diff --git a/doc/source/conf.py b/doc/source/conf.py
index bbb7a3e5462bd16caa423f1188db0286e91f0d23..28a9b83331208555006976e0dfca80c6a2e230e5 100755
--- a/doc/source/conf.py
+++ b/doc/source/conf.py
@@ -41,7 +41,8 @@ extensions = ['matplotlib.sphinxext.only_directives',
'sphinx.ext.todo',
'sphinx.ext.coverage',
'sphinx.ext.mathjax',
- 'sphinx.ext.viewcode']
+ 'sphinx.ext.viewcode',
+ 'sphinxarg.ext']
# Add any paths that contain templates here, relative to this directory.
templates_path = ['_templates']
diff --git a/doc/source/overview/database.rst b/doc/source/overview/database.rst
index 26694db5b5098954dfc8ad25f84ccd613ae14413..54d674f256c736e01ee4cfa50f2482525c81fc4d 100644
--- a/doc/source/overview/database.rst
+++ b/doc/source/overview/database.rst
@@ -16,7 +16,7 @@ How to load a database
----------------------
.. literalinclude:: examples/get_posorients.py
- :lines: 8
+ :lines: 8
How to load all position-orientation
------------------------------------
@@ -30,7 +30,9 @@ speaking, loading the full table of position-orientaiton.
.. literalinclude:: examples/get_posorients.py
:lines: 9-10
-.. plot:: overview/examples/get_posorients.py
+.. ipython:: examples/get_posorients.py
+ :verbatim:
+
How to load an image
--------------------
diff --git a/doc/source/overview/examples/blenddemo_beesampling.py b/doc/source/overview/examples/blenddemo_beesampling.py
index 214c8801713edc1776dc868810bede232a802830..a948ef8a824fdc6ef48d4644096a9fe3174d43f3 100644
--- a/doc/source/overview/examples/blenddemo_beesampling.py
+++ b/doc/source/overview/examples/blenddemo_beesampling.py
@@ -3,6 +3,7 @@ Example on how to use the rendering module
"""
import tempfile
import numpy as np
+import os
from navipy.sensors.bee_sampling import BeeSampling
from navipy.sensors.renderer import BlenderRender
@@ -25,6 +26,7 @@ bee_samp.create_sampling_grid(
# will be set to 0
world_dim = 50 * np.sqrt(2)
bee_samp.world_dim = world_dim
-# Rendering in a tmp folder
+# Rendering in a temporary folder.
with tempfile.TemporaryDirectory() as folder:
- bee_samp.render(folder + '/database.db')
+ filename_db = os.path.join(folder, 'database.db')
+ bee_samp.render(filename_db)
diff --git a/doc/source/overview/examples/blenddemo_cyberbee.py b/doc/source/overview/examples/blenddemo_cyberbee.py
index 37f6e440cb70db36da93b16871aaf6376624ccee..e9e1b2c9ff21d86c2a6bcdf850a2685c08e2aa89 100644
--- a/doc/source/overview/examples/blenddemo_cyberbee.py
+++ b/doc/source/overview/examples/blenddemo_cyberbee.py
@@ -4,13 +4,15 @@ from matplotlib.colors import hsv_to_rgb, rgb_to_hsv
import matplotlib.pyplot as plt
from navipy.sensors.renderer import BlenderRender
-# with tempfile.TemporaryDirectory() as folder:
+# Configure the rendering module
cyberbee = BlenderRender()
cyberbee.cycle_samples = 50
cyberbee.camera_rotation_mode = 'XYZ'
cyberbee.camera_fov = [[-90, 90], [-180, 180]]
cyberbee.gaussian_width = 1.5
cyberbee.camera_resolution = [360, 180]
+
+# Set the position at which to render an image/distance
posorient = pd.Series(index=['x', 'y', 'z',
'alpha_0', 'alpha_1', 'alpha_2'])
posorient.x = 0
@@ -21,7 +23,7 @@ posorient.alpha_1 = 0
posorient.alpha_2 = 0
scene = cyberbee.scene(posorient)
-
+# plot
f, axarr = plt.subplots(2, 1, sharex=True)
to_plot_im = scene[:, :, :3]
diff --git a/doc/source/overview/rendering.rst b/doc/source/overview/rendering.rst
index 58a546b65c752af603ebea216e43ada1cb464587..91efae6ee535cc6c10df22f93f672d4777c26da9 100644
--- a/doc/source/overview/rendering.rst
+++ b/doc/source/overview/rendering.rst
@@ -1,6 +1,6 @@
Rendering
=========
-"""
+
Navipy & blender
----------------
What is blender?
