def _add_lane2bullet(self, middle, width, length, theta,
lane: Union[StraightLane, CircularLane], lane_index):
"""
Add lane visualization and body for it
:param middle: Middle point
:param width: Lane width
:param length: Segment length
:param theta: Rotate theta
:param lane: Lane info
:return: None
"""
segment_np = NodePath(LaneNode(BodyName.Lane, lane, lane_index))
segment_node = segment_np.node()
segment_node.set_active(False)
segment_node.setKinematic(False)
segment_node.setStatic(True)
shape = BulletBoxShape(Vec3(length / 2, 0.1, width / 2))
segment_node.addShape(shape)
self.static_nodes.append(segment_node)
segment_np.setPos(panda_position(middle, -0.1))
segment_np.setQuat(
LQuaternionf(
numpy.cos(theta / 2) * numpy.cos(-numpy.pi / 4),
numpy.cos(theta / 2) * numpy.sin(-numpy.pi / 4),
-numpy.sin(theta / 2) * numpy.cos(-numpy.pi / 4),
numpy.sin(theta / 2) * numpy.cos(-numpy.pi / 4)))
segment_np.reparentTo(self.lane_node_path)
if self.render:
cm = CardMaker('card')
cm.setFrame(-length / 2, length / 2, -width / 2, width / 2)
cm.setHasNormals(True)
cm.setUvRange((0, 0), (length / 20, width / 10))
card = self.lane_vis_node_path.attachNewNode(cm.generate())
card.setPos(
panda_position(middle,
numpy.random.rand() * 0.01 - 0.01))
card.setQuat(
LQuaternionf(
numpy.cos(theta / 2) * numpy.cos(-numpy.pi / 4),
numpy.cos(theta / 2) * numpy.sin(-numpy.pi / 4),
-numpy.sin(theta / 2) * numpy.cos(-numpy.pi / 4),
numpy.sin(theta / 2) * numpy.cos(-numpy.pi / 4)))
card.setTransparency(TransparencyAttrib.MMultisample)
card.setTexture(self.ts_color, self.road_texture)
def __init__(self, pg_world: PGWorld):
if pg_world.win is None:
return
self.aspect2d_np = NodePath(PGTop("aspect2d"))
self.aspect2d_np.show(self.CAM_MASK)
self.para_vis_np = {}
# make_buffer_func, make_camera_func = pg_world.win.makeTextureBuffer, pg_world.makeCamera
# don't delete the space in word, it is used to set a proper position
for i, np_name in enumerate(
["Steering", " Throttle", " Brake", " Speed"]):
text = TextNode(np_name)
text.setText(np_name)
text.setSlant(0.1)
textNodePath = self.aspect2d_np.attachNewNode(text)
textNodePath.setScale(0.052)
text.setFrameColor(0, 0, 0, 1)
text.setTextColor(0, 0, 0, 1)
text.setFrameAsMargin(-self.GAP, self.PARA_VIS_LENGTH, 0, 0)
text.setAlign(TextNode.ARight)
textNodePath.setPos(-1.125111, 0, 0.9 - i * 0.08)
if i != 0:
cm = CardMaker(np_name)
cm.setFrame(0, self.PARA_VIS_LENGTH - 0.21,
-self.PARA_VIS_HEIGHT / 2 + 0.1,
self.PARA_VIS_HEIGHT / 2)
cm.setHasNormals(True)
card = textNodePath.attachNewNode(cm.generate())
card.setPos(0.21, 0, 0.22)
self.para_vis_np[np_name.lstrip()] = card
else:
# left
name = "Left"
cm = CardMaker(name)
cm.setFrame(0, (self.PARA_VIS_LENGTH - 0.4) / 2,
-self.PARA_VIS_HEIGHT / 2 + 0.1,
self.PARA_VIS_HEIGHT / 2)
cm.setHasNormals(True)
card = textNodePath.attachNewNode(cm.generate())
card.setPos(0.2 + self.PARA_VIS_LENGTH / 2, 0, 0.22)
self.para_vis_np[name] = card
# right
name = "Right"
cm = CardMaker(np_name)
cm.setFrame(-(self.PARA_VIS_LENGTH - 0.1) / 2, 0,
-self.PARA_VIS_HEIGHT / 2 + 0.1,
self.PARA_VIS_HEIGHT / 2)
cm.setHasNormals(True)
card = textNodePath.attachNewNode(cm.generate())
card.setPos(0.2 + self.PARA_VIS_LENGTH / 2, 0, 0.22)
self.para_vis_np[name] = card
super(VehiclePanel, self).__init__(self.BUFFER_W,
self.BUFFER_H,
Vec3(-0.9, -1.01, 0.78),
self.BKG_COLOR,
pg_world=pg_world,
parent_node=self.aspect2d_np)
self.add_to_display(pg_world,
[2 / 3, 1, self.display_bottom, self.display_top])
class MyApp(ShowBase):
def __init__(self):
ShowBase.__init__(self)
