From 82223b7d157895f9d5d02e1c18e6e544274bf0d6 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Wed, 26 Sep 2018 14:14:15 +0200
Subject: [PATCH] Add viewing dir table to save viewing direction
---
navipy/database/__init__.py | 64 ++++++++++++++++++++++------
navipy/sensors/renderer.py | 85 +++++++++++++++++++++++--------------
2 files changed, 105 insertions(+), 44 deletions(-)
diff --git a/navipy/database/__init__.py b/navipy/database/__init__.py
index 0083324..73d842d 100644
--- a/navipy/database/__init__.py
+++ b/navipy/database/__init__.py
@@ -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
diff --git a/navipy/sensors/renderer.py b/navipy/sensors/renderer.py
index befcae6..59fe438 100644
--- a/navipy/sensors/renderer.py
+++ b/navipy/sensors/renderer.py
@@ -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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