Python GetSDF Examples

Example #1

File: gz_osm_catmull.py Project: jitrc/gazebo_osm

#     getMapImage(args.osmFile, args.imageFile)
#     if TIMER:
#         toc()

#Initialize the class
osmRoads = Osm2Dict(args.boundingbox[0], args.boundingbox[1],
                    args.boundingbox[2], args.boundingbox[3],
                    osmDictionary, flags)

print ('| Extracting the map data for gazebo ...')
#get Road and model details
#roadPointWidthMap, modelPoseMap, buildingLocationMap = osmRoads.getMapDetails()
roadPointWidthMap = osmRoads.getRoadDetails()
print ('| Building sdf file ...')
#Initialize the getSdf class
sdfFile = GetSDF()


#Set up the spherical coordinates
sdfFile.addSphericalCoords(osmRoads.getLat(), osmRoads.getLon())

#add Required models
sdfFile.includeModel("sun")
# for model in modelPoseMap.keys():
#     points = modelPoseMap[model]['points']
#     sdfFile.addModel(modelPoseMap[model]['mainModel'],
#                      model,
#                      [points[0, 0], points[1, 0], points[2, 0]])

# for building in buildingLocationMap.keys():
#     sdfFile.addBuilding(buildingLocationMap[building]['mean'],

Example #2

File: gz_osm.py Project: ZdenekM/gazebo_osm

#Initialize the class
if TIMER:
    tic()
osmRoads = Osm2Dict(args.boundingbox[0], args.boundingbox[1],
                    osmDictionary, flags)

print "Extracting the map data for gazebo ..."
#get Road and model details
roadPointWidthMap, modelPoseMap, buildingLocationMap = osmRoads.getMapDetails()
if TIMER:
    toc()
if TIMER:
    tic()
print "Building sdf file ..."
#Initialize the getSdf class
sdfFile = GetSDF()


#Set up the spherical coordinates
sdfFile.addSphericalCoords(osmRoads.getLat(), osmRoads.getLon())
#add Required models
sdfFile.includeModel("sun")
for model in modelPoseMap.keys():
    points = modelPoseMap[model]['points']
    sdfFile.addModel(modelPoseMap[model]['mainModel'],
                     model,
                     [points[0, 0], points[1, 0], points[2, 0]])

for building in buildingLocationMap.keys():
    sdfFile.addBuilding(buildingLocationMap[building]['mean'],
                        buildingLocationMap[building]['points'],

Example #3

File: example.py Project: caguero/gazebo_osm

#!/usr/bin/env python
from dict2sdf import GetSDF
from osm2dict import Osm2Dict


osmRoads = Osm2Dict()
roadPointWidthMap = osmRoads.getRoadCoords()

sdfFile = GetSDF()
sdfFile.addModule("sun")
sdfFile.addModule("ground_plane")
sdfFile.addSphericalCoords(osmRoads.getLat(), osmRoads.getLon())

for road in roadPointWidthMap.keys():
  
  sdfFile.addRoad( road )

  sdfFile.setRoadWidth( roadPointWidthMap[road]['width'], road)
  
  points = roadPointWidthMap[ road]['points']
  for point in range(len(points[0,:])):
    sdfFile.addRoadPoint([points[0,point], points[1,point], points[2,point]], road)
   
sdfFile.writeToFile('outFile2.sdf')
 

Example #4

File: gz_osm.py Project: brean/gazebo_osm

#     getMapImage(args.osmFile, args.imageFile)
#     if TIMER:
#         toc()

#Initialize the class
osmRoads = Osm2Dict(args.boundingbox[0], args.boundingbox[1],
                    args.boundingbox[2], args.boundingbox[3],
                    osmDictionary, flags)

print ('| Extracting the map data for gazebo ...')
#get Road and model details
#roadPointWidthMap, modelPoseMap, buildingLocationMap = osmRoads.getMapDetails()
roadPointWidthMap = osmRoads.getRoadDetails()
print ('| Building sdf file ...')
#Initialize the getSdf class
sdfFile = GetSDF()