# Load the environment model.
self.setup_environment()
#self.scene = self.loader.loadModel("models/environment")
# Reparent the model to render.
#self.scene.reparentTo(self.render)
# Apply scale and position transforms on the model.
#self.scene.setScale(0.25, 0.25, 0.25)
#self.scene.setPos(-8, 42, 0)
# Needed for camera image
self.dr = self.camNode.getDisplayRegion(0)
# Needed for camera depth image
winprops = WindowProperties.size(self.win.getXSize(),
self.win.getYSize())
fbprops = FrameBufferProperties()
fbprops.setDepthBits(1)
self.depthBuffer = self.graphicsEngine.makeOutput(
self.pipe, "depth buffer", -2, fbprops, winprops,
GraphicsPipe.BFRefuseWindow, self.win.getGsg(), self.win)
self.depthTex = Texture()
self.depthTex.setFormat(Texture.FDepthComponent)
self.depthBuffer.addRenderTexture(self.depthTex,
GraphicsOutput.RTMCopyRam,
GraphicsOutput.RTPDepth)
lens = self.cam.node().getLens()
lens.setFov(90.0, 90.0)
# the near and far clipping distances can be changed if desired
# lens.setNear(5.0)
# lens.setFar(500.0)
self.depthCam = self.makeCamera(self.depthBuffer,
lens=lens,
scene=self.render)
self.depthCam.reparentTo(self.cam)
# TODO: Scene is rendered twice: once for rgb and once for depth image.
# How can both images be obtained in one rendering pass?
self.render.setAntialias(AntialiasAttrib.MAuto)
def setup_environment(self):
# encapsulate some stuff
# set up ambient lighting
self.alight = AmbientLight('alight')
self.alight.setColor(VBase4(0.1, 0.1, 0.1, 1))
self.alnp = self.render.attachNewNode(self.alight)
self.render.setLight(self.alnp)
# set up a point light
self.plight = PointLight('plight')
self.plight.setColor(VBase4(0.8, 0.8, 0.8, 1))
self.plnp = self.render.attachNewNode(self.plight)
self.plnp.setPos(0, 0, 100)
self.render.setLight(self.plnp)
# set up terrain model
self.terr_material = Material()
self.terr_material.setShininess(1.0)
self.terr_material.setAmbient(VBase4(0, 0, 0, 0))
self.terr_material.setDiffuse(VBase4(1, 1, 1, 1))
self.terr_material.setEmission(VBase4(0, 0, 0, 0))
self.terr_material.setSpecular(VBase4(0, 0, 0, 0))
# general scaling
self.trrHorzSc = 4.0
self.trrVertSc = 4.0 # was 4.0
# Create sky
#terrctr = self.trrHorzSc*65.0
#self.setup_skybox(terrctr,800.0,2.0,0.3)
self.skysphere = self.loader.loadModel("sky-forest/SkySphere.bam")
self.skysphere.setBin('background', 1)
self.skysphere.setDepthWrite(0)
self.skysphere.reparentTo(self.render)
# Load some textures
self.grsTxtSc = 5
self.numTreeTexts = 7
# ground texture
self.txtGrass = self.loader.loadTexture('tex/ground005.png')
self.txtGrass.setWrapU(Texture.WM_mirror)
self.txtGrass.setWrapV(Texture.WM_mirror)
self.txtGrass.setMagfilter(Texture.FTLinear)
self.txtGrass.setMinfilter(Texture.FTLinearMipmapLinear)
# set up terrain texture stages
self.TS1 = TextureStage('terrtext')
self.TS1.setSort(0)
self.TS1.setMode(TextureStage.MReplace)
# Set up the GeoMipTerrain
self.terrain = GeoMipTerrain("myDynamicTerrain")
img = PNMImage(Filename('tex/bowl_height_map.png'))
self.terrain.setHeightfield(img)
self.terrain.setBruteforce(0)
self.terrain.setAutoFlatten(GeoMipTerrain.AFMMedium)
# Set terrain properties
self.terrain.setBlockSize(32)
self.terrain.setNear(50)
self.terrain.setFar(500)
self.terrain.setFocalPoint(self.camera)
