def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson("0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
renderer = Panda3dSemanticsRenderer(scene, TEST_SUNCG_DATA_DIR, mode='offscreen')
renderer.showRoomLayout(showCeilings=False)
mat = np.array([0.999992, 0.00394238, 0, 0,
-0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0,
43.621, -55.7499, 12.9722, 1])
scene.agents[0].setMat(LMatrix4f(*mat.ravel()))
renderer.step(dt=0.1)
image = renderer.getRgbaImages()['agent-0']
# Validate that all rendered colors maps to original values, up to some tolerance
eps = 1e-2
colors = np.stack(MODEL_CATEGORY_COLOR_MAPPING.values())
for color in image.reshape((-1, image.shape[-1])):
alpha = color[-1]
if alpha == 1.0:
self.assertTrue(np.min(np.sum(np.abs(colors - color[:3]), axis=1)) < eps)
fig = plt.figure(figsize=(8, 8))
plt.axis("off")
ax = plt.subplot(111)
ax.imshow(image)
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
renderer.destroy()
def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson("0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
modelLightsInfo = SunCgModelLights(os.path.join(TEST_SUNCG_DATA_DIR, 'metadata', 'suncgModelLights.json'))
renderer = Panda3dRenderer(scene, shadowing=True, mode='offscreen', modelLightsInfo=modelLightsInfo)
renderer.showRoomLayout(showCeilings=False)
mat = np.array([0.999992, 0.00394238, 0, 0,
-0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0,
43.621, -55.7499, 12.9722, 1])
scene.agents[0].setMat(LMatrix4f(*mat.ravel()))
renderer.step(dt=0.1)
image = renderer.getRgbImages()['agent-0']
depth = renderer.getDepthImages(mode='distance')['agent-0']
self.assertTrue(np.min(depth) >= renderer.zNear)
self.assertTrue(np.max(depth) <= renderer.zFar)
fig = plt.figure(figsize=(16, 8))
plt.axis("off")
ax = plt.subplot(121)
ax.imshow(image)
ax = plt.subplot(122)
ax.imshow(depth / np.max(depth), cmap='binary')
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
renderer.destroy()
def testInit(self):
houseId = "0004d52d1aeeb8ae6de39d6bd993e992"
scene = SunCgSceneLoader.loadHouseFromJson(houseId, SUNCG_DATA_DIR)
agent = scene.agents[0]
# Configure the agent
transform = TransformState.makePosHpr(pos=LVector3f(38.42, -39.10, 1.70),
hpr=LVector3f(-77.88, -13.93, 0.0))
agent.setTransform(transform)
renderer = DepthRenderer(scene, size=(512, 512), fov=75.0)
agentId = agent.getTag('agent-id')
image = renderer.getDepthImage(agentId)
fig = plt.figure(figsize=(8, 8))
plt.ion()
plt.show()
plt.axis("off")
plt.imshow(image)
plt.draw()
plt.pause(1.0)
plt.close(fig)
def testLoadHouseFromJson(self):
scene = SunCgSceneLoader.loadHouseFromJson(
'0004d52d1aeeb8ae6de39d6bd993e992', TEST_SUNCG_DATA_DIR)
self.assertTrue(scene.getTotalNbHouses() == 1)
self.assertTrue(scene.getTotalNbRooms() == 4)
self.assertTrue(scene.getTotalNbObjects() == 55)
self.assertTrue(scene.getTotalNbAgents() == 1)
def __init__(self, houseId, suncgDatasetRoot=None, size=(256, 256), debug=False, depth=False, realtime=False, dt=0.1, cameraTransform=None):
self.__dict__.update(houseId=houseId, suncgDatasetRoot=suncgDatasetRoot, size=size,
debug=debug, depth=depth, realtime=realtime, dt=dt, cameraTransform=cameraTransform)
self.scene = SunCgSceneLoader.loadHouseFromJson(houseId, suncgDatasetRoot)
agentRadius = 0.1
agentHeight = 1.6
if self.cameraTransform is None:
self.cameraTransform = TransformState.makePos(LVector3f(0.0, 0.0, agentHeight/2.0 - agentRadius))
self.renderWorld = Panda3dRenderer(self.scene, size, shadowing=False, depth=depth, cameraTransform=self.cameraTransform)
self.physicWorld = Panda3dBulletPhysics(self.scene, suncgDatasetRoot, debug=debug, objectMode='box',
agentRadius=agentRadius, agentHeight=agentHeight, agentMass=60.0, agentMode='capsule')
self.clock = ClockObject.getGlobalClock()
self.worlds = {
"physics": self.physicWorld,
"render": self.renderWorld,
}
self.agent = self.scene.agents[0]
self.agentRbNp = self.agent.find('**/+BulletRigidBodyNode')
self.labeledNavMap = None
self.occupancyMapCoord = None
def testStep(self):
