diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index 185d8016b3a874e455f182d00f8f7ff9300414b9..e94a6d7cc684f0ace9aa548748b8250a22fd5a1f 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -543,7 +543,7 @@ class DataBaseLoad(DataBase):
if 'q_3' not in posorient.index.get_level_values(1):
raise ValueError('missing index alpha_2')
if np.any(pd.isnull(posorient)):
- raise ValueError('posorient must not contain nan')
+ raise ValueError('posorient must not contain nan')
if rowid is not None:
if not isinstance(rowid, int):
raise TypeError('rowid must be an integer')
@@ -696,7 +696,7 @@ class DataBaseLoad(DataBase):
if posorient is not None:
rowid = self.get_posid(posorient)
if (posorient is None) and (rowid is None):
- Exception('posorient and rowid can not be both None')
+ raise Exception('posorient and rowid can not be both None')
if posorient is not None:
rowid = self.get_posid(posorient)
# Read images
diff --git a/navipy/database/test.py b/navipy/database/test.py
index 372faea96de60441c9a94152817af4c9bd1b67f4..359d1dd151694a41a525a7a23960de72f2fccf00 100644
--- a/navipy/database/test.py
+++ b/navipy/database/test.py
@@ -13,7 +13,7 @@ class TestCase(unittest.TestCase):
def setUp(self):
self.mydb_filename = pkg_resources.resource_filename(
'navipy', 'resources/database2.db')
- self.mydb = database.DataBaseLoad(self.mydb_filename)
+ self.mydb = DataBaseLoad(self.mydb_filename)
def test_DataBase_init_(self):
"""
@@ -552,7 +552,7 @@ class TestCase(unittest.TestCase):
cminmaxrange.D_min = 0
cminmaxrange.D_max = 1
cminmaxrange.D_range = 1
- imagecorrect = (image.copy()*500).astype(int)
+ imagecorrect = (image.copy() * 500).astype(int)
self.mydb.denormalise_image(imagecorrect, cminmaxrange)
# not working
@@ -590,7 +590,7 @@ class TestCase(unittest.TestCase):
cminmaxrange2.D_min = 0
cminmaxrange2.D_max = 1
cminmaxrange2.D_range = 1
- imagecorrect = (image.copy()*500).astype(int)
+ imagecorrect = (image.copy() * 500).astype(int)
with self.assertRaises(ValueError):
self.mydb.denormalise_image(imagecorrect, cminmaxrange2)
diff --git a/navipy/sensors/blendtest_renderer.py b/navipy/sensors/blendtest_renderer.py
index c4b3b492a9fce982ad2fb373fe1bd10186e4b212..c6ce93aeea1fe892f436f05cba69cc5949e4876a 100644
--- a/navipy/sensors/blendtest_renderer.py
+++ b/navipy/sensors/blendtest_renderer.py
@@ -4,6 +4,9 @@ from navipy.maths.quaternion import from_matrix as quat_matrix
import pandas as pd
import numpy as np
import unittest
+import pkg_resources
+import tempfile
+from navipy.database import DataBaseLoad
class TestBlenderRender_renderer(unittest.TestCase):
@@ -20,9 +23,9 @@ class TestBlenderRender_renderer(unittest.TestCase):
self.posorient.loc['location']['x'] = 0
self.posorient.loc['location']['y'] = 0
self.posorient.loc['location']['z'] = 1
- self.posorient.loc[convention]['alpha_0'] = np.pi/4
- self.posorient.loc[convention]['alpha_1'] = np.pi/7
- self.posorient.loc[convention]['alpha_2'] = np.pi/3
+ self.posorient.loc[convention]['alpha_0'] = np.pi / 4
+ self.posorient.loc[convention]['alpha_1'] = np.pi / 7
+ self.posorient.loc[convention]['alpha_2'] = np.pi / 3
convention = self.posorient.index.get_level_values(0)[-1]
a, b, c = self.posorient.loc[convention]