# Store the root NodePath for convenience
self.root = self.terrain.getRoot()
self.root.clearTexture()
self.root.setTwoSided(0)
self.root.setCollideMask(BitMask32.bit(0))
self.root.setSz(self.trrVertSc)
self.root.setSx(self.trrHorzSc)
self.root.setSy(self.trrHorzSc)
self.root.setMaterial(self.terr_material)
self.root.setTexture(self.TS1, self.txtGrass)
self.root.setTexScale(self.TS1, self.grsTxtSc, self.grsTxtSc)
offset = 0.5 * img.getXSize() * self.trrHorzSc - 0.5
self.root.setPos(-offset, -offset, 0)
self.terrain.generate()
self.root.reparentTo(self.render)
# load tree billboards
self.txtTreeBillBoards = []
for a in range(self.numTreeTexts):
fstr = 'trees/tree' + '%03d' % (a + 991)
self.txtTreeBillBoards.append( \
self.loader.loadTexture(fstr + '-color.png', fstr + '-opacity.png'))
self.txtTreeBillBoards[a].setMinfilter(
Texture.FTLinearMipmapLinear)
#self.placePlantOnTerrain('trees',300,0,20,20,self.trrHorzSc,self.trrVertSc, \
# self.numTreeTexts,self.txtTreeBillBoards,'scene-def/trees.txt')
self.setup_house()
self.setup_vehicle()
self.taskMgr.add(self.skysphereTask, "SkySphere Task")
def setup_house(self):
# place farmhouse on terrain
self.house = ModelNode('house1')
self.loadModelOntoTerrain(self.render, self.terrain, self.house, 43.0,
0.275, 0.0, 0.0, self.trrHorzSc,
self.trrVertSc, 'models/FarmHouse',
Vec3(0, 0, 0),
Point3(-12.0567, -29.1724, 0.0837742),
Point3(12.2229, 21.1915, 21.3668))
def setup_vehicle(self):
# place HMMWV on terrain
self.hmmwv = ModelNode('hmmwv1')
self.loadModelOntoTerrain(self.render, self.terrain, self.hmmwv, 33.0,
1.0, 20.0, 24.0, self.trrHorzSc,
self.trrVertSc, 'models/hmmwv',
Vec3(0, -90, 0),
Point3(-1.21273, -2.49153, -1.10753),
Point3(1.21273, 2.49153, 1.10753))
def setup_skybox(self,
terrctr=645.0,
boxsz=1000.0,
aspect=1.0,
uplift=0.0):
vsz = boxsz / aspect
self.bckgtx = []
self.bckgtx.append(self.loader.loadTexture('sky/Back2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Right2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Front2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Left2.png'))
self.bckgtx.append(self.loader.loadTexture('sky/Up.png'))
for a in range(4):
self.bckg = CardMaker('bkcard')
lr = Point3(0.5 * boxsz, 0.5 * boxsz, -0.5 * vsz)
ur = Point3(0.5 * boxsz, 0.5 * boxsz, 0.5 * vsz)
ul = Point3(-0.5 * boxsz, 0.5 * boxsz, 0.5 * vsz)
ll = Point3(-0.5 * boxsz, 0.5 * boxsz, -0.5 * vsz)
self.bckg.setFrame(ll, lr, ur, ul)
self.bckg.setHasNormals(0)
self.bckg.setHasUvs(1)
#self.bckg.setUvRange(self.bckgtx[a])
bkcrd = self.render.attachNewNode(self.bckg.generate())
bkcrd.setTexture(self.bckgtx[a])
self.bckgtx[a].setWrapU(Texture.WMClamp)
self.bckgtx[a].setWrapV(Texture.WMClamp)
bkcrd.setLightOff()
bkcrd.setFogOff()
bkcrd.setHpr(90.0 * a, 0, 0)
cz = 0.5 * boxsz * uplift
#print 'set card at:', terrctr,terrctr,cz, ' with points: ', lr,ur,ul,ll
bkcrd.setPos(terrctr, terrctr, cz)
self.top = CardMaker('bkcard')
lr = Point3(0.5 * boxsz, -0.5 * boxsz, 0)
ur = Point3(0.5 * boxsz, 0.5 * boxsz, 0)
ul = Point3(-0.5 * boxsz, 0.5 * boxsz, 0)
ll = Point3(-0.5 * boxsz, -0.5 * boxsz, 0)
self.top.setFrame(ll, lr, ur, ul)
self.top.setHasNormals(0)
self.top.setHasUvs(1)
#self.top.setUvRange(self.bckgtx[4])
