merge from distortion

ai2thor/_quality_settings.py

@@ -1,13 +1,11 @@
 # GENERATED FILE - DO NOT EDIT
-DEFAULT_QUALITY = "Ultra"
-QUALITY_SETTINGS = {
-    "DONOTUSE": 0,
-    "High": 5,
-    "High WebGL": 8,
-    "Low": 2,
-    "Medium": 3,
-    "MediumCloseFitShadows": 4,
-    "Ultra": 7,
-    "Very High": 6,
-    "Very Low": 1,
-}
+DEFAULT_QUALITY = 'Ultra'
+QUALITY_SETTINGS = {'DONOTUSE': 0,
+ 'High': 5,
+ 'High WebGL': 8,
+ 'Low': 2,
+ 'Medium': 3,
+ 'MediumCloseFitShadows': 4,
+ 'Ultra': 7,
+ 'Very High': 6,
+ 'Very Low': 1}

ai2thor/controller.py

@@ -1012,12 +1012,18 @@ def run_metadata_hook(self, metadata: MetadataWrapper) -> bool:
             return True
         return False
 
-    def step(self, action: Union[str, Dict[str, Any]] = None, **action_args):
+    def step(self, action: Union[str, list, Dict[str, Any]] = None, **action_args):
         if isinstance(action, Dict):
             # We attempt to prevent changes from leaking, doing a deep copy
             # isn't a good idea as the action may have huge arguments (e.g. when
             # generating a house)
             action = {**action}
+        elif isinstance(action, list):
+            # Multi action
+            action = dict(
+                action="MultiStep",
+                actions=action
+            )
         else:
             action = dict(action=action)
 

ai2thor/fifo_server.py

@@ -42,6 +42,8 @@ class FieldType(IntEnum):
     THIRD_PARTY_IMAGE_IDS = 14
     THIRD_PARTY_CLASSES = 15
     THIRD_PARTY_FLOW = 16
+    DISTORTION_IMAGE = 17,
+    THIRD_PARTY_DISTORTION=18,
     END_OF_MESSAGE = 255
 
 
@@ -83,19 +85,22 @@ def __init__(
         # allows us to map the enum to form field names
         # for backwards compatibility
         # this can be removed when the wsgi server is removed
+        # TODO make more generic cod ewise, one new value you have to modify 3 different arrays
         self.form_field_map = {
             FieldType.RGB_IMAGE: "image",
             FieldType.DEPTH_IMAGE: "image_depth",
             FieldType.CLASSES_IMAGE: "image_classes",
             FieldType.IDS_IMAGE: "image_ids",
             FieldType.NORMALS_IMAGE: "image_normals",
             FieldType.FLOWS_IMAGE: "image_flow",
+            FieldType.DISTORTION_IMAGE: "image_distortion",
             FieldType.THIRD_PARTY_IMAGE: "image-thirdParty-camera",
             FieldType.THIRD_PARTY_DEPTH: "image_thirdParty_depth",
             FieldType.THIRD_PARTY_NORMALS: "image_thirdParty_normals",
             FieldType.THIRD_PARTY_IMAGE_IDS: "image_thirdParty_image_ids",
             FieldType.THIRD_PARTY_CLASSES: "image_thirdParty_classes",
             FieldType.THIRD_PARTY_FLOW: "image_thirdParty_flow",
+            FieldType.THIRD_PARTY_DISTORTION: "image_thirdParty_distortion",
         }
 
         self.image_fields = {
@@ -111,6 +116,8 @@ def __init__(
             FieldType.THIRD_PARTY_IMAGE_IDS,
             FieldType.THIRD_PARTY_CLASSES,
             FieldType.THIRD_PARTY_FLOW,
+            FieldType.DISTORTION_IMAGE,
+            FieldType.THIRD_PARTY_DISTORTION
         }
 
         self.eom_header = self._create_header(FieldType.END_OF_MESSAGE, b"")

ai2thor/interact.py

@@ -224,10 +224,12 @@ def write_image(
         image_dir,
         suffix,
         image_per_frame=False,
+        color_frame=False,
         semantic_segmentation_frame=False,
         instance_segmentation_frame=False,
         depth_frame=False,
-        color_frame=False,
+        distortion_frame=False,
+        third_party_camera_frames=False,
         metadata=False,
     ):
         def save_image(name, image, flip_br=False):
@@ -271,6 +273,13 @@ def json_write(name, obj):
                 array_to_image,
                 save_image,
             ),
+            (
+                "distortion",
+                distortion_frame,
+                lambda event: event.distortion_frame,
+                array_to_image,
+                lambda x, y: save_image(x, y, flip_br=True),
+            ),
             (
                 "depth",
                 depth_frame,
@@ -290,6 +299,22 @@ def json_write(name, obj):
                     x.astype(np.float32),
                 ),
             ),
+            (
+                "third_party_camera_frames",
+                third_party_camera_frames,
+                lambda event: event.third_party_camera_frames,
+                lambda x: x,
+                lambda name, images: [save_image(name, image, flip_br=True) for  (i, image) in zip(range(len(images)), images)]
+
+            ),
+            (
+                "third_party_distortion_frames",
+                third_party_camera_frames and distortion_frame,
+                lambda event: event.third_party_distortion_frames,
+                lambda x: x,
+                lambda name, images: [save_image(name, image, flip_br=True) for  (i, image) in zip(range(len(images)), images)]
+
+            ),
             (
                 "metadata",
                 metadata,
@@ -300,19 +325,19 @@ def json_write(name, obj):
         ]
 
