From bca635e85bbd161a76d8727c9c55bfe6c2d8de68 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Fri, 1 Jun 2018 17:29:31 +0200
Subject: [PATCH] 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 | 121 +++++++++++++++++++++++++++
navipy/sensors/blend_overlaytraj.py | 122 ++++++++++++++++++++++++++++
2 files changed, 243 insertions(+)
create mode 100644 navipy/sensors/blend_alongtraj.py
create mode 100644 navipy/sensors/blend_overlaytraj.py
diff --git a/navipy/sensors/blend_alongtraj.py b/navipy/sensors/blend_alongtraj.py
new file mode 100644
index 0000000..cac6173
--- /dev/null
+++ b/navipy/sensors/blend_alongtraj.py
@@ -0,0 +1,121 @@
+"""
+
+"""
+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()
diff --git a/navipy/sensors/blend_overlaytraj.py b/navipy/sensors/blend_overlaytraj.py
new file mode 100644
index 0000000..8b35bac
--- /dev/null
+++ b/navipy/sensors/blend_overlaytraj.py
@@ -0,0 +1,122 @@
+"""
+
+"""
+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()
--
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