bkcrd = self.render.attachNewNode(self.bckg.generate())
bkcrd.setTexture(self.bckgtx[4])
self.bckgtx[4].setWrapU(Texture.WMClamp)
self.bckgtx[4].setWrapV(Texture.WMClamp)
bkcrd.setLightOff()
bkcrd.setFogOff()
bkcrd.setHpr(0, 90, 90)
bkcrd.setPos(terrctr, terrctr, 0.5 * vsz + 0.5 * boxsz * uplift)
def placePlantOnTerrain(self, itemStr, itemCnt, Mode, typItemWidth,
typItemHeight, trrHorzSc, trrVertSc, numTxtTypes,
txtList, planFileName):
# Billboarding plants
crd = CardMaker('mycard')
crd.setColor(0.5, 0.5, 0.5, 1)
ll = Point3(-0.5 * typItemWidth, 0, 0)
lr = Point3(0.5 * typItemWidth, 0, 0)
ur = Point3(0.5 * typItemWidth, 0, typItemHeight)
ul = Point3(-0.5 * typItemWidth, 0, typItemHeight)
crd.setFrame(ll, lr, ur, ul)
crd.setHasNormals(False)
crd.setHasUvs(True)
# generate/save/load locations
try:
plan_data_fp = open(planFileName, 'r')
item_list = []
for line in plan_data_fp:
toks = line.split(',')
px = float(toks[0].strip(' '))
py = float(toks[1].strip(' '))
ang = float(toks[2].strip(' '))
dht = float(toks[3].strip(' '))
scl = float(toks[4].strip(' '))
idx = int(toks[5].strip(' '))
item_list.append((px, py, ang, dht, scl, idx))
plan_data_fp.close()
print 'loaded ', itemStr, ' data file of size:', len(item_list)
except IOError:
# generate list and try to save
item_list = []
for a in range(itemCnt):
px = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
py = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
ang = 180 * random.random()
dht = 0.0
scl = 0.75 + 0.25 * (random.random() + random.random())
idx = random.randrange(0, numTxtTypes)
item_list.append([px, py, ang, dht, scl, idx])
try:
plan_data_fp = open(planFileName, 'w')
for c in item_list:
print >> plan_data_fp, c[0], ',', c[1], ',', c[2], ',', c[
3], ',', c[4], ',', c[5]
plan_data_fp.close()
print 'saved ', itemStr, ' data of size: ', len(item_list)
except IOError:
print 'unable to store ', itemStr, ' data of size: ', len(
item_list)
# define each plant
for c in item_list:
px = c[0]
py = c[1]
ang = c[2]
dht = c[3]
scl = c[4]
idx = c[5]
if idx >= numTxtTypes:
idx = 0
if Mode > 0:
for b in range(Mode):
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
crdNP.setTwoSided(True)
ht = self.terrain.getElevation(px / trrHorzSc,
py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc + dht)
crdNP.setHpr(ang + (180 / Mode) * b, 0, 0)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
else:
# set up item as defined
crd.setUvRange(txtList[idx])
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setBillboardAxis()
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
ht = self.terrain.getElevation(px / trrHorzSc, py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
def loadModelOntoTerrain(self, render_node, terr_obj, model_obj, hdg, scl,
xctr, yctr, terr_horz_sc, terr_vert_sc,
model_path, rotA, minP, maxP):
# load model onto terrain
hdg_rads = hdg * math.pi / 180.0
model_obj = self.loader.loadModel(model_path)
rotAll = rotA
rotAll.setX(rotAll.getX() + hdg)
model_obj.setHpr(rotA)
model_obj.setLightOff()
# if model changes, these will have to be recomputed
# minP = Point3(0,0,0)
# maxP = Point3(0,0,0)
# model_obj.calcTightBounds(minP,maxP)
print minP
print maxP
htl = []
maxzofs = -1000.0
for xi in [minP[0], maxP[0]]:
for yi in [minP[1], maxP[1]]:
