diff --git a/navipy/resources/corridor.blend b/navipy/resources/corridor.blend
new file mode 100644
index 0000000000000000000000000000000000000000..1e3ac247fb14e64309e4afdeb9d89be836136a4f
Binary files /dev/null and b/navipy/resources/corridor.blend differ
diff --git a/navipy/resources/corridor_traj.csv b/navipy/resources/corridor_traj.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b288f9aded99e8c479488601e345944c872b3f0e
--- /dev/null
+++ b/navipy/resources/corridor_traj.csv
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diff --git a/navipy/sensors/blend_overlaytraj.py b/navipy/sensors/blend_overlaytraj.py
index 8b35bac84fe67c53548e10eb4304d65d8686d10c..87b1528863c63a277c2305232ade847e26d0d3c9 100644
--- a/navipy/sensors/blend_overlaytraj.py
+++ b/navipy/sensors/blend_overlaytraj.py
@@ -1,5 +1,5 @@
"""
-
+ Overlay a trajectory in a blender environment
"""
import sys
import argparse
@@ -20,9 +20,9 @@ def parser_blend_overlaytraj():
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/twocylinders_traj.hdf')
+ 'navipy', 'resources/corridor_traj.csv')
parser.add_argument('--blender-world',
type=str,
default=defaultworld,
@@ -53,20 +53,21 @@ def parser_blend_overlaytraj():
def run(trajfile):
import bpy
# Load trajectory
- trajectory = Trajectory().fromfile(trajfile)
+ trajectory = Trajectory().read_csv(trajfile)
# create the Curve Datablock
curveData = bpy.data.curves.new('myCurve', type='CURVE')
curveData.dimensions = '3D'
curveData.resolution_u = 2
# map coords to spline
polyline = curveData.splines.new('POLY')
- polyline.points.add(trajectory.shape[0])
+ polyline.points.add(trajectory.shape[0] - 1)
i = 0
for _, coord in trajectory.iterrows():
polyline.points[i].co = (coord.loc[('location', 'x')],
coord.loc[('location', 'y')],
coord.loc[('location', 'z')],
1)
+ i += 1
# create Object
curveOB = bpy.data.objects.new('my_trajectory', curveData)
@@ -83,12 +84,6 @@ def main():
# Fetch arguments
args = parser_blend_overlaytraj().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:
@@ -103,7 +98,6 @@ def main():
tfile.write('try:\n'.encode(encoding))
tfile.write(' run("{}")\n'.format(
args.trajectory).encode(encoding))
- tfile.write(' sys.exit(0)\n'.encode(encoding))
tfile.write('except Exception:\n'.encode(encoding))
tfile.write(' sys.exit(1)\n'.encode(encoding))
tfile.seek(0)
diff --git a/navipy/sensors/blendnavipy.py b/navipy/sensors/blendnavipy.py
index 16555dc0a47c37c92692a37f97fc7f9f6b1abcfc..6e10cfb634123697f19b427f355176f092e457b0 100644
--- a/navipy/sensors/blendnavipy.py
+++ b/navipy/sensors/blendnavipy.py
@@ -76,6 +76,12 @@ def parser_blendnavipy():
action='count',
default=0,
help=arghelp)
+
+ arghelp = 'To run the script in the background'
+ parser.add_argument('--background',
+ action='count',
+ default=0,
+ help=arghelp)
return parser
@@ -150,7 +156,11 @@ def main():
print('=================')
print(tfile.read().decode(encoding))
tfile.seek(0)
- command = '{} {} --background --python {}'.format(
+ command = '{} {} '
+ if args.background:
+ command += '--background '
+ command += '--python {}'
+ command = command.format(
args.blender_command,
args.blender_world,
tfile.name)
diff --git a/navipy/sensors/blendunittest.py b/navipy/sensors/blendunittest.py
index cc7aedd1f40346b1231f7ec2be6c5e0dbe2def71..098a3db2c6341216af3018a56d54d7f703e144cb 100644
--- a/navipy/sensors/blendunittest.py
+++ b/navipy/sensors/blendunittest.py
@@ -82,7 +82,8 @@ def main():
tfile.write(' sys.exit(1)\n'.encode(encoding))
tfile.seek(0)
- command = 'blendnavipy --blender-world {} --python-script {}'
+ command = 'blendnavipy --background --blender-world {}'
+ command += ' --python-script {}'
command = command.format(args.blender_world, tfile.name)