@@ -67,3 +70,30 @@ class TestBlenderRender_renderer(unittest.TestCase):
posorient2.loc[convention] = [at, bt, ct, dt]
image2 = self.renderer.scene(posorient2)
np.testing.assert_allclose(image2, self.image_ref, atol=1.2)
+
+ def test_gridrender(self):
+ """
+ Test the rendering on 5x5 grid
+ """
+ x = np.linspace(-0.5, 0.5, 5)
+ y = np.linspace(-0.5, 0.5, 5)
+ z = [0]
+ rotconv = 'rxyz'
+ db_reffilename = pkg_resources.resource_filename(
+ 'navipy', 'resources/database.db')
+ db_ref = DataBaseLoad(db_reffilename)
+ with tempfile.NamedTemporaryFile() as tfile:
+ outputfile = tfile.name
+ self.renderer.render_ongrid(outputfile,
+ x, y, z,
+ rotconv=rotconv)
+ db = DataBaseLoad(outputfile)
+ posorients = db_ref.posorients
+ for row_i, posorient in posorients.iterrows():
+ refscene = db_ref.scene(posorient)
+ try:
+ scene = db.scene(posorient)
+ except ValueError:
+ msg = 'Scene has not been found'
+ self.assertEqual(False, True, msg)
+ np.testing.assert_allclose(scene, refscene)
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index 36f9ab4627815a608bccccba0ce53bf3997d6e83..10b3935443de22143e3930138f88a15b743c6899 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -17,6 +17,9 @@ import pkg_resources
from navipy.maths.homogeneous_transformations import compose_matrix
import navipy.maths.constants as constants
from navipy.tools.trajectory import Trajectory
+from PIL import Image
+from navipy.scene import check_scene
+from navipy.database import DataBaseSave
class AbstractRender():
@@ -25,14 +28,99 @@ class AbstractRender():
"""
def __init__(self):
- pass
+ self.__worldlimit = np.inf
- def render_trajectory(trajectory, outputfile, imformat='.jpg'):
- pass
+ @property
+ def worldlimit(self):
+ """ worldlimit is the max distance return in scene
+
+ :getter: return a worldlimit
+ :setter: set a worldlimit
+ :type: list
+ """
+ return self.__worldlimit
+
+ @worldlimit.setter
+ def worldlimit(self, worldlimit):
+ """ worldlimit"""
+ self.__worldlimit = worldlimit
- def render_ongrid(x, y, z, alpha_0=[0], alpha_1=[0], alpha_2=[0],
+ def render_trajectory(self, outputfile,
+ trajectory, imformat='.jpg'):
+ """
+ Render on a trajectory
+ """
+ # Check the user input
+ if not isinstance(outputfile, str):
+ raise TypeError(
+ 'OutputFile should be a path {}'.format(outputfile))
+ if not isinstance(trajectory, Trajectory):
+ raise TypeError('trajectory should be navipy Trajectory')
+ # Create the directory name if it does
+ # not exist
+ dirname = os.path.dirname(outputfile)
+ if not os.path.isdir(dirname):
+ os.makedirs(dirname)
+ # Check the file type
+ if os.path.isdir(outputfile):
+ mode = 'array'
+ nbdigit = np.floor(np.log10(trajectory.shape[0])) + 1
+ fileformat = os.path.join(
+ outputfile,
+ 'frame_{:0' + str(nbdigit) + 'd}' + imformat)
+ else:
+ mode = 'database'
+ dataloger = DataBaseSave(outputfile,
+ channels=['R', 'G', 'B', 'D'],
+ arr_dtype=np.uint8)
+ # We now can render
+ for frame_i, posorient in trajectory.iterrows():
+ # Check if posorient is a valid one
+ # otherwise skip to next position
+ if np.any(np.isnan(posorient)):
+ # Skip because we can not render when night
+ continue
+ # Avoid rerendering by checking if data already
+ # exist