#Set up the spherical coordinates
sdfFile.addSphericalCoords(osmRoads.getLat(), osmRoads.getLon())

#add Required models
sdfFile.includeModel("sun")
# for model in modelPoseMap.keys():
#     points = modelPoseMap[model]['points']
#     sdfFile.addModel(modelPoseMap[model]['mainModel'],
#                      model,
#                      [points[0, 0], points[1, 0], points[2, 0]])

# for building in buildingLocationMap.keys():
#     sdfFile.addBuilding(buildingLocationMap[building]['mean'],

Example #5

    def setUp(self):
        '''Build an sdf file from a known set of data'''
        osmDict = {}
        osmDict = getOsmFile([-75.93, 40.61, -75.90, 40.62], 'map.osm')
        osmRoads = Osm2Dict(-75.93, 40.61, osmDict)
        (roadPointWidthMap, modelPoseMap,
         buildingLocationMap) = osmRoads.getMapDetails()

        #Initialize the getSdf class
        sdfFile = GetSDF()

        #Set up the spherical coordinates
        sdfFile.addSphericalCoords([-75.93, 40.61, -75.90, 40.62])

        #add Required models
        sdfFile.includeModel("sun")

        for model in modelPoseMap.keys():
            points = modelPoseMap[model]['points']
            sdfFile.addModel(modelPoseMap[model]['mainModel'], model,
                             [points[0, 0], points[1, 0], points[2, 0]])

        for building in buildingLocationMap.keys():
            sdfFile.addBuilding(buildingLocationMap[building]['mean'],
                                buildingLocationMap[building]['points'],
                                building,
                                buildingLocationMap[building]['color'])

        #Include the roads in the map in sdf file
        for road in roadPointWidthMap.keys():
            sdfFile.addRoad(road)
            sdfFile.setRoadWidth(roadPointWidthMap[road]['width'], road)
            points = roadPointWidthMap[road]['points']
            for point in range(len(points[0, :])):
                sdfFile.addRoadPoint(
                    [points[0, point], points[1, point], points[2, point]],
                    road)
        #output sdf File
        sdfFile.writeToFile('outFile.sdf')

Example #6

File: gz_osm.py Project: lwcworld/gazebo_osm

#Initialize the class
if TIMER:
    tic()
osmRoads = Osm2Dict(args.boundingbox[0], args.boundingbox[1], osmDictionary,
                    flags)

print "Extracting the map data for gazebo ..."
#get Road and model details
roadPointWidthMap, modelPoseMap, buildingLocationMap = osmRoads.getMapDetails()
if TIMER:
    toc()
if TIMER:
    tic()
print "Building sdf file ..."
#Initialize the getSdf class
sdfFile = GetSDF()

#Set up the spherical coordinates
sdfFile.addSphericalCoords(osmRoads.getLat(), osmRoads.getLon())
#add Required models
sdfFile.includeModel("sun")
for model in modelPoseMap.keys():
    points = modelPoseMap[model]['points']
    sdfFile.addModel(modelPoseMap[model]['mainModel'], model,
                     [points[0, 0], points[1, 0], points[2, 0]])

for building in buildingLocationMap.keys():
    sdfFile.addBuilding(buildingLocationMap[building]['mean'],
                        buildingLocationMap[building]['points'], building,
                        buildingLocationMap[building]['color'])

Example #7

File: dict2sdfTest.py Project: Tashwin/gazebo_osm-1

    def setUp(self):
        '''Build an sdf file from a known set of data'''
        osmDict = {}
        osmDict = getOsmFile([-75.93, 40.61, -75.90, 40.62], 'map.osm')
        osmRoads = Osm2Dict(-75.93, 40.61, osmDict)
        (roadPointWidthMap,
         modelPoseMap,
         buildingLocationMap) = osmRoads.getMapDetails()

        #Initialize the getSdf class
        sdfFile = GetSDF()