tx = xctr + scl * xi * math.cos(hdg_rads)
ty = yctr + scl * yi * math.sin(hdg_rads)
tht = self.terrain.getElevation(tx / terr_horz_sc,
ty / terr_horz_sc)
print 'tx=', tx, ', ty=', ty, ', tht=', tht
htl.append(tht * terr_vert_sc - minP.getZ())
for hi in htl:
if hi > maxzofs:
maxzofs = hi
print maxzofs
model_obj.setPos(xctr, yctr, maxzofs)
model_obj.setHpr(rotAll)
model_obj.setScale(scl)
model_obj.reparentTo(render_node)
return maxzofs, minP, maxP
def get_camera_image(self, requested_format=None):
"""
Returns the camera's image, which is of type uint8 and has values
between 0 and 255.
The 'requested_format' argument should specify in which order the
components of the image must be. For example, valid format strings are
"RGBA" and "BGRA". By default, Panda's internal format "BGRA" is used,
in which case no data is copied over.
"""
tex = self.dr.getScreenshot()
if requested_format is None:
data = tex.getRamImage()
else:
data = tex.getRamImageAs(requested_format)
image = np.frombuffer(
data.get_data(),
np.uint8) # use data.get_data() instead of data in python 2
image.shape = (tex.getYSize(), tex.getXSize(), tex.getNumComponents())
image = np.flipud(image)
return image
def get_camera_depth_image(self):
"""
Returns the camera's depth image, which is of type float32 and has
values between 0.0 and 1.0.
"""
data = self.depthTex.getRamImage()
depth_image = np.frombuffer(data.get_data(), np.float32)
depth_image.shape = (self.depthTex.getYSize(),
self.depthTex.getXSize(),
self.depthTex.getNumComponents())
depth_image = np.flipud(depth_image)
'''
Surface position can be inferred by calculating backward from the
depth buffer. Each pixel on the screen represents a ray from the
camera into the scene, and the depth value in the pixel indicates a
distance along the ray. Because of this, it is not actually necessary
to store surface position explicitly - it is only necessary to store
depth values. Of course, OpenGL does that for free.
So the framebuffer now needs to store surface normal, diffuse color,
and depth value (to infer surface position). In practice, most
ordinary framebuffers can only store color and depth - they don't have
any place to store a third value. So we need to use a special
offscreen buffer with an "auxiliary" bitplane. The auxiliary bitplane
stores the surface normal.
So then, there's the final postprocessing pass. This involves
combining the diffuse color texture, the surface normal texture, the
depth texture, and the light parameters into a final rendered output.
The light parameters are passed into the postprocessing shader as
constants, not as textures.
If there are a lot of lights, things get interesting. You use one
postprocessing pass per light. Each pass only needs to scan those
framebuffer pixels that are actually in range of the light in
question. To traverse only the pixels that are affected by the light,
just render the illuminated area's convex bounding volume.
The shader to store the diffuse color and surface normal is trivial.
But the final postprocessing shader is a little complicated. What
makes it tricky is that it needs to regenerate the original surface
position from the screen position and depth value. The math for that
deserves some explanation.
