def test_find_relative_pose_changes_orientation(self):
pose = uetrans.UnrealTransform(location=(11, 12, 13),
rotation=(45, 30, -30))
trans = uetrans.UnrealTransform(location=(10, 9, 8),
rotation=(10, 20, 90))
pose_rel = trans.find_relative(pose)
self.assert_close((70.532806, 28.575809, -105.581543), pose_rel.euler)
def test_find_independent_pose_changes_orientation(self):
pose = uetrans.UnrealTransform(location=(1, 3, 5),
rotation=(45, 30, -30))
trans = uetrans.UnrealTransform(location=(10, 9, 8),
rotation=(10, 20, 90))
pose_ind = trans.find_independent(pose)
self.assert_close((42.224522, 52.174339, 56.373390), pose_ind.euler)
def test_find_independent_pose_changes_location_coordinates_simple(self):
pose = uetrans.UnrealTransform(location=(1, 3, 5),
rotation=(45, 30, -30))
trans = uetrans.UnrealTransform(location=(10, 9, 8),
rotation=(0, 0, 45))
pose_ind = trans.find_independent(pose)
self.assert_close((10 - np.sqrt(2), 9 + 2 * np.sqrt(2), 13),
pose_ind.location)
def test_find_independent_pose_changes_location_coordinates_complex(self):
pose = uetrans.UnrealTransform(location=(1, 3, 5),
rotation=(45, 30, -30))
trans = uetrans.UnrealTransform(location=(10, 9, 8),
rotation=(10, 20, 90))
pose_ind = trans.find_independent(pose)
self.assert_close((6.177, 8.434, 12.480),
pose_ind.location,
abs_tol=0.001)
def test_relative_pose_contains_relative_point(self):
trans = uetrans.UnrealTransform(location=(-13, 27, -127),
rotation=(184, 12, -34))
point = np.array([41, -153, 16])
pose = uetrans.UnrealTransform(location=point, rotation=(0, 0, 45))
pose_rel = trans.find_relative(pose)
point_rel = pose_rel.location
point_prime = trans.find_independent(point_rel)
self.assert_close(point, point_prime)
def test_find_relative_undoes_pose(self):
trans = uetrans.UnrealTransform(location=(-13, 27, -127),
rotation=(17, -62, -163))
pose = uetrans.UnrealTransform(location=(10, 100, -5),
rotation=(-162, 56, 53))
pose_rel = trans.find_relative(pose)
pose_prime = trans.find_independent(pose_rel)
self.assert_close(pose.location, pose_prime.location)
self.assert_close(pose.euler, pose_prime.euler)
def test_find_relative_pose_changes_location_coordinates(self):
pose = uetrans.UnrealTransform(location=(11, 12, 13),
rotation=(45, 30, -30))
trans = uetrans.UnrealTransform(location=(10, 9, 8),
rotation=(10, 20, 90))
pose_rel = trans.find_relative(pose)
# Limited by the precision of Unreal prints, I'm not going to worry about errors smaller than this
self.assert_close((4.529, -1.623, 3.443),
pose_rel.location,
abs_tol=0.001)
def test_yaw_from_unreal(self):
# This pose is rotated 45 degrees clockwise around up (Z in my coordinate frame)
ue_pose = uetrans.UnrealTransform(location=(0, 0, 0),
rotation=(0, 0, 45))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_close(tf.quaternions.axangle2quat((0, 0, 1), -np.pi / 4),
pose.rotation_quat(w_first=True))
# This pose is rotated 30 degrees anticlockwise around up
ue_pose = uetrans.UnrealTransform(location=(0, 0, 0),
rotation=(0, 0, -30))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_close(tf.quaternions.axangle2quat((0, 0, 1), np.pi / 6),
pose.rotation_quat(w_first=True))
def test_roll_from_unreal(self):
# This pose is rotated 45 degrees clockwise around X
ue_pose = uetrans.UnrealTransform(location=(0, 0, 0),
rotation=(45, 0, 0))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_close(tf.quaternions.axangle2quat((1, 0, 0), np.pi / 4),
pose.rotation_quat(w_first=True))
# And this is 30 degrees anticlockwise around X
ue_pose = uetrans.UnrealTransform(location=(0, 0, 0),
rotation=(-30, 0, 0))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_close(tf.quaternions.axangle2quat((1, 0, 0), -np.pi / 6),
pose.rotation_quat(w_first=True))
def test_pitch_from_unreal(self):
# This pose is rotated 45 degrees clockwise around right (neg Y)
ue_pose = uetrans.UnrealTransform(location=(0, 0, 0),
rotation=(0, 45, 0))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_close(tf.quaternions.axangle2quat((0, -1, 0), np.pi / 4),
pose.rotation_quat(w_first=True))
# This pose is rotated 30 degrees anticlockwise around right (neg Y)
ue_pose = uetrans.UnrealTransform(location=(0, 0, 0),
rotation=(0, -30, 0))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_close(tf.quaternions.axangle2quat((0, -1, 0), -np.pi / 6),
pose.rotation_quat(w_first=True))
def get_object_pose(self, object_name):
"""
Get the world pose of an object within the simulation.
