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Commit 3e679df9 authored by Olivier Bertrand's avatar Olivier Bertrand
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Add a new tool to overlay trajectory within blender 

Added function to load trajectory from csv file
Added one environment (Sridhars tunnel) and one trajectory to test overlaying
Added tables in requirement (anticipation for hdf file)
parent bca635e8
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navipy/resources/corridor.blend 0 → 100644
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navipy/resources/corridor_traj.csv 0 → 100644
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388,10.0403378581774,4.509764681629134,9.468030212342551,-0.37506671969140315,0.6359435773396791,-0.29506308505446366
389,10.095459636535143,4.485652074024267,9.499058408303734,-0.372112987069702,0.6460282208730781,-0.2884005806959129
390,10.14998162840224,4.459224419713079,9.53025722419081,-0.3685147243306637,0.6486764875298529,-0.27303446708190543
391,10.204015701709126,4.430143761824163,9.561309166095734,-0.3642727374949022,0.6436335133755857,-0.25000120324311725
392,10.257648960783461,4.398103508991199,9.59181134430648,-0.3593924086668743,0.6312908476257666,-0.2211958382614667
393,10.310929882747473,4.362870917073565,9.621323443321609,-0.3538833344771312,0.6128034995694998,-0.18931826772051666
394,10.36385875392251,4.324324689413081,9.64942753707202,-0.3477588972550443,0.5901361836817813,-0.15766215802907085
395,10.416383778016069,4.282482491037635,9.675787947874651,-0.3410357829620961,0.5659643760511319,-0.12973282311908874
396,10.46840361904037,4.237514433011954,9.70019832624919,-0.33373346151613215,0.543379906101662,-0.1087600354059647
397,10.519776051204609,4.18974037564769,9.722606803856483,-0.325873646268987,0.5254267446986389,-0.09722741030063181
398,10.570331093151676,4.139611057349368,9.743116441276237,-0.3174797500131771,0.5145792375367788,-0.09652849654111141
399,10.619886123185292,4.087675203570207,9.761963811902413,-0.30857635495465435,0.5123094218100784,-0.10680108985877063
400,10.668260523876715,4.034536461278835,9.779481624358077,-0.2991887135838161,0.518852937475285,-0.1269431169241514
401,10.715288364594176,3.9808049316731777,9.796052420697851,-0.2893422963121508,0.5332140945605008,-0.1548007989705096
402,10.760828804585785,3.927048257871598,9.81206085630041,-0.2790624001435676,0.5533930816257351,-0.1875134305075684
403,10.804774492403345,3.873747002023117,9.827851855094838,-0.26837383056383296,0.5767778243394852,-0.22196395243955272
404,10.847058080374167,3.8212587293193065,9.84370007191608,-0.25730066632304915,0.6006099199969388,-0.25523348808593677
405,10.88765648802,3.7697947091185737,9.85979261116261,-0.2458661139350536,0.6224171892138635,-0.28494307693432885
406,10.926592167595834,3.71941201897857,9.876223544969495,-0.2340924556171996,0.6403244165263511,-0.3094150783186452
407,10.963930547133035,3.670021864804192,9.892997205649618,-0.22200109114679922,0.6532064946458661,-0.32766807417019905
408,10.999773194211205,3.6214124246095465,9.910037661010174,-0.20961267082472884,0.6607028795041562,-0.3393157065769404
409,11.034247103266516,3.5732821735955675,9.92720295803949,-0.19694731352203385,0.6631380928063004,-0.3444452892677593
410,11.067491552064846,3.525278181627839,9.94430341177599,-0.1840249007490624,0.6613866738188844,-0.343521208584856
411,11.099644662423335,3.477033789030549,9.96112317610858,-0.17086543492966805,0.6567019238254861,-0.3373196503382452
412,11.130831827477532,3.4282013376376,9.97744387567523,-0.15748944767649947,0.6505164833140913,-0.3268735456726902
413,11.161157627568054,3.378477639571223,9.993068392070523,-0.14391844192564426,0.6442266462536844,-0.31339699808988786
414,11.190702023679734,3.3276217439202567,10.007842148483443,-0.13017535036287933,0.6389854617293835,-0.29816846661102153
415,11.219520734910043,3.2754656772087984,10.021668806881047,-0.11628499170524687,0.6355406362388896,-0.2823763383342538
416,11.24764897214347,3.221919109626281,10.034517719096815,-0.102274506117971,0.6341524155896534,-0.2669559676370952
417,11.275107245598711,3.1669688046825,10.046422143127378,-0.08817375135625498,0.6346100616496309,-0.2524600465459114
418,11.301907840130692,3.110673734139038,10.057469556088787,-0.07401564211384577,0.6363378147768195,-0.23899852242921696
419,11.32806075289516,3.0531569279774136,10.067786706130292,-0.059836416506924305,0.6385550912603293,-0.22626413344395543
420,11.353578254932398,2.994595290568066,10.07752143638363,-0.04567581557757067,0.6404442696540188,-0.2136352631503114
421,11.378477539502235,2.935208638959301,10.08682189387572,-0.031577164105376664,0.6412872484444399,-0.2003297713178958
422,11.402781211123829,2.8752489301544326,10.095813201658556,-0.01758734379538145,0.6405525613053461,-0.18557642977448893
423,11.426515933415585,2.8149897876986008,10.104572474567401,-0.0037566529814700095,0.637935761795656,-0.16877201558402333
424,11.449710339490206,2.7547152507770454,10.113104686310587,0.00986144974518413,0.6333670292885462,-0.14959686536875316
425,11.472393785238884,2.694706098425752,10.121323911729254,0.023210717200245,0.6269996506886168,-0.12806794755167497
426,11.494597277062669,2.635222923001016,10.129046168740699,0.036232596404915884,0.6191862333970564,-0.10451825427261496
427,11.51635709219976,2.5764870553610995,10.135999927893911,0.0488668150820403,0.6104426447491875,-0.07950557531020426
428,11.537720636142168,2.518662486758573,10.141857219079116,0.061052061325822526,0.6013955712128572,-0.053669682094732565
429,11.558753178444496,2.4618432380415705,10.146282895356075,0.07272674311781258,0.5927071634449368,-0.027569995782069517
430,11.579543510994965,2.4060506595864846,10.148993952052791,0.08382981192348578,0.5849701409167369,-0.0015416456727379959
431,11.600206610744653,2.351243591591924,10.149816795144975,0.0943016326023725,0.5785748572451267,0.0243964645929646
432,11.620882133748976,2.2973413747387617,10.14872984355618,0.10408488035924647,0.5735696899576794,0.050561447717050644
navipy/sensors/blend_overlaytraj.py
+ 6
− 12
View file @ 3e679df9
"""
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)
......
navipy/sensors/blendnavipy.py
+ 11
− 1
View file @ 3e679df9
......@@ -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)
......
navipy/sensors/blendunittest.py
+ 2
− 1
View file @ 3e679df9
......@@ -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)
......
navipy/tools/trajectory.py
+ 119
− 14
View file @ 3e679df9
......@@ -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')
setup.py
+ 7
− 2
View file @ 3e679df9
......@@ -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)
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