Correct blender error

Error was due to update of database, that was not rerendered

navipy/resources/configs/BlenderOnGridRender.yaml

@@ -28,7 +28,7 @@ OnGrid:
   x: [-0.5,0.5,5]
   y: [-0.5,0.5,5]
   z: [3,3,1]
-  alpha_0: [1.570796 , 1.570796 ,1]
+  alpha_0: [0 , 0 ,1]
   alpha_1: [0 , 0 ,1]
   alpha_2: [0 , 0 ,1]
   # The orientation convention is defined as:

navipy/scripts/blend_ongrid.py

@@ -29,7 +29,7 @@ def parser_blend_ongrid():
         'navipy', 'resources/twocylinders_world.blend')
     defaultconfig = pkg_resources.resource_filename(
         'navipy', 'resources/configs/BlenderOnGridRender.yaml')
-    defaultoutput = tempfile.NamedTemporaryFile().name
+    defaultoutput = tempfile.NamedTemporaryFile().name+'.db'
     parser.add_argument('--blender-world',
                         type=str,
                         default=defaultworld,
@@ -161,7 +161,8 @@ def main():
         tfile.write('     sys.exit(1)\n'.encode(encoding))
         tfile.seek(0)
 
-        command = 'blendnavipy --blender-world {} --python-script {}'
+        command = 'blendnavipy --background '
+        command += '--blender-world {} --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/sensors/blendtest_renderer.py

@@ -78,13 +78,13 @@ class TestBlenderRender_renderer(unittest.TestCase):
         x = np.linspace(-0.5, 0.5, 5)
         y = np.linspace(-0.5, 0.5, 5)
         z = [3]
-        alpha_0 = [np.pi/2]
+        alpha_0 = [0]
         rotconv = 'rzyx'
         db_reffilename = pkg_resources.resource_filename(
             'navipy', 'resources/database.db')
         db_ref = DataBaseLoad(db_reffilename)
         tfile = tempfile.NamedTemporaryFile()
-        outputfile = tfile.name
+        outputfile = tfile.name+'.db'
         self.renderer.render_ongrid(outputfile,
                                     x, y, z, alpha_0,
                                     rotconv=rotconv)

navipy/sensors/blendtraj.py

-"""
-"""
-import os
-import sys
-import argparse
-import inspect
-import pandas as pd
-
-
-def parser_blendtraj():
-    """ 
-    Parse argument for function blendtraj
-    """
-    # Create command line options
-    parser = argparse.ArgumentParser()
-    arghelp = 'Path to the environment (.blend) in which your agent lives'
-    defaultworld = pkg_resources.resource_filename(
-        'navipy', 'resources/twocylinders_world.blend')
-    parser.add_argument('--blender-world',
-                        type=str,
-                        default=defaultworld,
-                        help=arghelp)
-    arghelp = 'Command to run blender\n'
-    arghelp += 'If not provided, the script will try to find the command'
-    arghelp += " by using: shutil.which('blender')"
-    parser.add_argument('--blender-command',
-                        type=str,
-                        default=None,
-                        help=arghelp)
-    arghelp = 'To display some stuff \n'
-    arghelp += ' * -v print command \n'
-    arghelp += ' * -vv print also script'
-    parser.add_argument('-v', '--verbose',
-                        action='count',
-                        default=0,
-                        help=arghelp)
-    defaultfile = pkg_resources.resource_filename(
-        'navipy', 'resources/configs/BlenderRender.yaml')
-    arghelp = 'BlenderRender configuration files \n'
-    arghelp += 'by default: {}'.format(defaultfile)
-    parser.add_argument('--config',
-                        type=str,
-                        default=defaultfile,
-                        help=arghelp)
-    arghelp = 'Trajectory of the agent\n'
-    arghelp += 'pandas dataframe saved in hdf'
-    parser.add_argument('--trajectory',
-                        type=str,
-                        default=defaultfile,
-                        help=arghelp)
-
-
-
-def render_trajectory(traj_filename, output_path, imformat='.jpg'):
-    # Get extension to check that file is hdf
-    _, ext = os.path.splitext(traj_filename)
-    if ext in ['h5', 'hdf']:
-        trajdf = pd.read_hdf(traj_filename)
-    else:
-        raise IOError(
-            'File {} can not be read as a trajectory'.format(traj_filename))
-    
-
-def main():
-    """
-    Render a trajectory in a blender environment
-    """
-    # encoding for temporary file
-    encoding = 'utf-8'
-
-    # Fetch arguments
-    args = parser_blendtraj().parse_args()
-
-    # Create tempfile with testing code and then call blendnavipy
-    header = '# Generated by {}\n'.format(sys.argv[0])
-    with tempfile.NamedTemporaryFile() as tfile:
-        # Start of file
-        tfile.write(header.encode(encoding))
-        tfile.write('import unittest \n'.encode(encoding))
-        for line in inspect.getsourcelines(run)[0]:
-            tfile.write(line.encode(encoding))
-        tfile.write('\n\n'.encode(encoding))
-        tfile.write('try:\n'.encode(encoding))
-        tfile.write('     run("{}")\n'.format(args.start_dir).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)
-
-        command = 'blendnavipy --blender-world {} --python-script {}'
-        command = command.format(args.blender_world, tfile.name)
-        if args.blender_command is not None:
-            command += ' --blender-command {}'.format(args.blender_command)
-        for _ in range(args.verbose):
-            command += ' -v'
-        os.system(command)
-    
-if __name__ == "__main__":
-    # execute only if run as a script
-    main()

navipy/sensors/renderer.py

@@ -17,7 +17,7 @@ import pkg_resources
 from navipy.maths.homogeneous_transformations import compose_matrix
 from navipy.maths.quaternion import matrix as quatmatrix
 import navipy.maths.constants as constants
-from navipy.tools.trajectory import Trajectory
+from navipy.trajectories import Trajectory
 from PIL import Image
 from navipy.scene import check_scene
 from navipy.database import DataBaseSave

navipy/trajectories/test_trajectory.py

@@ -36,7 +36,6 @@ class TestTrajectoryTransform(unittest.TestCase):
         # Devide by two the second anle, because of gimbal lock
         col = (trajectory.rotation_mode, 'alpha_1')
         trajectory.loc[:, col] = trajectory.loc[:, col] / 2
-        print(trajectory)
         # forward
         for euler_axes in list(htconst._AXES2TUPLE.keys()):
             trajectory.rotation_mode = euler_axes