M33) + i = numpy.where(abs(numpy.real(l)) < 1e-8)[0] + if not len(i): + raise ValueError("no eigenvector corresponding to eigenvalue 0") + direction = numpy.real(V[:, i[0]]).squeeze() + direction /= vector_norm(direction) + # normal: unit eigenvector of M33.T corresponding to eigenvalue 0 + l, V = numpy.linalg.eig(M33.T) + i = numpy.where(abs(numpy.real(l)) < 1e-8)[0] + if len(i): + # parallel projection + normal = numpy.real(V[:, i[0]]).squeeze() + normal /= vector_norm(normal) + return point, normal, direction, None, False + else: + # orthogonal projection, where normal equals direction vector + return point, direction, None, None, False + else: + # perspective projection + i = numpy.where(abs(numpy.real(l)) > 1e-8)[0] + if not len(i): + raise ValueError( + "no eigenvector not corresponding to eigenvalue 0") + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + normal = - M[3, :3] + perspective = M[:3, 3] / numpy.dot(point[:3], normal) + if pseudo: + perspective -= normal + return point, normal, None, perspective, pseudo + + +def clip_matrix(left, right, bottom, top, near, far, perspective=False): + """Return matrix to obtain normalized device coordinates from frustrum. + + The frustrum bounds are axis-aligned along x (left, right), + y (bottom, top) and z (near, far). + + Normalized device coordinates are in range [-1, 1] if coordinates are + inside the frustrum. + + If perspective is True the frustrum is a truncated pyramid with the + perspective point at origin and direction along z axis, otherwise an + orthographic canonical view volume (a box). + + Homogeneous coordinates transformed by the perspective clip matrix + need to be dehomogenized (devided by w coordinate). + + >>> frustrum = numpy.random.rand(6) + >>> frustrum[1] += frustrum[0] + >>> frustrum[3] += frustrum[2] + >>> frustrum[5] += frustrum[4] + >>> M = clip_matrix(*frustrum, perspective=False) + >>> numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0]) + array([-1., -1., -1., 1.]) + >>> numpy.dot(M, [frustrum[1], frustrum[3], frustrum[5], 1.0]) + array([ 1., 1., 1., 1.]) + >>> M = clip_matrix(*frustrum, perspective=True) + >>> v = numpy.dot(M, [frustrum[0], frustrum[2], frustrum[4], 1.0]) + >>> v / v[3] + array([-1., -1., -1., 1.]) + >>> v = numpy.dot(M, [frustrum[1], frustrum[3], frustrum[4], 1.0]) + >>> v / v[3] + array([ 1., 1., -1., 1.]) + + """ + if left >= right or bottom >= top or near >= far: + raise ValueError("invalid frustrum") + if perspective: + if near <= _EPS: + raise ValueError("invalid frustrum: near <= 0") + t = 2.0 * near + M = ((-t/(right-left), 0.0, (right+left)/(right-left), 0.0), + (0.0, -t/(top-bottom), (top+bottom)/(top-bottom), 0.0), + (0.0, 0.0, -(far+near)/(far-near), t*far/(far-near)), + (0.0, 0.0, -1.0, 0.0)) + else: + M = ((2.0/(right-left), 0.0, 0.0, (right+left)/(left-right)), + (0.0, 2.0/(top-bottom), 0.0, (top+bottom)/(bottom-top)), + (0.0, 0.0, 2.0/(far-near), (far+near)/(near-far)), + (0.0, 0.0, 0.0, 1.0)) + return numpy.array(M, dtype=numpy.float64) + + +def shear_matrix(angle, direction, point, normal): + """Return matrix to shear by angle along direction vector on shear plane. + + The shear plane is defined by a point and normal vector. The direction + vector must be orthogonal to the plane's normal vector. + + A point P is transformed by the shear matrix into P" such that + the vector P-P" is parallel to the direction vector and its extent is + given by the angle of P-P'-P", where P' is the orthogonal projection + of P onto the shear plane. + + >>> angle = (random.random() - 0.5) * 4*math.pi + >>> direct = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.cross(direct, numpy.random.random(3)) + >>> S = shear_matrix(angle, direct, point, normal) + >>> numpy.allclose(1.0, numpy.linalg.det(S)) + True + + """ + normal = unit_vector(normal[:3]) + direction = unit_vector(direction[:3]) + if abs(numpy.dot(normal, direction)) > 1e-6: + raise ValueError("direction and normal vectors are not orthogonal") + angle = math.tan(angle) + M = numpy.identity(4) + M[:3, :3] += angle * numpy.outer(direction, normal) + M[:3, 3] = -angle * numpy.dot(point[:3], normal) * direction + return M + + +def shear_from_matrix(matrix): + """Return