         for frame_filename, condition, frame_func, transform, save in frame_writes:
-            frame = frame_func(event)
-            if frame is not None and condition:
-                frame = transform(frame)
-                image_name = os.path.join(
-                    image_dir,
-                    "{}{}".format(frame_filename, "{}".format(suffix) if image_per_frame else ""),
-                )
-                print("Image {}, {}".format(image_name, image_dir))
-                save(image_name, frame)
-
-            elif condition:
-                print(
-                    "No frame '{}' present, call initialize with the right parameters".format(
-                        frame_filename
+            if condition:
+                frame = frame_func(event)
+                if frame is not None:
+                    frame = transform(frame)
+                    image_name = os.path.join(
+                        image_dir,
+                        "{}{}".format(frame_filename, "{}".format(suffix) if image_per_frame else ""),
+                    )
+                    print("Image {}, {}".format(image_name, image_dir))
+                    save(image_name, frame)
+                else:
+                    print(
+                        "No frame '{}' present, call initialize with the right parameters".format(
+                            frame_filename
+                        )
                     )
-                )

ai2thor/server.py

@@ -459,6 +459,7 @@ def __init__(self, metadata):
         self.third_party_instance_masks = []
         self.third_party_class_masks = []
         self.third_party_camera_frames = []
+        self.third_party_distortion_frames = []
         self.third_party_semantic_segmentation_frames = []
         self.third_party_instance_segmentation_frames = []
         self.third_party_depth_frames = []
@@ -646,6 +647,17 @@ def add_image_flows(self, image_flows_data):
             image_flows_data, self.screen_width, self.screen_height
         )
 
+    # TODO make more generic, above methids minus depth are basically the same
+    def add_image_distortion(self, image_distortion_data):
+        self.distortion_frame = read_buffer_image(
+            image_distortion_data, self.screen_width, self.screen_height
+        )
+
+    def add_third_party_image_distortion(self, distortion_data):
+        self.third_party_distortion_frames.append(
+            read_buffer_image(distortion_data, self.screen_width, self.screen_height)
+        )
+
     def add_third_party_camera_image(self, third_party_image_data):
         self.third_party_camera_frames.append(
             read_buffer_image(third_party_image_data, self.screen_width, self.screen_height)
@@ -775,6 +787,7 @@ def create_event(self, metadata, files):
                 image_classes=e.add_image_classes,
                 image_normals=e.add_image_normals,
                 image_flow=e.add_image_flows,
+                image_distortion=e.add_image_distortion
             )
 
             for key in image_mapping.keys():
@@ -796,6 +809,7 @@ def create_event(self, metadata, files):
                 "image_thirdParty_classes": e.add_third_party_image_classes,
                 "image_thirdParty_normals": e.add_third_party_image_normals,
                 "image_thirdParty_flows": e.add_third_party_image_flows,
+                "image_thirdParty_distortion": e.add_third_party_image_distortion
             }
 
             if a["thirdPartyCameras"] is not None:

tasks.py

@@ -486,13 +486,14 @@ def local_build_test(context, prefix="local", arch="OSXIntel64"):
 
 
 @task(iterable=["scenes"])
-def local_build(context, prefix="local", arch="OSXIntel64", scenes=None, scripts_only=False):
+def local_build(context, prefix="local", arch="OSXIntel64", scenes=None, scripts_only=False, exclude_private_scenes=False):
     import ai2thor.controller
 
     build = ai2thor.build.Build(arch, prefix, False)
     env = dict()
     if os.path.isdir("unity/Assets/Private/Scenes") or os.path.isdir(
         "Assets/Resources/ai2thor-objaverse/NoveltyTHOR_Assets/Scenes"
+        and not exclude_private_scenes
     ):
         env["INCLUDE_PRIVATE_SCENES"] = "true"
 
@@ -1079,6 +1080,8 @@ def ci_build(
     novelty_thor_scenes=False,
     skip_delete_tmp_dir=False,  # bool
     cloudrendering_first=False,
+    only_cloudrendering=False,
+    private_scenes_skip=False
 ):
     assert (commit_id is None) == (
         branch is None
@@ -1158,15 +1161,22 @@ def ci_build(
                 # disabling delete temporarily since it interferes with pip releases
                 # pytest_s3_object(build["commit_id"]).delete()
                 logger.info(f"pending build for {build['branch']} {build['commit_id']}")
+
+                if not private_scenes_skip:
+                    novelty_thor_scenes = False
+                    private_repos = []
+
                 clean(private_repos=private_repos)
+                private_scene_options = [novelty_thor_scenes]
+
                 subprocess.check_call("git fetch", shell=True)
                 subprocess.check_call("git checkout %s --" % build["branch"], shell=True)
                 logger.info(f" After checkout")
                 subprocess.check_call("git checkout -qf %s" % build["commit_id"], shell=True)
 
-                private_scene_options = [novelty_thor_scenes]
-
                 build_archs = ["OSXIntel64"]  # , "Linux64"]
+                build_archs = [] if only_cloudrendering else ["OSXIntel64"]  # , "Linux64"]
+
 
                 # CloudRendering only supported with 2020.3.25
                 # should change this in the future to automatically install
@@ -1260,10 +1270,10 @@ def ci_build(
                     # succeeded during an earlier run
 
                     pytest_platform = (
-                        "OSXIntel64" if sys.platform.startswith("darwin") else "CloudRendering"
+                        "CloudRendering" if only_cloudrendering else ("OSXIntel64" if sys.platform.startswith("darwin") else "CloudRendering")
                     )
                     # Weirdly even in Linux you can run utf tests using OSX build cache, but not CloudRendering
-                    utf_test_platform = "OSXIntel64"
+                    utf_test_platform = "CloudRendering" if only_cloudrendering else "OSXIntel64"
 
                     link_build_cache(
                         arch_temp_dirs[utf_test_platform], utf_test_platform, build["branch"]