+ if mode == 'database':
+ rowid = dataloger.get_posid(posorient)
+ if dataloger.check_data_validity(rowid):
+ msg = 'frame_i: {} data is valid rowid {}'
+ msg = msg.format(frame_i, rowid)
+ warnings.warn(msg)
+ continue
+ elif mode == 'array':
+ filename = fileformat.format(frame_i)
+ if os.path.exists(filename):
+ msg = 'frame_i: {} already exist'
+ msg = msg.format(frame_i)
+ warnings.warn(msg)
+ continue
+ # The position-orientatios is valid (none nan)
+ # and the cmaxminrange has not already been assigned
+ # so the image need to be rendered
+ scene = self.scene(posorient)
+ check_scene(scene)
+ scene = scene[..., 0]
+ distance = scene[..., -1]
+ distance[distance > self.worldlimit] = self.worldlimit
+ scene[..., -1] = distance
+ if mode == 'database':
+ dataloger.write_image(posorient, scene)
+ elif mode == 'array':
+ if imformat == '.npy':
+ np.save(filename, scene)
+ else:
+ result = Image.fromarray(
+ (scene * 255).astype(np.uint8))
+ result.save(filename)
+
+ def render_ongrid(self, outputfile,
+ x, y, z,
+ alpha_0=[0], alpha_1=[0], alpha_2=[0],
q_0=None, q_1=None, q_2=None, q_3=None,
rotconv='rzyx'):
+ # Check inputs
if rotconv == 'quaternion':
if (q_0 is None) or \
(q_1 is None) or \
@@ -47,7 +135,6 @@ class AbstractRender():
raise TypeError('y must be list or np.array')
if not (isinstance(z, np.ndarray) or isinstance(z, list)):
raise TypeError('z must be list or np.array')
-
if rotconv == 'quaternion':
if not (isinstance(q_0, np.ndarray) or
isinstance(q_0, list)):
@@ -61,16 +148,25 @@ class AbstractRender():
if not (isinstance(q_3, np.ndarray) or
isinstance(q_3, list)):
raise TypeError('q_3 must be list or np.array')
- [mx, my, mz, mq0, mq1, mq2, mq3] = np.meshgrid(x,
- y,
- z,
- q_0,
- q_1,
- q_2,
- q_3)
+ else:
+ if not (isinstance(alpha_0, np.ndarray) or
+ isinstance(alpha_0, list)):
+ raise TypeError('alpha_0 must be list or np.array')
+ if not (isinstance(alpha_1, np.ndarray) or
+ isinstance(alpha_1, list)):
+ raise TypeError('alpha_1 must be list or np.array')
+ if not (isinstance(alpha_2, np.ndarray) or
+ isinstance(alpha_2, list)):
+ raise TypeError('alpha_2 must be list or np.array')
+ # We create data on a grid.
+ # To then render it as a trajectory
+ if rotconv == 'quaternion':
+ [mx, my, mz, mq0, mq1, mq2, mq3] = \
+ np.meshgrid(x, y, z, q_0, q_1, q_2, q_3)
mx = mx.flatten()
- grid_point = Trajectory(rotconv, indeces=range(0, mx.shape[0]))
+ grid_point = Trajectory(rotconv,
+ indeces=range(0, mx.shape[0]))
grid_point.x = mx
grid_point.y = my.flatten()
grid_point.z = mz.flatten()
@@ -80,30 +176,20 @@ class AbstractRender():
grid_point.q3 = mq3.flatten()
else:
- if not (isinstance(alpha_0, np.ndarray) or
- isinstance(alpha_0, list)):
- raise TypeError('alpha_0 must be list or np.array')
- if not (isinstance(alpha_1, np.ndarray) or
- isinstance(alpha_1, list)):
- raise TypeError('alpha_1 must be list or np.array')
- if not (isinstance(alpha_2, np.ndarray) or
- isinstance(alpha_2, list)):
- raise TypeError('alpha_2 must be list or np.array')
- [mx, my, mz, ma0, ma1, ma2] = np.meshgrid(x,
- y,
- z,
- alpha_0,
- alpha_1,
- alpha_2)
+ [mx, my, mz, ma0, ma1, ma2] = \
+ np.meshgrid(x, y, z, alpha_0, alpha_1, alpha_2)
mx = mx.flatten()