shear angle, direction and plane from shear matrix. + + >>> angle = (random.random() - 0.5) * 4*math.pi + >>> direct = numpy.random.random(3) - 0.5 + >>> point = numpy.random.random(3) - 0.5 + >>> normal = numpy.cross(direct, numpy.random.random(3)) + >>> S0 = shear_matrix(angle, direct, point, normal) + >>> angle, direct, point, normal = shear_from_matrix(S0) + >>> S1 = shear_matrix(angle, direct, point, normal) + >>> is_same_transform(S0, S1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=False) + M33 = M[:3, :3] + # normal: cross independent eigenvectors corresponding to the eigenvalue 1 + l, V = numpy.linalg.eig(M33) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-4)[0] + if len(i) < 2: + raise ValueError("No two linear independent eigenvectors found {}".format(l)) + V = numpy.real(V[:, i]).squeeze().T + lenorm = -1.0 + for i0, i1 in ((0, 1), (0, 2), (1, 2)): + n = numpy.cross(V[i0], V[i1]) + l = vector_norm(n) + if l > lenorm: + lenorm = l + normal = n + normal /= lenorm + # direction and angle + direction = numpy.dot(M33 - numpy.identity(3), normal) + angle = vector_norm(direction) + direction /= angle + angle = math.atan(angle) + # point: eigenvector corresponding to eigenvalue 1 + l, V = numpy.linalg.eig(M) + i = numpy.where(abs(numpy.real(l) - 1.0) < 1e-8)[0] + if not len(i): + raise ValueError("no eigenvector corresponding to eigenvalue 1") + point = numpy.real(V[:, i[-1]]).squeeze() + point /= point[3] + return angle, direction, point, normal + + +def decompose_matrix(matrix): + """Return sequence of transformations from transformation matrix. + + matrix : array_like + Non-degenerative homogeneous transformation matrix + + Return tuple of: + scale : vector of 3 scaling factors + shear : list of shear factors for x-y, x-z, y-z axes + angles : list of Euler angles about static x, y, z axes + translate : translation vector along x, y, z axes + perspective : perspective partition of matrix + + Raise ValueError if matrix is of wrong type or degenerative. + + >>> T0 = translation_matrix((1, 2, 3)) + >>> scale, shear, angles, trans, persp = decompose_matrix(T0) + >>> T1 = translation_matrix(trans) + >>> numpy.allclose(T0, T1) + True + >>> S = scale_matrix(0.123) + >>> scale, shear, angles, trans, persp = decompose_matrix(S) + >>> scale[0] + 0.123 + >>> R0 = euler_matrix(1, 2, 3) + >>> scale, shear, angles, trans, persp = decompose_matrix(R0) + >>> R1 = euler_matrix(*angles) + >>> numpy.allclose(R0, R1) + True + + """ + M = numpy.array(matrix, dtype=numpy.float64, copy=True).T + if abs(M[3, 3]) < _EPS: + raise ValueError("M[3, 3] is zero") + M /= M[3, 3] + P = M.copy() + P[:, 3] = 0, 0, 0, 1 + if not numpy.linalg.det(P): + raise ValueError("Matrix is singular") + + scale = numpy.zeros((3, ), dtype=numpy.float64) + shear = [0, 0, 0] + angles = [0, 0, 0] + + if any(abs(M[:3, 3]) > _EPS): + perspective = numpy.dot(M[:, 3], numpy.linalg.inv(P.T)) + M[:, 3] = 0, 0, 0, 1 + else: + perspective = numpy.array((0, 0, 0, 1), dtype=numpy.float64) + + translate = M[3, :3].copy() + M[3, :3] = 0 + + row = M[:3, :3].copy() + scale[0] = vector_norm(row[0]) + row[0] /= scale[0] + shear[0] = numpy.dot(row[0], row[1]) + row[1] -= row[0] * shear[0] + scale[1] = vector_norm(row[1]) + row[1] /= scale[1] + shear[0] /= scale[1] + shear[1] = numpy.dot(row[0], row[2]) + row[2] -= row[0] * shear[1] + shear[2] = numpy.dot(row[1], row[2]) + row[2] -= row[1] * shear[2] + scale[2] = vector_norm(row[2]) + row[2] /= scale[2] + shear[1:] /= scale[2] + + if numpy.dot(row[0], numpy.cross(row[1], row[2])) < 0: + scale *= -1 + row *= -1 + + angles[1] = math.asin(-row[0, 2]) + if math.cos(angles[1]): + angles[0] = math.atan2(row[1, 2], row[2, 2]) + angles[2] = math.atan2(row[0, 1], row[0, 0]) + else: + #angles[0] = math.atan2(row[1, 0], row[1, 1]) + angles[0] = math.atan2(-row[2, 1], row[1, 1]) + angles[2] = 0.0 + + return scale, shear, angles, translate, perspective + + +def compose_matrix(scale=None, shear=None, angles=None, translate=None, + perspective=None): + """Return transformation matrix from sequence of transformations. + + This is the inverse of the decompose_matrix function. + + Sequence of transformations: + scale : vector