Add tool to render along trajectory

navipy/sensors/blend_alongtraj.py

@@ -22,12 +22,12 @@ def parser_blend_alongtraj():
     parser = argparse.ArgumentParser()
     arghelp = 'Path to the environment (.blend) in which your agent lives'
     defaultworld = pkg_resources.resource_filename(
-        'navipy', 'resources/twocylinders_world.blend')
+        'navipy', 'resources/corridor.blend')
+    defaulttraj = pkg_resources.resource_filename(
+        'navipy', 'resources/corridor_traj.csv')
     defaultconfig = pkg_resources.resource_filename(
         'navipy', 'resources/configs/BlenderRender.yaml')
     defaultoutput = tempfile.NamedTemporaryFile().name
-    defaulttraj = pkg_resources.resource_filename(
-        'navipy', 'resources/twocylinders_traj.hdf')
     parser.add_argument('--blender-world',
                         type=str,
                         default=defaultworld,
@@ -70,7 +70,7 @@ def run(config_file, outputfile, trajfile):
     renderer = BlenderRender()
     renderer.config_file = config_file
     # Load trajectory
-    trajectory = Trajectory().fromfile(trajfile)
+    trajectory = Trajectory().read_csv(trajfile)
     renderer.render_trajectory(outputfile, trajectory)
 
 
@@ -81,11 +81,6 @@ def main():
     # Fetch arguments
     args = parser_blend_alongtraj().parse_args()
     # Some output
-    print('-----')
-    print('Config file:\n{}'.format(args.config_file))
-    print('Blender file:\n{}'.format(args.blender_world))
-    print('Output file:\n{}'.format(args.output_file))
-    print('-----')
     # Create tempfile with testing code and then call blendnavipy
     header = '# Generated by {}\n'.format(sys.argv[0])
     with tempfile.NamedTemporaryFile() as tfile:
@@ -107,7 +102,8 @@ def main():
         tfile.write('     sys.exit(1)\n'.encode(encoding))
         tfile.seek(0)
 
-        command = 'blendnavipy --blender-world {} --python-script {}'
+        command = 'blendnavipy --background '
+        command += '--blender-world {} --python-script {}'
         command = command.format(args.blender_world, tfile.name)
         if args.blender_command is not None:
             command += ' --blender-command {}'.format(args.blender_command)

setup.py

@@ -60,7 +60,8 @@ setup_dict = {'name': 'navipy',
                       'blendnavipy=navipy.sensors.blendnavipy:main',
                       'blendunittest=navipy.sensors.blendunittest:main',
                       'blendongrid=navipy.sensors.blend_ongrid:main',
-                      'blendoverlaytraj=navipy.sensors.blend_overlaytraj:main'
+                      'blendoverlaytraj=navipy.sensors.blend_overlaytraj:main',
+                      'blendalongtraj=navipy.sensors.blend_alongtraj:main'
                   ]},
               }