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Commit 82223b7d authored by Olivier Bertrand's avatar Olivier Bertrand
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Add viewing dir table to save viewing direction

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navipy/database/__init__.py
+ 52
− 12
View file @ 82223b7d
......@@ -12,6 +12,7 @@ import navipy.maths.constants as mconst
from navipy.trajectories import Trajectory
from navipy.scene import __spherical_indeces__
import logging
import numbers
def adapt_array(arr):
......@@ -121,7 +122,6 @@ class DataBase():
filename, channels))
self.filename = filename
self.channels = channels
self.viewing_directions = None
self.normalisation_columns = list()
for chan_n in self.channels:
self.normalisation_columns.append(str(chan_n) + '_max')
......@@ -139,11 +139,10 @@ class DataBase():
self.tablecolumns['position_orientation']['q_3'] = 'real'
self.tablecolumns['position_orientation']['frame_i'] = 'real'
self.tablecolumns['position_orientation']['rotconv_id'] = 'string'
self.tablecolumns['viewing_directions'] = dict()
self.tablecolumns['viewing_directions']['data'] = 'real'
self.tablecolumns['image'] = dict()
self.tablecolumns['image']['data'] = 'array'
# self.tablecolumns['viewing_directions'] = dict()
# self.tablecolumns['viewing_directions']['elevation'] = 'array'
# self.tablecolumns['viewing_directions']['azimuth'] = 'array'
self.tablecolumns['normalisation'] = dict()
for col in self.normalisation_columns:
self.tablecolumns['normalisation'][col] = 'real'
......@@ -181,13 +180,52 @@ class DataBase():
self.db_cursor.execute(
"create table {} {}".format(key, columns))
self.db.commit()
self.__nbaz = None
self.__nbel = None
self.__viewing_dir = None
azimuth = np.deg2rad(np.linspace(-180, 180, 360))
elevation = np.deg2rad(np.linspace(-90, 90, 180))
[ma, me] = np.meshgrid(azimuth, elevation)
self.viewing_directions = np.zeros((ma.shape[0], ma.shape[1], 2))
self.viewing_directions[..., __spherical_indeces__['elevation']] = me
self.viewing_directions[..., __spherical_indeces__['azimuth']] = ma
@property
def viewing_directions(self):
if self.__viewing_dir is None:
rowid = 1
tablename = 'viewing_directions'
self.db_cursor.execute(
"""
SELECT data
FROM {}
WHERE (rowid=?)
""".format(tablename), (rowid,))
self.__viewing_dir = self.db_cursor.fetchone()[0]
return self.__viewing_dir.copy()
@viewing_directions.setter
def viewing_directions(self, viewdir):
"""Get the viewing direction from images
:param az_lim: (min,max) of the azimuth angles
:param el_lim: (min,max) of the elevation angles
:returns: viewing direction of every pixels
:rtype: np.array
"""
if self.__viewing_dir is None:
msg = 'write viewing direction'
self._logger.info(msg)
if isinstance(viewdir, np.ndarray):
tablename = 'viewing_directions'
params = dict()
params['rowid'] = 1
params['data'] = viewdir
self.insert_replace(tablename, params)
else:
msg = 'viewdir should be a numpy nd.array'
msg += ' and not {}'.format(type(viewdir))
self._logger.exception(msg)
raise TypeError(msg)
else:
msg = 'viewing direction has already been set'
self._logger.exception(msg)
raise Exception(msg)
def table_exist(self, tablename):
"""
......@@ -293,8 +331,10 @@ class DataBase():
raise Exception(msg)
found_convention = False
index = posorient.index
if isinstance(posorient.name, int):
msg = 'posorient.name should give the frame #'
if not isinstance(posorient.name, numbers.Number):
msg = 'posorient.name should give the frame #\n'
msg += ' posorient.name: {}\n'.format(posorient.name)
msg += ' type(posorient.name): {}'.format(type(posorient.name))
self._logger.exception(msg)
raise Exception(msg)
frame_i = posorient.name
......