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
#NOTE: show initial models loaded into the scene
for model in scene.scene.findAllMatches('**/+ModelNode'):
model.show()
viewer = Viewer(scene, shadowing=True)
# 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, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
viewer.destroy()
def testDebugHouseWithRender(self):
renderer = None
physics = None
viewer = None
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
renderer = Panda3dRenderer(scene,
shadowing=False,
mode='offscreen')
renderer.showRoomLayout(showCeilings=False)
physics = Panda3dBulletPhysics(
scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314,
0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
self.hulkSmash(renderer, physics, viewer)
def testGetRegionLabeledOccupacyMap(self):
houseId = "0004d52d1aeeb8ae6de39d6bd993e992"
scene = SunCgSceneLoader.loadHouseFromJson(houseId, SUNCG_DATA_DIR)
helper = NavigationHelper(scene)
occupancyMap, _, _ = helper.calculateOccupancyMap(resolution=0.1)
labeledOccupancyMap = getRegionLabeledOccupacyMap(occupancyMap)
nbRegions = int(np.max(labeledOccupancyMap))
self.assertTrue(
np.array_equal(labeledOccupancyMap.shape, occupancyMap.shape))
self.assertTrue(nbRegions == 4)
# Colorize the map randomly
image = np.zeros(
(labeledOccupancyMap.shape[0], labeledOccupancyMap.shape[1], 3))
for r in range(1, nbRegions + 1):
randomColor = np.random.uniform(size=(3, ))
image[labeledOccupancyMap == r] = randomColor
fig = plt.figure(figsize=(8, 8))
plt.ion()
plt.show()
plt.axis("off")
plt.imshow(image)
plt.draw()
plt.pause(1.0)
plt.close(fig)
def testUpdate(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)
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)
# Add ambient sound
filename = os.path.join(TEST_DATA_DIR, 'audio', 'radio.ogg')
ambientSound = EvertAudioSound(filename)
ambientSound.setLoop(True)
ambientSound.setLoopCount(0)
acoustics.addAmbientSound(ambientSound)
ambientSound.play()
acoustics.step(0.0)
player = AudioPlayer(acoustics)
for _ in range(10):
taskMgr.step()
def testCalculateNavigationGraph(self):
houseId = "0004d52d1aeeb8ae6de39d6bd993e992"
scene = SunCgSceneLoader.loadHouseFromJson(houseId, SUNCG_DATA_DIR)
helper = NavigationHelper(scene)
graph, occupancyMap, xlim, ylim = helper.calculateNavigationGraph(
resolution=0.1, level=0, safetyMarginEdges=0.10)
fig = plt.figure(figsize=(10, 10))
plt.ion()
plt.show()
plt.imshow(occupancyMap,
cmap='gray',
origin='upper',
extent=[xlim[0], xlim[1], ylim[0], ylim[1]])
for i, ps in enumerate(graph.nodes):
for k in graph.connectivity[i]:
psk = graph.nodes[k]
plt.plot([ps[0], psk[0]], [ps[1], psk[1]], 'green', zorder=1)
plt.plot(ps[0], ps[1], 'r.', zorder=2)
plt.draw()
plt.pause(1.0)
plt.close(fig)
def testDebugHouseWithViewer(self):
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
physics = Panda3dBulletPhysics(
scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314,
0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
physics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def testCalculateOccupancyMap(self):
houseId = "0004d52d1aeeb8ae6de39d6bd993e992"
scene = SunCgSceneLoader.loadHouseFromJson(houseId, SUNCG_DATA_DIR)
helper = NavigationHelper(scene)
occupancyMap, xlim, ylim = helper.calculateOccupancyMap(resolution=0.1)
self.assertTrue(occupancyMap.shape[0] == occupancyMap.shape[1])
self.assertTrue(occupancyMap.ndim == 2)
factorX = occupancyMap.shape[0] / \
(xlim[1] - xlim[0]) # pixel per meter
factorY = occupancyMap.shape[1] / \
(ylim[1] - ylim[0]) # pixel per meter
self.assertTrue(np.allclose(factorX, factorY, atol=1e-6))
fig = plt.figure(figsize=(8, 8))
plt.ion()
plt.show()
plt.axis("off")
plt.imshow(occupancyMap, cmap='gray')
plt.draw()
plt.pause(1.0)
plt.close(fig)
def testDescribe(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
semantics = SuncgSemantics(scene, TEST_SUNCG_DATA_DIR)
objNode = scene.scene.find('**/object-561*')
desc = semantics.describeObject(objNode)