- grid_point = Trajectory(rotconv, indeces=range(0, mx.shape[0]))
+ grid_point = Trajectory(rotconv,
+ indeces=range(0, mx.shape[0]))
grid_point.x = mx
grid_point.y = my.flatten()
grid_point.z = mz.flatten()
grid_point.alpha_0 = ma0.flatten()
grid_point.alpha_1 = ma1.flatten()
grid_point.alpha_2 = ma2.flatten()
+ #
+ self.render_trajectory(outputfile, grid_point)
class BlenderRender(AbstractRender):
@@ -121,6 +207,7 @@ class BlenderRender(AbstractRender):
"""Initialise the Cyberbee
..todo check that TemporaryDirectory is writtable and readable
"""
+ super(AbstractRender).__init__()
# Rendering engine needs to be Cycles to support panoramic
# equirectangular camera
bpy.context.scene.render.engine = 'CYCLES'
@@ -237,6 +324,9 @@ class BlenderRender(AbstractRender):
else:
raise KeyError(
'Yaml config file should contain samples')
+ # Load worldlimit
+ if 'worldlimit' in blendconfig.keys():
+ self.worldlimit = blendconfig['worldlimit']
@property
def cycle_samples(self):
diff --git a/navipy/tools/trajectory.py b/navipy/tools/trajectory.py
index 05f383ab09d687860ce11a4f479de9380a8c756a..7c049d9a57f58ea638b094766e18defc2cbdcf4c 100644
--- a/navipy/tools/trajectory.py
+++ b/navipy/tools/trajectory.py
@@ -54,15 +54,15 @@ class Trajectory(pd.DataFrame):
self.loc[:, ('location', 'z')] = z
def __get_alpha_i(self, alphai):
- if self.__rotconf != 'quaternion':
- return self.loc[:, (self.__rotconf, 'alpha_{}'.format(alphai))]
+ if self.__rotconv != 'quaternion':
+ return self.loc[:, (self.__rotconv, 'alpha_{}'.format(alphai))]
else:
msg = 'alpha_{0:} does not exist for quaternion (try q_{0:})'
raise ValueError(msg.format(alphai))
def __set_alpha_i(self, alphai, val):
- if self.__rotconf != 'quaternion':
- self.loc[:, (self.__rotconf, 'alpha_{}'.format(alphai))] = val
+ if self.__rotconv != 'quaternion':
+ self.loc[:, (self.__rotconv, 'alpha_{}'.format(alphai))] = val
else:
msg = 'alpha_{0:} does not exist for quaternion (try q_{0:})'
raise ValueError(msg.format(alphai))
@@ -92,15 +92,15 @@ class Trajectory(pd.DataFrame):
self.__set_alpha_i(2, alpha_2)
def __get_q_i(self, qi):
- if self.__rotconf == 'quaternion':
- return self.loc[:, (self.__rotconf, 'q_{}'.format(qi))]
+ if self.__rotconv == 'quaternion':
+ return self.loc[:, (self.__rotconv, 'q_{}'.format(qi))]
else:
msg = 'q_{0:} does not exist for none quaternion (try alpha_{0:})'
raise ValueError(msg.format(qi))
def __set_q_i(self, qi, val):
- if self.__rotconf != 'quaternion':
- self.loc[:, (self.__rotconf, 'q_{}'.format(qi))] = val
+ if self.__rotconv != 'quaternion':
+ self.loc[:, (self.__rotconv, 'q_{}'.format(qi))] = val
else:
msg = 'q_{0:} does not exist for none quaternion (try alpha_{0:})'
raise ValueError(msg.format(qi))
diff --git a/setup.py b/setup.py
index 46e6e66836def72080e9f1f1187feb8ea4dc4001..0b97bb53667f7a588773b11b74547d7526971daa 100644
--- a/setup.py
+++ b/setup.py
@@ -34,7 +34,8 @@ setup_dict = {'name': 'navipy',
'scipy',
'networkx',
'ipython',
- 'yaml'],
+ 'yaml',
+ 'PIL'],
'install_requires': ["numpy",
'pandas',
'matplotlib',
@@ -45,7 +46,8 @@ setup_dict = {'name': 'navipy',
'ipython',
'flake8',
'tox',
- 'pyyaml'],
+ 'pyyaml',
+ 'Pillow'],
'package_data': {'navipy':
['resources/*.db',
'resources/*.blend',