navipy/sensors/renderer.py
+ 53
− 32
View file @ 82223b7d
......@@ -16,6 +16,7 @@ import yaml # Used to load config files
import pkg_resources
from navipy.maths.homogeneous_transformations import compose_matrix
from navipy.maths.quaternion import matrix as quatmatrix
from navipy.scene import spherical_indeces
import navipy.maths.constants as constants
from navipy.trajectories import Trajectory
from PIL import Image
......@@ -48,6 +49,11 @@ class AbstractRender():
""" worldlimit"""
self.__worldlimit = worldlimit
@property
def viewing_directions(self):
""" Need to be implemented by children classes """
return None
def render_trajectory(self, outputfile,
trajectory, imformat='.jpg'):
"""
......@@ -84,6 +90,8 @@ class AbstractRender():
mode='a',
channels=['R', 'G', 'B', 'D'],
arr_dtype=np.uint8)
self._logger.debug('database created')
dataloger.viewing_directions = self.viewing_directions
# We now can render
self._logger.info('Start rendering')
for frame_i, posorient in trajectory.iterrows():
......@@ -96,6 +104,7 @@ class AbstractRender():
# Avoid rerendering by checking if data already
# exist
if mode == 'database':
self._logger.warning(posorient)
rowid = dataloger.get_posid(posorient)
if dataloger.check_data_validity(rowid):
msg = 'frame_i: {} data is valid rowid {}'
......@@ -356,8 +365,8 @@ class BlenderRender(AbstractRender):
def cycle_samples(self):
"""get the samples for rendering with cycle
:returns: the number of samples used for the rendering
:rtype: int
: returns: the number of samples used for the rendering
: rtype: int
"""
return bpy.context.scene.cycles.samples
......@@ -366,8 +375,8 @@ class BlenderRender(AbstractRender):
def cycle_samples(self, samples=30):
"""change the samples for rendering with cycle
:param samples: the number of samples to use when rendering images
:type samples: int
: param samples: the number of samples to use when rendering images
: type samples: int
"""
if not isinstance(samples, int):
......@@ -378,11 +387,11 @@ class BlenderRender(AbstractRender):
def camera_fov(self):
"""get fov of camera
:returns: the field of view of the camera as \
: returns: the field of view of the camera as \
[[minimum latitude, maximum latitude],
[minimum longitude, maximum longitude]]
(in deg)
:rtype: np.array
: rtype: np.array
..todo Change assert to if -> raise TypeError/KeyError
......@@ -402,10 +411,10 @@ class BlenderRender(AbstractRender):
def camera_fov(self, resolution):
"""change the field of view of the panoramic camera
:param resolution: [[minimum latitude, maximum latitude],
: param resolution: [[minimum latitude, maximum latitude],
[minimum longitude, maximum longitude]]
(in deg)
:type latmin: 2x2 float array or list
: type latmin: 2x2 float array or list
"""
if not (isinstance(resolution, tuple) or
isinstance(resolution, list) or
......@@ -428,8 +437,8 @@ class BlenderRender(AbstractRender):
def camera_gaussian_width(self):
"""get width of the gaussian spatial filter
:returns: the width of the gaussian filter
:rtype: float
: returns: the width of the gaussian filter
: rtype: float
"""
return bpy.context.scene.cycles.filter_width
......@@ -438,9 +447,8 @@ class BlenderRender(AbstractRender):
def camera_gaussian_width(self, gauss_w):
"""change width of the gaussian spatial filter
:param gauss_w: width of the gaussian filter
:type gauss_w: float
: param gauss_w: width of the gaussian filter
: type gauss_w: float
"""
if not (isinstance(gauss_w, int) or isinstance(gauss_w, float)):
......@@ -449,10 +457,10 @@ class BlenderRender(AbstractRender):
@property
def camera_resolution(self):
"""return camera resolution (x,y)
"""return camera resolution(x, y)
