def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
maxBufferLength=30.0)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.setLoop(True)
sound.setLoopCount(1)
sound.play()
for i, dt in enumerate([5.0, 20.0, 10.0]):
acoustics.step(dt)
if i == 0:
self.assertTrue(sound.status() == AudioSound.PLAYING)
elif i > 1:
self.assertTrue(sound.status() == AudioSound.READY)
inbuf = acoustics.srcBuffers[sound]
outbuf = acoustics.outBuffers[agentNp.getName()]
fig = plt.figure()
plt.subplot(121)
plt.plot(inbuf)
plt.subplot(122)
plt.plot(outbuf.T)
plt.show(block=False)
time.sleep(4.0)
plt.close(fig)
def testMultipleSources(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define multiple sound sources
sources = []
for i, pos in enumerate([(39, -40.5, 1.5), (45.5, -42.5, 0.5)]):
sourceSize = 0.25
modelId = 'source-%d' % (i)
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(*pos))
sources.append(objectNp)
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene, hrtf, samplingRate, maximumOrder=2)
audioFilenames = ['toilet.ogg', 'radio.ogg']
for audioFilename, source in zip(audioFilenames, sources):
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', audioFilename)
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, source)
sound.setLoop(True)
sound.setLoopCount(1)
sound.play()
for _ in range(20):
acoustics.step(dt=0.1)
obs = acoustics.getObservationsForAgent(agentNp.getName())
self.assertTrue('audio-buffer-right' in obs)
self.assertTrue('audio-buffer-left' in obs)
self.assertTrue(
np.array_equal(obs['audio-buffer-right'].shape,
obs['audio-buffer-left'].shape))
def __init__(self, scene, agentId, agentRadius=0.25):
self.scene = scene
self.agentId = agentId
agentsNp = self.scene.scene.find('**/agents')
agentNp = agentsNp.attachNewNode(agentId)
agentNp.setTag('agent-id', agentId)
scene.agents.append(agentNp)
# Define a simple sphere model
modelId = 'sphere-0'
modelFilename = os.path.join(CDIR, 'sphere.egg')
agentNp.setTag('model-id', modelId)
model = loadModel(modelFilename)
model.setColor(
LVector4f(np.random.uniform(), np.random.uniform(),
np.random.uniform(), 1.0))
model.setName('model-' + os.path.basename(modelFilename))
model.setTransform(TransformState.makeScale(agentRadius))
model.reparentTo(agentNp)
model.hide(BitMask32.allOn())
# Calculate the center of this object
minBounds, maxBounds = model.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to make position relative to the center
agentNp.setTransform(TransformState.makePos(centerPos))
model.setTransform(model.getTransform().compose(
TransformState.makePos(-centerPos)))
self.agentNp = agentNp
self.model = model
self.agentRbNp = None
self.rotationStepCounter = -1
self.rotationsStepDuration = 40
def testAddAmbientSound(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
maxBufferLength=30.0)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.setLoop(True)
sound.setLoopCount(1)
# Add ambient sound
filename = os.path.join(TEST_DATA_DIR, 'audio', 'radio.ogg')
ambientSound = EvertAudioSound(filename)
ambientSound.setLoop(True)
ambientSound.setLoopCount(0)
ambientSound.setVolume(0.25)
acoustics.addAmbientSound(ambientSound)
ambientSound.play()
acoustics.step(dt=5.0)
sound.play()
acoustics.step(dt=5.0)
obs = acoustics.getObservationsForAgent(agentNp.getName())
data = np.array([obs['audio-buffer-left'], obs['audio-buffer-right']],
dtype=np.float32).T
self.assertTrue(
np.allclose(data.shape[0] / samplingRate, 10.0, atol=1e-3))
#from scipy.io import wavfile
#wavfile.write('output.wav', samplingRate, data)
fig = plt.figure()
plt.plot(data)
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
def testRenderHouseWithAcousticsPath(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
debug=True)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.play()
acoustics.step(0.0)
# Hide ceilings
for nodePath in scene.scene.findAllMatches(
'**/layouts/*/acoustics/*c'):
nodePath.hide(BitMask32.allOn())
viewer = Viewer(scene, interactive=False)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
center = agentNp.getNetTransform().getPos()
mat = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0.0, -1.0, 0.0],
[0.0, 1.0, 0.0, 0.0], [center.x, center.y, 20, 1]])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
# Calculate and show impulse responses
impulse = acoustics.calculateImpulseResponse(objectNp.getName(),
agentNp.getName())
fig = plt.figure()
plt.plot(impulse.impulse[0], color='b', label='Left channel')
plt.plot(impulse.impulse[1], color='g', label='Right channel')
plt.legend()
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
acoustics.destroy()
def testRenderSimpleCubeRoom(self):
samplingRate = 16000.0
scene = Scene()
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
viewer = Viewer(scene, interactive=False)
# Define a simple cube (10 x 10 x 10 m) as room geometry
roomSize = 10.0
modelId = 'room-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'cube.egg')
layoutNp = scene.scene.attachNewNode('layouts')
objectNp = layoutNp.attachNewNode('object-' + modelId)
objectNp.setTag('acoustics-mode', 'obstacle')
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(roomSize))
model.setRenderModeWireframe()
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0))