of 3 scaling factors + shear : list of shear factors for x-y, x-z, y-z axes + angles : list of Euler angles about static x, y, z axes + translate : translation vector along x, y, z axes + perspective : perspective partition of matrix + + >>> scale = numpy.random.random(3) - 0.5 + >>> shear = numpy.random.random(3) - 0.5 + >>> angles = (numpy.random.random(3) - 0.5) * (2*math.pi) + >>> trans = numpy.random.random(3) - 0.5 + >>> persp = numpy.random.random(4) - 0.5 + >>> M0 = compose_matrix(scale, shear, angles, trans, persp) + >>> result = decompose_matrix(M0) + >>> M1 = compose_matrix(*result) + >>> is_same_transform(M0, M1) + True + + """ + M = numpy.identity(4) + if perspective is not None: + P = numpy.identity(4) + P[3, :] = perspective[:4] + M = numpy.dot(M, P) + if translate is not None: + T = numpy.identity(4) + T[:3, 3] = translate[:3] + M = numpy.dot(M, T) + if angles is not None: + R = euler_matrix(angles[0], angles[1], angles[2], 'sxyz') + M = numpy.dot(M, R) + if shear is not None: + Z = numpy.identity(4) + Z[1, 2] = shear[2] + Z[0, 2] = shear[1] + Z[0, 1] = shear[0] + M = numpy.dot(M, Z) + if scale is not None: + S = numpy.identity(4) + S[0, 0] = scale[0] + S[1, 1] = scale[1] + S[2, 2] = scale[2] + M = numpy.dot(M, S) + M /= M[3, 3] + return M + + +def orthogonalization_matrix(lengths, angles): + """Return orthogonalization matrix for crystallographic cell coordinates. + + Angles are expected in degrees. + + The de-orthogonalization matrix is the inverse. + + >>> O = orthogonalization_matrix((10., 10., 10.), (90., 90., 90.)) + >>> numpy.allclose(O[:3, :3], numpy.identity(3, float) * 10) + True + >>> O = orthogonalization_matrix([9.8, 12.0, 15.5], [87.2, 80.7, 69.7]) + >>> numpy.allclose(numpy.sum(O), 43.063229) + True + + """ + a, b, c = lengths + angles = numpy.radians(angles) + sina, sinb, _ = numpy.sin(angles) + cosa, cosb, cosg = numpy.cos(angles) + co = (cosa * cosb - cosg) / (sina * sinb) + return numpy.array(( + ( a*sinb*math.sqrt(1.0-co*co), 0.0, 0.0, 0.0), + (-a*sinb*co, b*sina, 0.0, 0.0), + ( a*cosb, b*cosa, c, 0.0), + ( 0.0, 0.0, 0.0, 1.0)), + dtype=numpy.float64) + + +def superimposition_matrix(v0, v1, scaling=False, usesvd=True): + """Return matrix to transform given vector set into second vector set. + + v0 and v1 are shape (3, \*) or (4, \*) arrays of at least 3 vectors. + + If usesvd is True, the weighted sum of squared deviations (RMSD) is + minimized according to the algorithm by W. Kabsch [8]. Otherwise the + quaternion based algorithm by B. Horn [9] is used (slower when using + this Python implementation). + + The returned matrix performs rotation, translation and uniform scaling + (if specified). + + >>> v0 = numpy.random.rand(3, 10) + >>> M = superimposition_matrix(v0, v0) + >>> numpy.allclose(M, numpy.identity(4)) + True + >>> R = random_rotation_matrix(numpy.random.random(3)) + >>> v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1)) + >>> v1 = numpy.dot(R, v0) + >>> M = superimposition_matrix(v0, v1) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> v0 = (numpy.random.rand(4, 100) - 0.5) * 20.0 + >>> v0[3] = 1.0 + >>> v1 = numpy.dot(R, v0) + >>> M = superimposition_matrix(v0, v1) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> S = scale_matrix(random.random()) + >>> T = translation_matrix(numpy.random.random(3)-0.5) + >>> M = concatenate_matrices(T, R, S) + >>> v1 = numpy.dot(M, v0) + >>> v0[:3] += numpy.random.normal(0.0, 1e-9, 300).reshape(3, -1) + >>> M = superimposition_matrix(v0, v1, scaling=True) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False) + >>> numpy.allclose(v1, numpy.dot(M, v0)) + True + >>> v = numpy.empty((4, 100, 3), dtype=numpy.float64) + >>> v[:, :, 0] = v0 + >>> M = superimposition_matrix(v0, v1, scaling=True, usesvd=False) + >>> numpy.allclose(v1, numpy.dot(M, v[:, :, 0])) + True + + """ + v0 = numpy.array(v0, dtype=numpy.float64, copy=False)[:3] + v1 = numpy.array(v1, dtype=numpy.float64, copy=False)[:3] + + if v0.shape != v1.shape or v0.shape[1] < 3: + raise ValueError("Vector sets are of wrong shape or type.") + + # move centroids to origin + t0 = numpy.mean(v0, axis=1) + t1 = numpy.mean(v1, axis=1) + v0 = v0 - t0.reshape(3, 1) + v1 = v1 - t1.reshape(3, 1) + + if usesvd: + # Singular Value Decomposition of covariance matrix + u, s, vh = numpy.linalg.svd(numpy.dot(v1, v0.T)) + # rotation matrix from SVD orthonormal bases + R = numpy.dot(u, vh) + if numpy.linalg.det(R) < 0.0: + # R does not constitute right handed system + R -= numpy.outer(u[:, 2], vh[2, :]*2.0) + s[-1] *= -1.0 + # homogeneous transformation matrix + M = numpy.identity(4) + M[:3, :3] = R + else: + # compute symmetric matrix N + xx, yy, zz = numpy.sum(v0 * v1, axis=1) + xy, yz, zx = numpy.sum(v0 * numpy.roll(v1, -1, axis=0), axis=1) + xz, yx, zy = numpy.sum(v0 * numpy.roll(v1, -2, axis=0), axis=1) + N = ((xx+yy+zz, yz-zy, zx-xz, xy-yx), + (yz-zy, xx-yy-zz, xy+yx, zx+xz), + (zx-xz, xy+yx, -xx+yy-zz, yz+zy), + (xy-yx, zx+xz, yz+zy, -xx-yy+zz)) + # quaternion: eigenvector corresponding to most positive eigenvalue + l, V = numpy.linalg.eig(N) + q = V[:, numpy.argmax(l)] + q /= vector_norm(q) # unit quaternion + q = numpy.roll(q, -1) # move w component to end + # homogeneous transformation matrix + M = quaternion_matrix(q) + + # scale: ratio of rms deviations from centroid + if scaling: + v0 *= v0 + v1 *= v1 + M[:3, :3] *= math.sqrt(numpy.sum(v1) / numpy.sum(v0)) + + # translation + M[:3, 3] = t1 + T = numpy.identity(4) + T[:3, 3] = -t0 + M = numpy.dot(M, T) + return M + + +def euler_matrix(ai, aj, ak, axes='sxyz'): + """Return homogeneous rotation matrix from Euler angles and axis sequence. + + ai, aj, ak : Euler's roll, pitch and yaw angles + axes : One of 24 axis sequences as string or encoded tuple + + >>> R = euler_matrix(1, 2, 3, 'syxz') + >>> numpy.allclose(numpy.sum(R[0]), -1.34786452) + True + >>> R = euler_matrix(1, 2, 3, (0, 1, 0, 1)) + >>> numpy.allclose(numpy.sum(R[0]), -0.383436184) + True + >>> ai, aj, ak = (4.0*math.pi) * (numpy.random.random(3) - 0.5) + >>> for axes in _AXES2TUPLE.keys(): + ... R = euler_matrix(ai, aj, ak, axes) + >>> for axes in _TUPLE2AXES.keys(): + ... R = euler_matrix(ai, aj, ak, axes) + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + if frame: + ai, ak = ak, ai + if parity: + ai, aj, ak = -ai, -aj, -ak + + si, sj, sk = math.sin(ai), math.sin(aj), math.sin(ak) + ci, cj, ck = math.cos(ai), math.cos(aj), math.cos(ak) + cc, cs = ci*ck, ci*sk + sc, ss = si*ck, si*sk + + M = numpy.identity(4) + if repetition: + M[i, i] = cj + M[i, j] = sj*si + M[i, k] = sj*ci + M[j, i] = sj*sk + M[j, j] = -cj*ss+cc + M[j, k] = -cj*cs-sc + M[k, i] = -sj*ck + M[k, j] = cj*sc+cs + M[k, k] = cj*cc-ss + else: + M[i, i] = cj*ck + M[i, j] = sj*sc-cs + M[i, k] = sj*cc+ss + M[j, i] = cj*sk + M[j, j] = sj*ss+cc + M[j, k] = sj*cs-sc + M[k, i] = -sj + M[k, j] = cj*si + M[k, k] = cj*ci + return M + + +def euler_from_matrix(matrix, axes='sxyz'): + """Return Euler angles from rotation matrix for specified axis sequence. + + axes : One of 24 axis sequences as string or encoded tuple + + Note that many Euler angle triplets can describe one matrix. + + >>> R0 = euler_matrix(1, 2, 3, 'syxz') + >>> al, be, ga = euler_from_matrix(R0, 'syxz') + >>> R1 = euler_matrix(al, be, ga, 'syxz') + >>> numpy.allclose(R0, R1) + True + >>> angles = (4.0*math.pi) * (numpy.random.random(3) - 0.5) + >>> for axes in _AXES2TUPLE.keys(): + ... R0 = euler_matrix(axes=axes, *angles) + ... R1 = euler_matrix(axes=axes, *euler_from_matrix(R0, axes)) + ... if not numpy.allclose(R0, R1): print axes, "failed" + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:3, :3] + if repetition: + sy = math.sqrt(M[i, j]*M[i, j] + M[i, k]*M[i, k]) + if sy > _EPS: + ax = math.atan2( M[i, j], M[i, k]) + ay = math.atan2( sy, M[i, i]) + az = math.atan2( M[j, i], -M[k, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2( sy, M[i, i]) + az = 0.0 + else: + cy = math.sqrt(M[i, i]*M[i, i] + M[j, i]*M[j, i]) + if cy > _EPS: + ax = math.atan2( M[k, j], M[k, k]) + ay = math.atan2(-M[k, i], cy) + az = math.atan2( M[j, i], M[i, i]) + else: + ax = math.atan2(-M[j, k], M[j, j]) + ay = math.atan2(-M[k, i], cy) + az = 0.0 + + if parity: + ax, ay, az = -ax, -ay, -az + if frame: + ax, az = az, ax + return ax, ay, az + + +def euler_from_quaternion(quaternion, axes='sxyz'): + """Return Euler angles from quaternion for specified axis