Start to add two new script

to overlay a trajectory in a blender environment (in order to debug misaligment between world and trajectory
to render images along a trajectory

navipy/sensors/blend_alongtraj.py

+"""
+
+"""
+import sys
+import argparse
+import os
+import inspect
+import pkg_resources
+import tempfile
+# Following need to be imported in blender as well
+from navipy.sensors.renderer import BlenderRender
+from navipy.tools.trajectory import Trajectory
+
+
+importwithinblender = [
+    'from navipy.sensors.renderer import BlenderRender',
+    'from navipy.tools.trajectory import Trajectory']
+
+
+def parser_blend_alongtraj():
+    # 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')
+    defaultconfig = pkg_resources.resource_filename(
+        'navipy', 'resources/configs/BlenderRender.yaml')
+    defaultoutput = tempfile.NamedTemporaryFile().name
+    defaulttraj = pkg_resources.resource_filename(
+        'navipy', 'resources/twocylinders_traj.hdf')
+    parser.add_argument('--blender-world',
+                        type=str,
+                        default=defaultworld,
+                        help=arghelp)
+    arghelp = 'Outputfile to store the rendered database'
+    parser.add_argument('--output-file',
+                        type=str,
+                        default=defaultoutput,
+                        help=arghelp)
+    arghelp = 'Configuration file'
+    parser.add_argument('--config-file',
+                        type=str,
+                        default=defaultconfig,
+                        help=arghelp)
+    arghelp = 'File containing the trajectory'
+    parser.add_argument('--trajectory',
+                        type=str,
+                        default=defaulttraj,
+                        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)
+
+    return parser
+
+
+def run(config_file, outputfile, trajfile):
+    renderer = BlenderRender()
+    renderer.config_file = config_file
+    # Load trajectory
+    trajectory = Trajectory().fromfile(trajfile)
+    renderer.render_trajectory(outputfile, trajectory)
+
+
+def main():
+    # encoding for temporary file
+    encoding = 'utf-8'
+
+    # Fetch arguments
+    args = parser_blend_alongtraj().parse_args()
+    # Some output
+    print('-----')
+    print('Config file:\n{}'.format(args.config_file))
+    print('Blender file:\n{}'.format(args.blender_world))
+    print('Output file:\n{}'.format(args.output_file))
+    print('-----')
+    # 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))
+        for line in importwithinblender:
+            tfile.write(line.encode(encoding))
+            tfile.write('\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.config_file,
+            args.output_file,
+            args.trajectory).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/blend_overlaytraj.py

+"""
+
+"""
+import sys
+import argparse
+import os
+import inspect
+import pkg_resources
+import tempfile
+# Following need to be imported in blender as well
+from navipy.tools.trajectory import Trajectory
+
+
+importwithinblender = [
+    'from navipy.tools.trajectory import Trajectory']
+
+
+def parser_blend_overlaytraj():
+    # 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')
+    defaulttraj = pkg_resources.resource_filename(
+        'navipy', 'resources/twocylinders_traj.hdf')
+    parser.add_argument('--blender-world',
+                        type=str,
+                        default=defaultworld,
+                        help=arghelp)
+    arghelp = 'File containing the trajectory'
+    parser.add_argument('--trajectory',
+                        type=str,
+                        default=defaulttraj,
+                        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)
+
+    return parser
+
+
+def run(trajfile):
+    import bpy
+    # Load trajectory
+    trajectory = Trajectory().fromfile(trajfile)
+    # create the Curve Datablock
+    curveData = bpy.data.curves.new('myCurve', type='CURVE')
+    curveData.dimensions = '3D'
+    curveData.resolution_u = 2
+    # map coords to spline
+    polyline = curveData.splines.new('POLY')
+    polyline.points.add(trajectory.shape[0])
+    i = 0
+    for _, coord in trajectory.iterrows():
+        polyline.points[i].co = (coord.loc[('location', 'x')],
+                                 coord.loc[('location', 'y')],
+                                 coord.loc[('location', 'z')],
+                                 1)
+
+    # create Object
+    curveOB = bpy.data.objects.new('my_trajectory', curveData)
+    # attach to scene and validate context
+    scn = bpy.context.scene
+    scn.objects.link(curveOB)
+    scn.objects.active = curveOB
+    curveOB.select = True
+
+
+def main():
+    # encoding for temporary file
+    encoding = 'utf-8'
+
+    # Fetch arguments
+    args = parser_blend_overlaytraj().parse_args()
+    # Some output
+    print('-----')
+    print('Config file:\n{}'.format(args.config_file))
+    print('Blender file:\n{}'.format(args.blender_world))
+    print('Output file:\n{}'.format(args.output_file))
+    print('-----')
+    # 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))
+        for line in importwithinblender:
+            tfile.write(line.encode(encoding))
+            tfile.write('\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.trajectory).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()