We need to take a clip-space coordinate and depth-buffer value
(ClipX,ClipY,ClipZ,ClipW) and unproject it back to a view-space
(ViewX,ViewY,ViewZ) coordinate. Lighting is then done in view-space.
Okay, so here's the math. Panda uses the projection matrix to
transform view-space into clip-space. But in practice, the projection
matrix for a perspective camera always contains four nonzero
constants, and they're always in the same place:
-- here are the non-zero elements of the projection matrix --
A 0 0 0
0 0 B 1
0 C 0 0
0 0 D 0
-- precompute these from above projection matrix --
'''
proj = self.cam.node().getLens().getProjectionMat()
proj_x = 0.5 * proj.getCell(3, 2) / proj.getCell(0, 0)
proj_y = 0.5 * proj.getCell(3, 2)
proj_z = 0.5 * proj.getCell(3, 2) / proj.getCell(2, 1)
proj_w = -0.5 - 0.5 * proj.getCell(1, 2)
'''
-- now for each pixel compute viewpoint coordinates --
viewx = (screenx * projx) / (depth + projw)
viewy = (1 * projy) / (depth + projw)
viewz = (screeny * projz) / (depth + projw)
'''
grid = np.mgrid[0:depth_image.shape[0], 0:depth_image.shape[1]]
ygrid = np.float32(np.squeeze(
grid[0, :, :])) / float(depth_image.shape[0] - 1)
ygrid -= 0.5
xgrid = np.float32(np.squeeze(
grid[1, :, :])) / float(depth_image.shape[1] - 1)
xgrid -= 0.5
xview = 2.0 * xgrid * proj_x
zview = 2.0 * ygrid * proj_z
denom = np.squeeze(depth_image) + proj_w
xview = xview / denom
yview = proj_y / denom
zview = zview / denom
sqrng = xview**2 + yview**2 + zview**2
range_image = np.sqrt(sqrng)
range_image_1 = np.expand_dims(range_image, axis=2)
return depth_image, range_image_1
def compute_sample_pattern(self, limg_shape, res_factor):
# assume velocity is XYZ and we are looking +X up and towards -Z
pattern = []
lens = self.cam.node().getLens()
sx = self.win.getXSize()
sy = self.win.getYSize()
ifov_vert = 2.0 * math.tan(
0.5 * math.radians(lens.getVfov())) / float(sy - 1)
ifov_horz = 2.0 * math.tan(
0.5 * math.radians(lens.getHfov())) / float(sx - 1)
#ifov_vert = lens.getVfov() / float(sy-1)
#ifov_horz = lens.getHfov() / float(sy-1)
for ldr_row in range(limg_shape[0]):
theta = -10.0 - 41.33 * (
float(ldr_row) / float(limg_shape[0] - 1) - 0.5)
for ldr_col in range(limg_shape[1]):
psi = 60.0 * (float(ldr_col) / float(limg_shape[1] - 1) - 0.5)
cpsi = math.cos(math.radians(psi))
vert_ang = theta / cpsi
img_row_flt = (0.5 * float(sy - 1) -
(math.tan(math.radians(vert_ang)) / ifov_vert))
#img_row_flt = 0.5*(sy-1) - (vert_ang / ifov_vert)
if img_row_flt < 0:
print('img_row_flt=%f' % img_row_flt)
img_row_flt = 0.0
if img_row_flt >= sy:
print('img_row_flt=%f' % img_row_flt)
img_row_flt = float(sy - 1)
img_col_flt = (0.5 * float(sx - 1) +
(math.tan(math.radians(psi)) / ifov_horz))
#img_col_flt = 0.5*(sx-1) + (psi / ifov_horz)
if img_col_flt < 0:
print('img_col_flt=%f' % img_col_flt)
img_col_flt = 0.0
if img_col_flt >= sx:
print('img_col_flt=%f' % img_col_flt)
img_col_flt = float(sx - 1)
pattern.append((ldr_row, ldr_col, img_row_flt, img_col_flt))
return pattern
def find_sorted_ladar_returns(self, rangearr, intensarr, ks_m):
my_range = rangearr.copy()
my_inten = intensarr.copy()
'''
pixels data is organized by:
[0] starting range of this return
[1] ending range of this return
[2] peak range of this return