sequence. + + >>> angles = euler_from_quaternion([0.06146124, 0, 0, 0.99810947]) + >>> numpy.allclose(angles, [0.123, 0, 0]) + True + + """ + return euler_from_matrix(quaternion_matrix(quaternion), axes) + + +def quaternion_from_euler(ai, aj, ak, axes='sxyz'): + """Return quaternion from Euler angles and axis sequence. + + ai, aj, ak : Euler's roll, pitch and yaw angles + axes : One of 24 axis sequences as string or encoded tuple + + >>> q = quaternion_from_euler(1, 2, 3, 'ryxz') + >>> numpy.allclose(q, [0.310622, -0.718287, 0.444435, 0.435953]) + True + + """ + try: + firstaxis, parity, repetition, frame = _AXES2TUPLE[axes.lower()] + except (AttributeError, KeyError): + _ = _TUPLE2AXES[axes] + firstaxis, parity, repetition, frame = axes + + i = firstaxis + j = _NEXT_AXIS[i+parity] + k = _NEXT_AXIS[i-parity+1] + + if frame: + ai, ak = ak, ai + if parity: + aj = -aj + + ai /= 2.0 + aj /= 2.0 + ak /= 2.0 + ci = math.cos(ai) + si = math.sin(ai) + cj = math.cos(aj) + sj = math.sin(aj) + ck = math.cos(ak) + sk = math.sin(ak) + cc = ci*ck + cs = ci*sk + sc = si*ck + ss = si*sk + + quaternion = numpy.empty((4, ), dtype=numpy.float64) + if repetition: + quaternion[i] = cj*(cs + sc) + quaternion[j] = sj*(cc + ss) + quaternion[k] = sj*(cs - sc) + quaternion[3] = cj*(cc - ss) + else: + quaternion[i] = cj*sc - sj*cs + quaternion[j] = cj*ss + sj*cc + quaternion[k] = cj*cs - sj*sc + quaternion[3] = cj*cc + sj*ss + if parity: + quaternion[j] *= -1 + + return quaternion + + +def quaternion_about_axis(angle, axis): + """Return quaternion for rotation about axis. + + >>> q = quaternion_about_axis(0.123, (1, 0, 0)) + >>> numpy.allclose(q, [0.06146124, 0, 0, 0.99810947]) + True + + """ + quaternion = numpy.zeros((4, ), dtype=numpy.float64) + quaternion[:3] = axis[:3] + qlen = vector_norm(quaternion) + if qlen > _EPS: + quaternion *= math.sin(angle/2.0) / qlen + quaternion[3] = math.cos(angle/2.0) + return quaternion + + +def quaternion_matrix(quaternion): + """Return homogeneous rotation matrix from quaternion. + + >>> R = quaternion_matrix([0.06146124, 0, 0, 0.99810947]) + >>> numpy.allclose(R, rotation_matrix(0.123, (1, 0, 0))) + True + + """ + q = numpy.array(quaternion[:4], dtype=numpy.float64, copy=True) + nq = numpy.dot(q, q) + if nq < _EPS: + return numpy.identity(4) + q *= math.sqrt(2.0 / nq) + q = numpy.outer(q, q) + return numpy.array(( + (1.0-q[1, 1]-q[2, 2], q[0, 1]-q[2, 3], q[0, 2]+q[1, 3], 0.0), + ( q[0, 1]+q[2, 3], 1.0-q[0, 0]-q[2, 2], q[1, 2]-q[0, 3], 0.0), + ( q[0, 2]-q[1, 3], q[1, 2]+q[0, 3], 1.0-q[0, 0]-q[1, 1], 0.0), + ( 0.0, 0.0, 0.0, 1.0) + ), dtype=numpy.float64) + + +def quaternion_from_matrix(matrix): + """Return quaternion from rotation matrix. + + >>> R = rotation_matrix(0.123, (1, 2, 3)) + >>> q = quaternion_from_matrix(R) + >>> numpy.allclose(q, [0.0164262, 0.0328524, 0.0492786, 0.9981095]) + True + + """ + q = numpy.empty((4, ), dtype=numpy.float64) + M = numpy.array(matrix, dtype=numpy.float64, copy=False)[:4, :4] + t = numpy.trace(M) + if t > M[3, 3]: + q[3] = t + q[2] = M[1, 0] - M[0, 1] + q[1] = M[0, 2] - M[2, 0] + q[0] = M[2, 1] - M[1, 2] + else: + i, j, k = 0, 1, 2 + if M[1, 1] > M[0, 0]: + i, j, k = 1, 2, 0 + if M[2, 2] > M[i, i]: + i, j, k = 2, 0, 1 + t = M[i, i] - (M[j, j] + M[k, k]) + M[3, 3] + q[i] = t + q[j] = M[i, j] + M[j, i] + q[k] = M[k, i] + M[i, k] + q[3] = M[k, j] - M[j, k] + q *= 0.5 / math.sqrt(t * M[3, 3]) + return q + + +def quaternion_multiply(quaternion1, quaternion0): + """Return multiplication of two quaternions. + + >>> q = quaternion_multiply([1, -2, 3, 4], [-5, 6, 7, 8]) + >>> numpy.allclose(q, [-44, -14, 48, 28]) + True + + """ + x0, y0, z0, w0 = quaternion0 + x1, y1, z1, w1 = quaternion1 + return numpy.array(( + x1*w0 + y1*z0 - z1*y0 + w1*x0, + -x1*z0 + y1*w0 + z1*x0 + w1*y0, + x1*y0 - y1*x0 + z1*w0 + w1*z0, + -x1*x0 - y1*y0 - z1*z0 + w1*w0), dtype=numpy.float64) + + +def quaternion_conjugate(quaternion): + """Return conjugate of quaternion. + + >>> q0 = random_quaternion() + >>> q1 = quaternion_conjugate(q0) + >>> q1[3] == q0[3] and all(q1[:3] == -q0[:3]) + True + + """ + return numpy.array((-quaternion[0], -quaternion[1], + -quaternion[2], quaternion[3]), dtype=numpy.float64) + + +def