self.assertTrue(desc == "small linen coffee table made of wood")
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 testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
physics = Panda3dBulletPhysics(scene)
for _ in range(10):
physics.step(dt=0.1)
physics.destroy()
def testInit(self):
samplingRate = 16000.0
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
engine = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
debug=True)
engine.destroy()
def testAttachSoundToObject(self):
samplingRate = 16000.0
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
acoustics = EvertAcoustics(scene,
samplingRate=samplingRate,
maximumOrder=2)
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
objNode = scene.scene.find('**/object-83*')
acoustics.attachSoundToObject(sound, objNode)
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 testRenderHouse(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
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)
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
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499, 12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
acoustics.step(dt=0.1)
viewer.step()
time.sleep(1.0)
acoustics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def testCalculate2dNavigationMap(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
physics = Panda3dBulletPhysics(scene)
navMap, _ = physics.calculate2dNavigationMap(scene.agents[0],
z=1.0,
precision=0.1)
self.assertTrue(np.max(navMap) >= 1.0)
fig = plt.figure()
plt.axis("off")
ax = plt.subplot(111)
ax.imshow(navMap, cmap='gray')
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
physics.destroy()
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 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 main():
# Create scene and remove any default agents
scene = SunCgSceneLoader.loadHouseFromJson(
houseId="0004d52d1aeeb8ae6de39d6bd993e992", datasetRoot=SUNCG_DATA_DIR)
scene.scene.find('**/agents').node().removeAllChildren()
scene.agents = []
# Create multiple agents
agents = []
for i in range(3):
agentRadius = 0.15
agent = Agent(scene, 'agent-%d' % (i), agentRadius)
agents.append(agent)
# NOTE: specify to move the camera slightly outside the model (not to render the interior of the model)
cameraTransform = TransformState.makePos(
LVector3f(0.0, 1.1 * agentRadius, 0.0))
# Initialize rendering and physics
renderer = RgbRenderer(scene,
size=(128, 128),
fov=70.0,
cameraTransform=cameraTransform)
renderer.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
physics = Panda3dBulletPhysics(scene,
SUNCG_DATA_DIR,
objectMode='box',
agentRadius=agentRadius,
agentMode='sphere')
# Configure the camera
viewer = Viewer(scene,
interactive=False,
showPosition=False,
cameraMask=renderer.cameraMask)
transform = TransformState.makePosHpr(LVecBase3f(44.01, -43.95, 22.97),
LVecBase3f(0.0, -81.04, 0.0))
viewer.cam.setTransform(transform)
# Initialize the agent
agents[0].setPosition((45, -42.5, 1.6))
agents[1].setPosition((42.5, -39, 1.6))
agents[2].setPosition((42.5, -41.5, 1.6))
# Initialize figure that will show the point-of-view of each agent
plt.ion()
fig = plt.figure(figsize=(12, 4), facecolor='white')
ims = []
for i in range(len(agents)):
ax = fig.add_subplot(1, len(agents), i + 1)
ax.set_title(agents[i].agentId)
ax.axis('off')
rgbImage = np.zeros(renderer.size + (3, ), dtype=np.uint8)
im = ax.imshow(rgbImage)
ims.append(im)
plt.tight_layout()
plt.show()
# Main loop
clock = ClockObject.getGlobalClock()
try:
while True:
# Update physics
dt = clock.getDt()
physics.step(dt)
# Update viewer
viewer.step()
for i, agent in enumerate(agents):
# Get the current RGB
rgbImage = renderer.getRgbImage(agent.agentId,
channelOrder="RGB")
# Get the current observation for the agent
observation = {
"position": agent.getPosition(),
"orientation": agent.getOrientation(),
"rgb-image": rgbImage
}
agent.step(observation)
ims[i].set_data(rgbImage)
fig.canvas.draw()
plt.pause(0.0001)
except KeyboardInterrupt:
pass
viewer.destroy()
renderer.destroy()
return 0
