File size: 2,973 Bytes
3bbe20b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 | # object_direction_map.yaml
#
# Maps (object facing direction, original question direction) → camera-centric direction.
#
# How to read this table:
# Given the direction RoboBrain says the object is facing AND the direction keyword in the
# original question (object-centric), look up the camera-centric replacement direction.
#
# ─── Facing keys (top-level) ──────────────────────────────────────────────────────────────
# facing_left : the object faces toward camera-left (west in bird's-eye view)
# facing_right : the object faces toward camera-right (east)
# facing_toward_camera : the object faces the camera (south)
# facing_away_from_camera: the object faces away from camera (north)
#
# ─── Original direction keys (per facing) ─────────────────────────────────────────────────
# front : object-centric "in front of" (the direction the object's face points)
# behind : object-centric "behind" (opposite to the face direction)
# left : object-centric "left" (the object's own left side)
# right : object-centric "right" (the object's own right side)
#
# ─── Values (camera-centric direction) ───────────────────────────────────────────────────
# left → question phrase "left of"
# right → question phrase "right of"
# in_front_of → question phrase "in front of"
# behind → question phrase "behind"
#
# ─── Geometric derivation (bird's-eye view, camera at south looking north) ───────────────
# If object faces west (left):
# forward=west=left, back=east=right,
# obj-left = south = behind (camera), obj-right = north = in front of (camera)
# If object faces east (right):
# forward=east=right, back=west=left,
# obj-left = north = in_front_of, obj-right = south = behind
# If object faces south (toward camera):
# forward=south=behind, back=north=in_front_of,
# obj-left = east = right, obj-right = west = left
# If object faces north (away from camera):
# forward=north=in_front_of, back=south=behind,
# obj-left = west = left, obj-right = east = right
#
# NOTE: These values are derived from standard 3-D geometry. Please verify them
# against your data before running a full evaluation.
facing_left:
front: left
behind: right
left: behind
right: in_front_of
facing_right:
front: right
behind: left
left: in_front_of
right: behind
facing_toward_camera:
front: behind
behind: in_front_of
left: right
right: left
facing_away_from_camera:
front: in_front_of
behind: behind
left: left
right: right
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