        #Set up the spherical coordinates
        sdfFile.addSphericalCoords(osmRoads.getLat(), osmRoads.getLon())

        #add Required models
        sdfFile.includeModel("sun")

        for model in modelPoseMap.keys():
            points = modelPoseMap[model]['points']
            sdfFile.addModel(modelPoseMap[model]['mainModel'],
                             model,
                             [points[0, 0], points[1, 0], points[2, 0]])

        for building in buildingLocationMap.keys():
            sdfFile.addBuilding(buildingLocationMap[building]['mean'],
                                buildingLocationMap[building]['points'],
                                building,
                                buildingLocationMap[building]['color'])

        #Include the roads in the map in sdf file
        for road in roadPointWidthMap.keys():
            sdfFile.addRoad(road)
            sdfFile.setRoadWidth(roadPointWidthMap[road]['width'], road)
            points = roadPointWidthMap[road]['points']
            for point in range(len(points[0, :])):
                sdfFile.addRoadPoint([points[0, point],
                                      points[1, point],
                                      points[2, point]],
                                     road)
        #output sdf File
        sdfFile.writeToFile('outFile.sdf')

Example #8

    def parse_osm_(self):
        if not self.args:
            self.parse_args_()

        flags = []
        if self.args.buildings:
            flags.append('b')
        if self.args.models:
            flags.append('m')
        if self.args.roads:
            flags.append('r')
        if not (self.args.roads or self.args.models
                or self.args.buildings) or self.args.displayAll:
            flags.append('a')

        if not os.path.exists(self.args.directory):
            os.makedirs(self.args.directory)

        self.args.osmFile = self.args.directory + '/' + self.args.osmFile
        self.args.outFile = self.args.directory + '/' + self.args.outFile

        osmDictionary = {}

        if self.args.inputOsmFile:
            f = open(self.args.inputOsmFile, 'r')
            root = etree.fromstring(f.read())
            f.close()
            self.args.boundingbox = [
                root[0].get('minlon'), root[0].get('minlat'),
                root[0].get('maxlon'), root[0].get('maxlat')
            ]

        else:
            if not self.arg.boundingbox:
                print("Can not get osm file from server without bounding box")
                sys.exit("No bounding box for target area")

            print("Downloading the osm data ... ")

        osmDictionary = getOsmFile(self.args.boundingbox, self.args.osmFile,
                                   self.args.inputOsmFile)

        #Initialize Osm Dictionary class
        osmRoads = Osm2Dict(self.args.boundingbox[0], self.args.boundingbox[1],
                            osmDictionary, flags)

        print("Extracting the map data for gazebo ...")
        #Get Road and model details
        roadPointWidthMap, modelPoseMap, buildingLocationMap = osmRoads.getMapDetails(
        )

        print("Building sdf file ...")
        #Initialize the getSdf class
        sdfFile = GetSDF()

        #Set up the spherical coordinates
        sdfFile.setOffset(self.args.boundingbox)
        sdfFile.addGroundPlane(self.args.boundingbox)
        sdfFile.addSphericalCoords(self.args.boundingbox)

        #Add Required models
        for model in modelPoseMap.keys():
            points = modelPoseMap[model]['points']
            sdfFile.addModel(modelPoseMap[model]['mainModel'], model,
                             [points[0, 0], points[1, 0], points[2, 0]])

        for building in buildingLocationMap.keys():

            sdfFile.addBuilding(buildingLocationMap[building]['mean'],
                                buildingLocationMap[building]['points'],
                                building,
                                buildingLocationMap[building]['color'])

        #Include the roads in the map in sdf file
        for road in roadPointWidthMap.keys():
            sdfFile.addRoad(road)
            sdfFile.setRoadWidth(roadPointWidthMap[road]['width'], road)
            points = roadPointWidthMap[road]['points']
            for point in range(len(points[0, :])):
                sdfFile.addRoadPoint(
                    [points[0, point], points[1, point], points[2, point]],
                    road)

        #Output sdf File
        sdfFile.writeToFile(self.args.outFile)