quaternion_inverse(quaternion): + """Return inverse of quaternion. + + >>> q0 = random_quaternion() + >>> q1 = quaternion_inverse(q0) + >>> numpy.allclose(quaternion_multiply(q0, q1), [0, 0, 0, 1]) + True + + """ + return quaternion_conjugate(quaternion) / numpy.dot(quaternion, quaternion) + + +def quaternion_slerp(quat0, quat1, fraction, spin=0, shortestpath=True): + """Return spherical linear interpolation between two quaternions. + + >>> q0 = random_quaternion() + >>> q1 = random_quaternion() + >>> q = quaternion_slerp(q0, q1, 0.0) + >>> numpy.allclose(q, q0) + True + >>> q = quaternion_slerp(q0, q1, 1.0, 1) + >>> numpy.allclose(q, q1) + True + >>> q = quaternion_slerp(q0, q1, 0.5) + >>> angle = math.acos(numpy.dot(q0, q)) + >>> numpy.allclose(2.0, math.acos(numpy.dot(q0, q1)) / angle) or \ + numpy.allclose(2.0, math.acos(-numpy.dot(q0, q1)) / angle) + True + + """ + q0 = unit_vector(quat0[:4]) + q1 = unit_vector(quat1[:4]) + if fraction == 0.0: + return q0 + elif fraction == 1.0: + return q1 + d = numpy.dot(q0, q1) + if abs(abs(d) - 1.0) < _EPS: + return q0 + if shortestpath and d < 0.0: + # invert rotation + d = -d + q1 *= -1.0 + angle = math.acos(d) + spin * math.pi + if abs(angle) < _EPS: + return q0 + isin = 1.0 / math.sin(angle) + q0 *= math.sin((1.0 - fraction) * angle) * isin + q1 *= math.sin(fraction * angle) * isin + q0 += q1 + return q0 + + +def random_quaternion(rand=None): + """Return uniform random unit quaternion. + + rand: array like or None + Three independent random variables that are uniformly distributed + between 0 and 1. + + >>> q = random_quaternion() + >>> numpy.allclose(1.0, vector_norm(q)) + True + >>> q = random_quaternion(numpy.random.random(3)) + >>> q.shape + (4,) + + """ + if rand is None: + rand = numpy.random.rand(3) + else: + assert len(rand) == 3 + r1 = numpy.sqrt(1.0 - rand[0]) + r2 = numpy.sqrt(rand[0]) + pi2 = math.pi * 2.0 + t1 = pi2 * rand[1] + t2 = pi2 * rand[2] + return numpy.array((numpy.sin(t1)*r1, + numpy.cos(t1)*r1, + numpy.sin(t2)*r2, + numpy.cos(t2)*r2), dtype=numpy.float64) + + +def random_rotation_matrix(rand=None): + """Return uniform random rotation matrix. + + rnd: array like + Three independent random variables that are uniformly distributed + between 0 and 1 for each returned quaternion. + + >>> R = random_rotation_matrix() + >>> numpy.allclose(numpy.dot(R.T, R), numpy.identity(4)) + True + + """ + return quaternion_matrix(random_quaternion(rand)) + + +class Arcball(object): + """Virtual Trackball Control. + + >>> ball = Arcball() + >>> ball = Arcball(initial=numpy.identity(4)) + >>> ball.place([320, 320], 320) + >>> ball.down([500, 250]) + >>> ball.drag([475, 275]) + >>> R = ball.matrix() + >>> numpy.allclose(numpy.sum(R), 3.90583455) + True + >>> ball = Arcball(initial=[0, 0, 0, 1]) + >>> ball.place([320, 320], 320) + >>> ball.setaxes([1,1,0], [-1, 1, 0]) + >>> ball.setconstrain(True) + >>> ball.down([400, 200]) + >>> ball.drag([200, 400]) + >>> R = ball.matrix() + >>> numpy.allclose(numpy.sum(R), 0.2055924) + True + >>> ball.next() + + """ + + def __init__(self, initial=None): + """Initialize virtual trackball control. + + initial : quaternion or rotation matrix + + """ + self._axis = None + self._axes = None + self._radius = 1.0 + self._center = [0.0, 0.0] + self._vdown = numpy.array([0, 0, 1], dtype=numpy.float64) + self._constrain = False + + if initial is None: + self._qdown = numpy.array([0, 0, 0, 1], dtype=numpy.float64) + else: + initial = numpy.array(initial, dtype=numpy.float64) + if initial.shape == (4, 4): + self._qdown = quaternion_from_matrix(initial) + elif initial.shape == (4, ): + initial /= vector_norm(initial) + self._qdown = initial + else: + raise ValueError("initial not a quaternion or matrix.") + + self._qnow = self._qpre = self._qdown + + def place(self, center, radius): + """Place Arcball, e.g. when window size changes. + + center : sequence[2] + Window coordinates of trackball center. + radius : float + Radius of trackball in window coordinates. + + """ + self._radius = float(radius) + self._center[0] = center[0] + self._center[1] = center[1] + + def setaxes(self, *axes): + """Set axes to constrain rotations.""" + if axes is None: + self._axes = None + else: + self._axes = [unit_vector(axis) for axis in axes] + + def setconstrain(self, constrain): + """Set state of constrain to axis mode.""" + self._constrain = constrain == True + + def getconstrain(self): + """Return state of constrain to axis mode.""" + return self._constrain + + def down(self, point): + """Set initial cursor window coordinates and pick constrain-axis.""" + self._vdown = arcball_map_to_sphere(point, self._center, self._radius) + self._qdown = self._qpre = self._qnow + + if self._constrain and self._axes is not None: + self._axis = arcball_nearest_axis(self._vdown, self._axes) + self._vdown = arcball_constrain_to_axis(self._vdown, self._axis) + else: + self._axis = None + + def drag(self, point): + """Update current cursor window coordinates.""" + vnow = arcball_map_to_sphere(point, self._center, self._radius) + + if self._axis is not None: + vnow = arcball_constrain_to_axis(vnow, self._axis) + + self._qpre = self._qnow + + t = numpy.cross(self._vdown, vnow) + if numpy.dot(t, t) < _EPS: + self._qnow = self._qdown + else: + q = [t[0], t[1], t[2], numpy.dot(self._vdown, vnow)] + self._qnow = quaternion_multiply(q, self._qdown) + + def next(self, acceleration=0.0): + """Continue rotation in direction of last drag.""" + q = quaternion_slerp(self._qpre, self._qnow, 2.0+acceleration, False) + self._qpre, self._qnow = self._qnow, q + + def matrix(self): + """Return homogeneous rotation matrix.""" + return quaternion_matrix(self._qnow) + + +def arcball_map_to_sphere(point, center, radius): + """Return unit sphere coordinates from window coordinates.""" + v = numpy.array(((point[0] - center[0]) / radius, + (center[1] - point[1]) / radius, + 0.0), dtype=numpy.float64) + n = v[0]*v[0] + v[1]*v[1] + if n > 1.0: + v /= math.sqrt(n) # position outside of sphere + else: + v[2] = math.sqrt(1.0 - n) + return v + + +def arcball_constrain_to_axis(point, axis): + """Return sphere point perpendicular to axis.""" + v = numpy.array(point, dtype=numpy.float64, copy=True) + a = numpy.array(axis, dtype=numpy.float64, copy=True) + v -= a * numpy.dot(a, v) # on plane + n = vector_norm(v) + if n > _EPS: + if v[2] < 0.0: + v *= -1.0 + v /= n + return v + if a[2] == 1.0: + return numpy.array([1, 0, 0], dtype=numpy.float64) + return unit_vector([-a[1], a[0], 0]) + + +def arcball_nearest_axis(point, axes): + """Return axis, which arc is nearest to point.""" + point = numpy.array(point, dtype=numpy.float64, copy=False) + nearest = None + mx = -1.0 + for axis in axes: + t = numpy.dot(arcball_constrain_to_axis(point, axis), point) + if t > mx: + nearest = axis + mx = t + return nearest + + +# epsilon for testing whether a number is close to zero +_EPS = numpy.finfo(float).eps * 4.0 + +# axis sequences for Euler angles +_NEXT_AXIS = [1, 2, 0, 1] + +# map axes strings to/from tuples of inner axis, parity, repetition, frame +_AXES2TUPLE = { + 'sxyz': (0, 0, 0, 0), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 1, 0, 0), + 'sxzx': (0, 1, 1, 0), 'syzx': (1, 0, 0, 0), 'syzy': (1, 0, 1, 0), + 'syxz': (1, 1, 0, 0), 'syxy': (1, 1, 1, 0), 'szxy': (2, 0, 0, 0), + 'szxz': (2, 0, 1, 0), 'szyx': (2, 1, 0, 0), 'szyz': (2, 1, 1, 0), + 'rzyx': (0, 0, 0, 1), 'rxyx': (0, 0, 1, 1), 'ryzx': (0, 1, 0, 1), + 'rxzx': (0, 1, 1, 1), 'rxzy': (1, 0, 0, 1), 'ryzy': (1, 0, 1, 1), + 'rzxy': (1, 1, 0, 1), 'ryxy': (1, 1, 1, 1), 'ryxz': (2, 0, 0, 1), + 'rzxz': (2, 0, 1, 1), 'rxyz': (2, 1, 0, 1), 'rzyz': (2, 1, 1, 1)} + +_TUPLE2AXES = dict((v, k) for k, v in _AXES2TUPLE.items()) + +# helper functions + +def vector_norm(data, axis=None, out=None): + """Return length, i.e. eucledian norm, of ndarray along axis. + + >>> v = numpy.random.random(3) + >>> n = vector_norm(v) + >>> numpy.allclose(n, numpy.linalg.norm(v)) + True + >>> v = numpy.random.rand(6, 5, 3) + >>> n = vector_norm(v, axis=-1) + >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=2))) + True + >>> n = vector_norm(v, axis=1) + >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1))) + True + >>> v = numpy.random.rand(5, 4, 3) + >>> n = numpy.empty((5, 3), dtype=numpy.float64) + >>> vector_norm(v, axis=1, out=n) + >>> numpy.allclose(n, numpy.sqrt(numpy.sum(v*v, axis=1))) + True + >>> vector_norm([]) + 0.0 + >>> vector_norm([1.0]) + 1.0 + + """ + data = numpy.array(data, dtype=numpy.float64, copy=True) + if out is None: + if data.ndim == 1: + return math.sqrt(numpy.dot(data, data)) + data *= data + out = numpy.atleast_1d(numpy.sum(data, axis=axis)) + numpy.sqrt(out, out) + return out + else: + data *= data + numpy.sum(data, axis=axis, out=out) + numpy.sqrt(out, out) + + +def unit_vector(data, axis=None, out=None): + """Return ndarray normalized by length, i.e. eucledian norm, along axis. + + >>> v0 = numpy.random.random(3) + >>> v1 = unit_vector(v0) + >>> numpy.allclose(v1, v0 / numpy.linalg.norm(v0)) + True + >>> v0 = numpy.random.rand(5, 4, 3) + >>> v1 = unit_vector(v0, axis=-1) + >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=2)), 2) + >>> numpy.allclose(v1, v2) + True + >>> v1 = unit_vector(v0, axis=1) + >>> v2 = v0 / numpy.expand_dims(numpy.sqrt(numpy.sum(v0*v0, axis=1)), 1) + >>> numpy.allclose(v1, v2) + True + >>> v1 = numpy.empty((5, 4, 3), dtype=numpy.float64) + >>> unit_vector(v0, axis=1, out=v1) + >>> numpy.allclose(v1, v2) + True + >>> list(unit_vector([])) + [] + >>> list(unit_vector([1.0])) + [1.0] + + """ + if out is None: + data = numpy.array(data, dtype=numpy.float64, copy=True) + if data.ndim == 1: + data /= math.sqrt(numpy.dot(data, data)) + return data + else: + if out is not data: + out[:] = numpy.array(data, copy=False) + data = out + length = numpy.atleast_1d(numpy.sum(data*data, axis)) + numpy.sqrt(length, length) + if axis is not None: + length = numpy.expand_dims(length, axis) + data /= length + if out is None: + return data + + +def random_vector(size): + """Return array of random doubles in the half-open interval [0.0, 1.0). + + >>> v = random_vector(10000) + >>> numpy.all(v >= 0.0) and numpy.all(v < 1.0) + True + >>> v0 = random_vector(10) + >>> v1 = random_vector(10) + >>> numpy.any(v0 == v1) + False + + """ + return numpy.random.random(size) + + +def inverse_matrix(matrix): + """Return inverse of square transformation matrix. + + >>> M0 = random_rotation_matrix() + >>> M1 = inverse_matrix(M0.T) + >>> numpy.allclose(M1, numpy.linalg.inv(M0.T)) + True + >>> for size in range(1, 7): + ... M0 = numpy.random.rand(size, size) + ... M1 = inverse_matrix(M0) + ... if not numpy.allclose(M1, numpy.linalg.inv(M0)): print size + + """ + return numpy.linalg.inv(matrix) + + +def concatenate_matrices(*matrices): + """Return concatenation of series of transformation matrices. + + >>> M = numpy.random.rand(16).reshape((4, 4)) - 0.5 + >>> numpy.allclose(M, concatenate_matrices(M)) + True + >>> numpy.allclose(numpy.dot(M, M.T), concatenate_matrices(M, M.T)) + True + + """ + M = numpy.identity(4) + for i in matrices: + M = numpy.dot(M, i) + return M + + +def is_same_transform(matrix0, matrix1): + """Return True if two matrices perform same transformation. + + >>> is_same_transform(numpy.identity(4), numpy.identity(4)) + True + >>> is_same_transform(numpy.identity(4), random_rotation_matrix()) + False + + """ + matrix0 = numpy.array(matrix0, dtype=numpy.float64, copy=True) + matrix0 /= matrix0[3, 3] + matrix1 = numpy.array(matrix1, dtype=numpy.float64, copy=True) + matrix1 /= matrix1[3, 3] + return numpy.allclose(matrix0, matrix1) + + +def _import_module(module_name, warn=True, prefix='_py_', ignore='_'): + """Try import all public attributes from module into global namespace. + + Existing attributes with name clashes are renamed with prefix. + Attributes starting with underscore are ignored by default. + + Return True on successful import. + + """ + try: + module = __import__(module_name) + except ImportError: + if warn: + warnings.warn("Failed to import module " + module_name) + else: + for attr in dir(module): + if ignore and attr.startswith(ignore): + continue + if prefix: + if attr in globals(): + globals()[prefix + attr] = globals()[attr] + elif warn: + warnings.warn("No Python implementation of " + attr) + globals()[attr] = getattr(module, attr) + return True diff --git a/src/semnav/third_party/transformations.pyc b/src/semnav/third_party/transformations.pyc new file mode 100644 index 0000000..d414687 Binary files /dev/null and b/src/semnav/third_party/transformations.pyc differ