@@ -13,69 +13,63 @@ Explain How to create env for navipy
Using navipy in blender
~~~~~~~~~~~~~~~~~~~~~~~
-Blender comes with its own python installation. Thus, we need to \
-tell blender to use our virtualenv where the navigation toolbox \
-is installed. To do we need to import the os module
-
-.. literalinclude:: ../blender_run.py
- :lines: 6 - 7
-
-then activate the environment by using the following function:
-.. literalinclude:: ../blender_run.py
- :lines: 13 - 18
+>>> blendnavipy --blender-world='/path/to/world.blend' --python-script='/path/to/script.py'
-here venv_path is the path to the virtual environment within which \
-navipy has been installed.
-
-Now, blender can import all modules used by the navigation toolbox.
-
-How to run python code with blender:
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
->>> blender path/to/world.blend --background --python path/to/code.py
+.. argparse::
+ :filename: ../bin/blendnavipy.py
+ :func: parser_blendnavipy
+ :prog: blendnavipy
How to generate a database using blender
----------------------------------------
+.. literalinclude:: examples/blenddemo_beesampling.py
+ :lines: 7, 8
+
+First we configure the rendering module
.. literalinclude:: examples/blenddemo_beesampling.py
- :lines: 6
+ :lines: 11, 12
With the toolbox at disposition we just need to configure the \
BeeSampling to render images on a regular 3D grid.
.. literalinclude:: examples/blenddemo_beesampling.py
- :lines: 9
-
-.. literalinclude:: examples/blenddemo_beesampling.py
- :lines: 12-19
+ :lines: 13,16-23
If we want to use the distance to objects, we need to tell the \
BeeSampling what is the maximum distance to objects in the environment.\
Otherwise the distance can go until infinity, and since the image are \
-compressed in the database, all distance to object will be equal to \
+compressed in the database, all distances to object will be equal to \
zero:
.. literalinclude:: examples/blenddemo_beesampling.py
- :lines: 23-24
+ :lines: 27-28
Finally we can generate the database.
.. literalinclude:: examples/blenddemo_beesampling.py
- :lines: 28-29
+ :dedent: 4
+ :lines: 31-32
+
+
+(:download:`Source code <examples/blenddemo_beesampling.py>`)
Custom sampling
---------------
+.. literalinclude:: examples/blenddemo_cyberbee.py
+ :lines: 5
- .. literalinclude:: examples/blenddemo_cyberbee.py
- :lines: 5
+With the toolbox at disposition we just need to configure the \
+Cyberbee to render images at desired positions.
- With the toolbox at disposition we just need to configure the \
- Cyberbee to render images at desired positions.
+.. literalinclude:: examples/blenddemo_cyberbee.py
+ :lines: 8-13
- .. literalinclude:: examples/blenddemo_cyberbee.py
- :lines: 8-13
+To render a scene at a given positions, we assign position orientation \
+to and then tell the cyberbee to get the scene at that point.
- To render a scene at a given positions we just have to do:
+.. literalinclude:: examples/blenddemo_cyberbee.py
+ :lines: 16-24
- .. literalinclude:: examples/blenddemo_cyberbee.py
- :lines: 14-22
+(:download:`Source code <examples/blenddemo_cyberbee.py>`)
diff --git a/setup.py b/setup.py
index 201168ed1809436cbb29fa30f2899a59a0455cf4..c74c85778069bde13ef7e1fee57932184cd72540 100644
--- a/setup.py
+++ b/setup.py
@@ -28,10 +28,18 @@ setup_dict = {'name': 'navipy',
'author_email': 'olivier.bertrand@uni-bielefeld.de',
'description': 'Insect Navigation Toolbox',
'packages': create_package_list("navipy"),
- 'requires': ['numpy', 'pandas', 'matplotlib', 'scipy',
+ 'requires': ['numpy',
+ 'pandas',
+ 'matplotlib',
+ 'scipy',
'networkx'],
- 'install_requires': ["numpy", 'pandas', 'matplotlib', 'scipy',
- 'sphinx_rtd_theme', 'networkx'],
+ 'install_requires': ["numpy",
+ 'pandas',
+ 'matplotlib',
+ 'scipy',
+ 'sphinx_rtd_theme',
+ 'networkx',
+ 'sphinx-argparse'],
'package_data': {'navipy': ['resources/database.db',
'resources/forest_world.blend']},
'include_package_data': True, }