| # 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 | |