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectNp = objectsNp.attachNewNode('object-' + modelId)
objectNp.setTag('acoustics-mode', 'source')
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0))
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=3,
materialAbsorption=False,
frequencyDependent=False,
debug=True)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
acoustics.step(0.1)
center = acoustics.world.getCenter()
self.assertTrue(
np.allclose(acoustics.world.getMaxLength() / 1000.0, roomSize))
self.assertTrue(
np.allclose([center.x, center.y, center.z], [0.0, 0.0, 0.0]))
self.assertTrue(acoustics.world.numElements() == 12)
self.assertTrue(acoustics.world.numConvexElements() == 12)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0, 0.0, -25.0, 22, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
agentNp = scene.agents[0]
agentNp.setPos(
LVecBase3f(0.25 * roomSize, -0.25 * roomSize, 0.3 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
agentNp.setPos(
LVecBase3f(0.35 * roomSize, -0.35 * roomSize, 0.4 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
agentNp.setPos(
LVecBase3f(-0.25 * roomSize, 0.25 * roomSize, -0.3 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
# Calculate and show impulse responses
impulse = acoustics.calculateImpulseResponse(objectNp.getName(),
agentNp.getName())
fig = plt.figure()
plt.plot(impulse.impulse[0], color='b', label='Left channel')
plt.plot(impulse.impulse[1], color='g', label='Right channel')
plt.legend()
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
acoustics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def calculateObstacleMap(self,
resolution=0.1,
level=0,
zlim=(0.15, 1.50),
xlim=None,
ylim=None,
roomIds=None,
layoutOnly=False):
figSize = (10, 10)
fig = Figure(figsize=figSize, dpi=100, frameon=False)
canvas = FigureCanvas(fig)
ax = fig.add_subplot(111, aspect='equal')
fig.subplots_adjust(left=0,
bottom=0,
right=1,
top=1,
wspace=0,
hspace=0)
ax.axis('off')
ax.set_aspect('equal')
floorZ = self._getFloorReferenceZ(level)
zlim = np.array(zlim) + floorZ
if roomIds is not None:
layoutModels = []
objModels = []
for roomId in roomIds:
layoutModels.extend([
model for model in self.scene.scene.findAllMatches(
'**/level-%d/room-%s/layouts/object-*/+ModelNode' %
(level, roomId))
])
objModels.extend([
model for model in self.scene.scene.findAllMatches(
'**/level-%d/room-%s/objects/object-*/+ModelNode' %
(level, roomId))
])
else:
layoutModels = [
model for model in self.scene.scene.findAllMatches(
'**/level-%d/**/layouts/object-*/+ModelNode' % level)
]
objModels = [
model for model in self.scene.scene.findAllMatches(
'**/level-%d/**/objects/object-*/+ModelNode' % level)
]
# Loop for all walls in the scene:
for model in layoutModels:
modelId = model.getNetTag('model-id')
if not modelId.endswith('w'):
continue
addModelTriangles(ax, model, zlim=zlim)
# Loop for all doors in the scene:
for model in objModels:
modelId = model.getNetTag('model-id')
if self._isDoor(modelId):
if modelId in self.openedStandardDoorModelIds:
# Shift the model a little more to the wall
transform = TransformState.makePos(
LVector3f(0.0, -0.10, 0.0))
# Reduce width by 25% not to mess with close corner walls
transform = transform.compose(
TransformState.makeScale(LVector3f(0.75, 1.0, 1.0)))
elif modelId in self.openedThinDoorModelIds:
# Rescale the model to be able to cover the entire depth of walls
# Reduce width by 25% not to mess with close corner walls
transform = TransformState.makeScale(
LVector3f(0.75, 4.0, 1.0))
elif modelId in self.openedGarageDoorModelIds:
# Shift the model a little more to the wall
transform = TransformState.makePos(
LVector3f(0.0, 0.10, 0.0))
# Reduce width by 10% not to mess with close corner walls
transform = transform.compose(
TransformState.makeScale(LVector3f(0.90, 1.0, 1.0)))
else:
raise Exception('Unsupported model id: %s' % (modelId))
# TODO: would be more efficient if it needed not copying the
# model
parentNp = NodePath('tmp-objnode')
parentNp.setTransform(model.getParent().getNetTransform())
midNp = parentNp.attachNewNode('tmp-transform')
midNp.setTransform(transform)
model = model.copyTo(midNp)
approxModel = getApproximationForModel(model, mode='box')
addModelTriangles(ax, approxModel, invert=True, zlim=zlim)
approxModel.removeNode()
midNp.removeNode()
parentNp.removeNode()
# Loop for all objects in the scene:
if not layoutOnly:
for model in objModels:
modelId = model.getNetTag('model-id')
if self._isDoor(modelId):
continue
approxModel = getApproximationForModel(model, mode='box')
addModelTriangles(ax, approxModel, zlim=zlim)
if xlim is not None and ylim is not None:
ax.set_xlim(xlim)
ax.set_ylim(ylim)
else:
ax.autoscale(True)
set_axes_equal(ax)
xlim, ylim = ax.get_xlim(), ax.get_ylim()
xrange = xlim[1] - xlim[0]
yrange = ylim[1] - ylim[0]
assert np.allclose(xrange, yrange, atol=1e-6)
dpi = (xrange / resolution) / figSize[0]
fig.set_dpi(dpi)
obstacleMap = canvas2image(canvas)
plt.close(fig)
# RGB to binary
obstacleMap = np.round(np.mean(obstacleMap[:, :], axis=-1))
# NOTE: inverse image so that obstacle areas are shown in white
obstacleMap = 1.0 - obstacleMap
return obstacleMap, xlim, ylim