:returns: the resolution of the camera along (x-axis,y-axis)
:rtype: (int,int)
: returns: the resolution of the camera along(x-axis, y-axis)
: rtype: (int, int)
"""
resolution_x = bpy.context.scene.render.resolution_x
......@@ -461,12 +469,12 @@ class BlenderRender(AbstractRender):
@camera_resolution.setter
def camera_resolution(self, resolution):
"""change the camera resolution (nb of pixels)
"""change the camera resolution(nb of pixels)
:param resolution_x: number of pixels along the x-axis of the camera
:type resolution_x: int
:param resolution_y: number of pixels along the y-axis of the camera
:type resolution_y: int
: param resolution_x: number of pixels along the x-axis of the camera
: type resolution_x: int
: param resolution_y: number of pixels along the y-axis of the camera
: type resolution_y: int
"""
if not (isinstance(resolution, list) or
isinstance(resolution, np.ndarray)):
......@@ -475,12 +483,25 @@ class BlenderRender(AbstractRender):
bpy.context.scene.render.resolution_y = resolution[1]
bpy.context.scene.render.resolution_percentage = 100
@property
def viewing_directions(self):
self._logger.info('get viewdir')
rx, ry = self.camera_resolution
fov = self.camera_fov
az = np.linspace(fov[1, 0], fov[1, 1], rx)
el = np.linspace(fov[0, 0], fov[0, 1], ry)
[ma, me] = np.meshgrid(az, el)
view_dir = np.zeros((ma.shape[0], ma.shape[1], 2))
view_dir[..., spherical_indeces()['elevation']] = me
view_dir[..., spherical_indeces()['azimuth']] = ma
return view_dir
@property
def image(self):
"""return the last rendered image as a numpy array
:returns: the image (height,width,nchannel)
:rtype: a double numpy array
: returns: the image(height, width, nchannel)
: rtype: a double numpy array
.. note: A temporary file will be written on the harddrive,
due to API blender limitation
......@@ -509,8 +530,8 @@ class BlenderRender(AbstractRender):
def distance(self):
"""return the last rendered distance map as a numpy array
:returns: the distance map (height, width)
:rtype: a double numpy array
: returns: the distance map(height, width)
: rtype: a double numpy array
.. note: A temporary file will be written on the harddrive,
due to API blender limitation
......@@ -543,7 +564,7 @@ class BlenderRender(AbstractRender):
def update(self, posorient):
"""assign the position and the orientation of the camera.
:param posorient: is a 1x6 vector containing:
: param posorient: is a 1x6 vector containing:
*in case of euler angeles the index should be
['location']['x']
['location']['y']
......@@ -565,7 +586,7 @@ class BlenderRender(AbstractRender):
quaternion
here the angles are euler rotation around the axis
specified by scene.camera.rotation_mode
:type posorient: pandas Series with multi-index
: type posorient: pandas Series with multi-index
"""
self._logger.info('update posorient to {}'.format(posorient))
if isinstance(posorient, pd.Series):
......@@ -613,14 +634,14 @@ class BlenderRender(AbstractRender):
def scene(self, posorient):
""" update position orientation and return a RGBD image
:param posorient: is a 1x6 vector containing:
x,y,z, angle_1, angle_2, angle_3,
: param posorient: is a 1x6 vector containing:
x, y, z, angle_1, angle_2, angle_3,
here the angles are euler rotation around the axis
specified by scene.camera.rotation_mode
:type posorient: 1x6 double array
:returns: a (height,width, channel) array here the last channel \
: type posorient: 1x6 double array
: returns: a(height, width, channel) array here the last channel \
is the distance.
:rtype: a double numpy array
: rtype: a double numpy array
"""
self._logger.info('get a scene')
self.update(posorient)
......
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