if args.blender_command is not None:
command += ' --blender-command {}'.format(args.blender_command)
diff --git a/navipy/tools/trajectory.py b/navipy/tools/trajectory.py
index cc2c890768bbab3b4cf9bbb1ea7937a2fc413ab8..43ff6003e4d2b1fa90d2479e88d509e75b8b64b7 100644
--- a/navipy/tools/trajectory.py
+++ b/navipy/tools/trajectory.py
@@ -7,7 +7,7 @@ import navipy.maths.constants as mconst
class Trajectory(pd.DataFrame):
- def __init__(self, rotconv, indeces):
+ def __init__(self, rotconv='rzyx', indeces=np.arange(1)):
columns = self.__build_columns(rotconv)
super().__init__(index=indeces, columns=columns)
self.__rotconv = rotconv
@@ -74,7 +74,7 @@ class Trajectory(pd.DataFrame):
@property
def alpha_0(self):
- self.__get_alpha_i(0)
+ return self.__get_alpha_i(0)
@alpha_0.setter
def alpha_0(self, alpha_0):
@@ -82,7 +82,7 @@ class Trajectory(pd.DataFrame):
@property
def alpha_1(self):
- self.__get_alpha_i(1)
+ return self.__get_alpha_i(1)
@alpha_1.setter
def alpha_1(self, alpha_1):
@@ -90,7 +90,7 @@ class Trajectory(pd.DataFrame):
@property
def alpha_2(self):
- self.__get_alpha_i(2)
+ return self.__get_alpha_i(2)
@alpha_2.setter
def alpha_2(self, alpha_2):
@@ -112,7 +112,7 @@ class Trajectory(pd.DataFrame):
@property
def q_0(self):
- self.__get_q_i(0)
+ return self.__get_q_i(0)
@q_0.setter
def q_0(self, q_0):
@@ -120,7 +120,7 @@ class Trajectory(pd.DataFrame):
@property
def q_1(self):
- self.__get_q_i(1)
+ return self.__get_q_i(1)
@q_1.setter
def q_1(self, q_1):
@@ -128,7 +128,7 @@ class Trajectory(pd.DataFrame):
@property
def q_2(self):
- self.__get_q_i(2)
+ return self.__get_q_i(2)
@q_2.setter
def q_2(self, q_2):
@@ -136,12 +136,63 @@ class Trajectory(pd.DataFrame):
@property
def q_3(self):
- self.__get_q_i(3)
+ return self.__get_q_i(3)
@q_3.setter
def q_3(self, q_3):
self.__set_q_i(3, q_3)
+ def read_csv(self, filename, sep=',', header=[0, 1], index_col=0):
+ """ Load from a hdf file
+ """
+ df = pd.read_csv(filename, sep=sep,
+ header=[0, 1], index_col=0)
+ self.from_dataframe(df)
+ return self
+
+ def read_hdf(self, filename):
+ raise NameError('Not implemented')
+
+ def from_array(self, nparray, rotconv):
+ """ Assign trajectory from a numpy array
+ N x 6 (rotconv = Euler angles)
+ N x 7 (rotconv = quaternion)
+ """
+ # Check user input
+ if not isinstance(nparray, np.ndarray):
+ msg = 'nparray should be a np.ndarray and not {}'
+ msg = msg.format(type(nparray))
+ raise TypeError(msg)
+ indeces = np.arange(0, nparray.shape[0])
+ if rotconv == 'quaternion':
+ if nparray.shape[1] != 7:
+ msg = 'nparray should have size Nx7 and not {}'
+ msg = msg.format(nparray.shape)
+ raise ValueError(msg)
+ elif rotconv in mconst._AXES2TUPLE.keys():
+ if nparray.shape[1] != 6:
+ msg = 'nparray should have size Nx6 and not {}'
+ msg = msg.format(nparray.shape)
+ raise ValueError(msg)
+ columns = self.__build_columns(rotconv)
+ super().__init__(index=indeces, columns=columns)
+ self.__rotconv = rotconv
+ # Position
+ self.x = nparray[:, 0]
+ self.y = nparray[:, 1]
+ self.z = nparray[:, 2]
+ # Orientation
+ if self.__rotconv == 'quaternion':
+ self.q_0 = nparray[:, 3]
+ self.q_1 = nparray[:, 4]
+ self.q_2 = nparray[:, 5]
+ self.q_3 = nparray[:, 6]
+ else:
+ self.alpha_0 = nparray[:, 3]
+ self.alpha_1 = nparray[:, 4]
+ self.alpha_2 = nparray[:, 5]
+ return self
+
def from_dataframe(self, df, rotconv=None):
""" Assign trajectory from a dataframe
"""
@@ -150,6 +201,20 @@ class Trajectory(pd.DataFrame):
if not np.all(rotconv == rotconv.iloc[0]):
raise ValueError('More than one rotconv detected')
rotconv = rotconv.iloc[0] # They are all the same :)
+ elif isinstance(df.columns, pd.MultiIndex):