[3] total intensity of this return
'''
int_mult = len(my_inten)
pixels = map(
list,
zip(my_range.tolist(), my_range.tolist(), my_range.tolist(),
my_inten.tolist()))
spix = sorted(pixels, key=lambda x: x[0])
done = False
while not done:
mxpi = len(spix)
if mxpi > 2:
mindel = 1e20
mnidx = None
for pidx in range(mxpi - 1):
rdel = spix[pidx + 1][0] - spix[pidx][1]
# must be within ks_m meters in range to merge
if (rdel < ks_m) and (rdel < mindel):
mindel = rdel
mnidx = pidx
# merge best two returns
if mnidx is not None:
# new range span for testing against neighbors
spix[mnidx][1] = spix[mnidx + 1][1]
# new peak range is range of max contributor
if spix[mnidx + 1][3] > spix[mnidx][3]:
spix[mnidx][2] = spix[mnidx + 1][2]
# intensity of return is sum of contributors
spix[mnidx][3] += spix[mnidx + 1][3]
# remove one of the two merged
del spix[mnidx + 1]
else:
done = True
else:
done = True
# now eliminate all but max and last returns
max_idx = None
max_val = 0.0
for ci, pix in enumerate(spix):
if pix[3] > max_val:
max_val = pix[3] / int_mult
max_idx = ci
# if they are the same, return only one
if spix[-1][3] >= spix[max_idx][3]:
return [spix[-1]]
else:
return [spix[max_idx], spix[-1]]
def sample_range_image(self, rng_img, int_img, limg_shape, vel_cam, pps,
ldr_err, pattern):
# depth image is set up as 512 x 512 and is 62.5 degrees vertical FOV
# the center row is vertical, but we want to sample from the
# region corresponding to HDL-32 FOV: from +10 to -30 degrees
detailed_sensor_model = False
fwd_vel = vel_cam[1]
beam_div = 0.002
lens = self.cam.node().getLens()
#sx = self.win.getXSize()
sy = self.win.getYSize()
ifov_vert = 2.0 * math.tan(
0.5 * math.radians(lens.getVfov())) / float(sy - 1)
#ifov_horz = 2.0*math.tan(0.5*math.radians(lens.getHfov()))/float(sx-1)
#ifov = math.radians(self.cam.node().getLens().getVfov() / self.win.getYSize())
sigma = beam_div / ifov_vert
hs = int(2.0 * sigma + 1.0)
gprof = gauss_kern(sigma, hs, normalize=False)
rimg = np.zeros(limg_shape, dtype=np.float32)
iimg = np.zeros(limg_shape, dtype=np.float32)
margin = 10.0
for pidx, relation in enumerate(pattern):
# get the usual scan pattern sample
ldr_row, ldr_col, img_row_flt, img_col_flt = relation
if ((img_row_flt > -margin) and (img_col_flt > -margin)
and (img_row_flt < rng_img.shape[0] + margin)
and (img_col_flt < rng_img.shape[1] + margin)):
# within reasonable distance from image limits
img_row = int(round(img_row_flt))
img_col = int(round(img_col_flt))
# motion compensation
trng = np.float32(rng_img[img_row, img_col])
if trng > 0.0:
# TODO: change this back to False
done = True
ic = 0
while not done:
old_trng = trng
del_row = pidx * fwd_vel / (ifov_vert * trng * pps)
if (abs(del_row) > 1e-1) and (ic < 10):
img_row_f = img_row_flt + del_row
img_row = int(round(img_row_f))
trng = np.float32(rng_img[img_row, img_col])
ic += 1
if abs(trng - old_trng) < 0.5:
done = True
else:
done = True
# simple sensor processing: just sample from large images
rimg[ldr_row, ldr_col] = np.float32(rng_img[img_row,
img_col])
iimg[ldr_row, ldr_col] = np.float32(int_img[img_row,
img_col])
if detailed_sensor_model:
# detailed model subsamples whole beam width
gpatch = copy_patch_centered((img_row, img_col), hs,