+ if 'location' in df.columns.levels[0]:
+ rotconv = df.columns.levels[0].drop('location')
+ if len(rotconv) == 1:
+ rotconv = rotconv[0]
+ else:
+ msg = 'Could not determine rotconv from columns header'
+ msg += '\n{}'.format(df.columns)
+ raise ValueError(msg)
+ else:
+ msg = 'Could not determine rotconv from columns header'
+ msg += '\n{}'.format(df.columns)
+ raise ValueError(msg)
+
elif rotconv is None:
msg = 'When dataframe does not contains rotconv_id,'
msg += 'a convention should be given'
@@ -160,19 +225,40 @@ class Trajectory(pd.DataFrame):
super().__init__(index=indeces, columns=columns)
self.__rotconv = rotconv
# Position
- self.x = df.x
- self.y = df.y
- self.z = df.z
+ if isinstance(df.columns, pd.MultiIndex):
+ self.x = df.loc[:, ('location', 'x')]
+ self.y = df.loc[:, ('location', 'y')]
+ self.z = df.loc[:, ('location', 'z')]
+ else:
+ self.x = df.x
+ self.y = df.y
+ self.z = df.z
# Orientation
if self.__rotconv == 'quaternion':
- self.q_0 = df.q_0
- self.q_1 = df.q_1
- self.q_2 = df.q_2
+ if isinstance(df.columns, pd.MultiIndex):
+ self.q_0 = df.loc[:, (rotconv, 'q_0')]
+ self.q_1 = df.loc[:, (rotconv, 'q_1')]
+ self.q_2 = df.loc[:, (rotconv, 'q_2')]
+ self.q_3 = df.loc[:, (rotconv, 'q_3')]
+ else:
+ self.q_0 = df.q_0
+ self.q_1 = df.q_1
+ self.q_2 = df.q_2
+ self.q_3 = df.q_3
else:
if 'q_0' in df.columns:
self.alpha_0 = df.q_0
elif 'alpha_0' in df.columns:
self.alpha_0 = df.alpha_0
+ elif isinstance(df.columns, pd.MultiIndex):
+ if 'q_0' in df.columns.levels[1]:
+ self.alpha_0 = df.loc[:, (rotconv, 'q_0')]
+ elif 'alpha_0' in df.columns.levels[1]:
+ self.alpha_0 = df.loc[:, (rotconv, 'alpha_0')]
+ else:
+ msg = 'df should contains q_0 or alpha_0'
+ msg += 'columns are:\n{}'.format(df.columns)
+ raise KeyError(msg)
else:
raise KeyError('df should contains q_0 or alpha_0')
@@ -180,6 +266,15 @@ class Trajectory(pd.DataFrame):
self.alpha_1 = df.q_1
elif 'alpha_1' in df.columns:
self.alpha_1 = df.alpha_1
+ elif isinstance(df.columns, pd.MultiIndex):
+ if 'q_1' in df.columns.levels[1]:
+ self.alpha_1 = df.loc[:, (rotconv, 'q_1')]
+ elif 'alpha_1' in df.columns.levels[1]:
+ self.alpha_1 = df.loc[:, (rotconv, 'alpha_1')]
+ else:
+ msg = 'df should contains q_1 or alpha_1'
+ msg += 'columns are:\n{}'.format(df.columns)
+ raise KeyError(msg)
else:
raise KeyError('df should contains q_1 or alpha_1')
@@ -187,8 +282,18 @@ class Trajectory(pd.DataFrame):
self.alpha_2 = df.q_2
elif 'alpha_2' in df.columns:
self.alpha_2 = df.alpha_2
+ elif isinstance(df.columns, pd.MultiIndex):
+ if 'q_2' in df.columns.levels[1]:
+ self.alpha_2 = df.loc[:, (rotconv, 'q_2')]
+ elif 'alpha_2' in df.columns.levels[1]:
+ self.alpha_2 = df.loc[:, (rotconv, 'alpha_2')]
+ else:
+ msg = 'df should contains q_2 or alpha_2'
+ msg += 'columns are:\n{}'.format(df.columns)
+ raise KeyError(msg)
else:
raise KeyError('df should contains q_2 or alpha_2')
+ return self
def lollipops(self):
raise NameError('Not implemented')
diff --git a/setup.py b/setup.py
index 4f8cc7ea5b32cd9f5924fcb0f202e094f6b9a156..8d38e165b67ad00247b93f91bd984ba26ae13e20 100644
--- a/setup.py
+++ b/setup.py
@@ -47,16 +47,21 @@ setup_dict = {'name': 'navipy',
'flake8',
'tox',
'pyyaml',
- 'Pillow'],
+ 'Pillow',
+ 'tables'],
'package_data': {'navipy':
['resources/*.db',
'resources/*.blend',
+ 'resources/*.csv',
'resources/configs/*.yaml']},
'include_package_data': True,
'entry_points': {
'console_scripts': [
'blendnavipy=navipy.sensors.blendnavipy:main',
'blendunittest=navipy.sensors.blendunittest:main',
- 'blendongrid=navipy.sensors.blend_ongrid:main']}, }
+ 'blendongrid=navipy.sensors.blend_ongrid:main',
+ 'blendoverlaytraj=navipy.sensors.blend_overlaytraj:main'
+ ]},
+ }
setup(**setup_dict)