int_img, 0.0)
gpatch = np.float32(gpatch)
gpatch *= gprof
rpatch = copy_patch_centered((img_row, img_col), hs,
rng_img, 0.0)
rpatch = np.squeeze(rpatch)
valid = rpatch > 1e-3
if np.count_nonzero(valid) > 0:
rpatch_ts = rpatch[valid]
gpatch_ts = gpatch[valid]
returns = self.find_sorted_ladar_returns(
rpatch_ts, gpatch_ts, 2.5)
# for now we just take first return
rimg[ldr_row, ldr_col] = returns[0][2]
iimg[ldr_row, ldr_col] = returns[0][3]
else:
rimg[ldr_row, ldr_col] = 0.0
iimg[ldr_row, ldr_col] = np.float32(int_img[img_row,
img_col])
rimg += ldr_err * np.random.standard_normal(rimg.shape)
return rimg, iimg
def skysphereTask(self, task):
if self.base is not None:
self.skysphere.setPos(self.base.camera, 0, 0, 0)
self.terrain.generate()
return task.cont
def placePlantOnTerrain(self, itemStr, itemCnt, Mode, typItemWidth,
typItemHeight, trrHorzSc, trrVertSc, numTxtTypes,
txtList, planFileName):
# Billboarding plants
crd = CardMaker('mycard')
crd.setColor(0.5, 0.5, 0.5, 1)
ll = Point3(-0.5 * typItemWidth, 0, 0)
lr = Point3(0.5 * typItemWidth, 0, 0)
ur = Point3(0.5 * typItemWidth, 0, typItemHeight)
ul = Point3(-0.5 * typItemWidth, 0, typItemHeight)
crd.setFrame(ll, lr, ur, ul)
crd.setHasNormals(False)
crd.setHasUvs(True)
# generate/save/load locations
try:
plan_data_fp = open(planFileName, 'r')
item_list = []
for line in plan_data_fp:
toks = line.split(',')
px = float(toks[0].strip(' '))
py = float(toks[1].strip(' '))
ang = float(toks[2].strip(' '))
dht = float(toks[3].strip(' '))
scl = float(toks[4].strip(' '))
idx = int(toks[5].strip(' '))
item_list.append((px, py, ang, dht, scl, idx))
plan_data_fp.close()
print 'loaded ', itemStr, ' data file of size:', len(item_list)
except IOError:
# generate list and try to save
item_list = []
for a in range(itemCnt):
px = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
py = random.randrange(-self.trrHorzSc * 64,
self.trrHorzSc * 64)
ang = 180 * random.random()
dht = 0.0
scl = 0.75 + 0.25 * (random.random() + random.random())
idx = random.randrange(0, numTxtTypes)
item_list.append([px, py, ang, dht, scl, idx])
try:
plan_data_fp = open(planFileName, 'w')
for c in item_list:
print >> plan_data_fp, c[0], ',', c[1], ',', c[2], ',', c[
3], ',', c[4], ',', c[5]
plan_data_fp.close()
print 'saved ', itemStr, ' data of size: ', len(item_list)
except IOError:
print 'unable to store ', itemStr, ' data of size: ', len(
item_list)
# define each plant
for c in item_list:
px = c[0]
py = c[1]
ang = c[2]
dht = c[3]
scl = c[4]
idx = c[5]
if idx >= numTxtTypes:
idx = 0
if Mode > 0:
for b in range(Mode):
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
crdNP.setTwoSided(True)
ht = self.terrain.getElevation(px / trrHorzSc,
py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc + dht)
crdNP.setHpr(ang + (180 / Mode) * b, 0, 0)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()
else:
# set up item as defined
crd.setUvRange(txtList[idx])
crdNP = self.render.attachNewNode(crd.generate())
crdNP.setBillboardAxis()
crdNP.setTexture(txtList[idx])
crdNP.setScale(scl)
ht = self.terrain.getElevation(px / trrHorzSc, py / trrHorzSc)
crdNP.setPos(px, py, ht * trrVertSc)
crdNP.setTransparency(TransparencyAttrib.MAlpha)
crdNP.setLightOff()