:param object_name: The name of the object
:return:
"""
if self._client is not None:
location = self._client.request(
"vget /object/{0}/location".format(object_name))
location = location.split(' ')
if len(location) == 3:
rotation = self._client.request(
"vget /object/{0}/rotation".format(object_name))
rotation = rotation.split(' ')
if len(rotation) == 3:
ue_trans = uetf.UnrealTransform(
location=(float(location[0]), float(location[1]),
float(location[2])),
# Reorder to roll, pitch, yaw, Unrealcv order is pitch, yaw, roll
rotation=(float(rotation[2]), float(rotation[0]),
float(location[1])))
ue_trans = self._origin.find_relative(
ue_trans) # Express relative to the simulator origin
return uetf.transform_from_unreal(ue_trans)
return None
def move_camera_to(self, pose):
"""
Move the camera to a given pose, colliding with objects and stopping if blocked.
:param pose:
:return:
"""
if self._client is not None:
if isinstance(pose, uetf.UnrealTransform):
self._current_pose = uetf.transform_from_unreal(pose)
else:
self._current_pose = pose
pose = uetf.transform_to_unreal(pose)
pose = self._origin.find_independent(pose)
self._client.request("vset /camera/0/moveto {0} {1} {2}".format(
pose.location[0], pose.location[1], pose.location[2]))
self._client.request("vset /camera/0/rotation {0} {1} {2}".format(
pose.pitch, pose.yaw, pose.roll))
# Re-extract the location from the sim, because we might not have made it to the desired location
location = self._client.request("vget /camera/0/location")
location = location.split(' ')
if len(location) == 3:
pose = uetf.UnrealTransform(location=(float(location[0]),
float(location[1]),
float(location[2])),
rotation=pose.euler)
self._current_pose = uetf.transform_from_unreal(pose)
def test_find_relative_undoes_point(self):
trans = uetrans.UnrealTransform(location=(-13, 27, -127),
rotation=(127, -54, -89))
point = (1, 2, 3)
point_rel = trans.find_relative(point)
point_prime = trans.find_independent(point_rel)
self.assert_close(point, point_prime)
def test_pose_from_unreal(self):
ue_pose = uetrans.UnrealTransform(location=(37, 113, -97),
rotation=(-21.688360, -31.675301,
31.189531))
pose = uetrans.transform_from_unreal(ue_pose)
self.assert_array((0.37, -1.13, -0.97), pose.location)
self.assert_close(tf.quaternions.axangle2quat((1, -3, 2), -np.pi / 4),
pose.rotation_quat(w_first=True))
def test_rotation_from_homogeneous(self):
hom = tf.affines.compose(T=(1, 2, 3),
R=tf.taitbryan.axangle2mat((1, -3, 2),
-np.pi / 9),
Z=np.ones(3))
trans = uetrans.UnrealTransform(hom)
# These numbers were generated using "Rotator from Axis and Angle" given the same arguments as above
self.assert_close(trans.euler, (-6.985809, -15.403244, 11.714415))
def test_location_from_homogeneous(self):
hom = tf.affines.compose(T=(1, 2, 3),
R=tf.taitbryan.axangle2mat((1, 2, 3),
np.pi / 9),
Z=np.ones(3))
trans = uetrans.UnrealTransform(hom)
# homogenous is in world coordinates
self.assert_array((100, -200, 300), trans.location)
def test_find_independent_point_changes_location_coordinates_complex(self):
point = (1, 3, 5)
trans = uetrans.UnrealTransform(location=(10, 9, 8),
rotation=(10, 20, 90))
point_ind = trans.find_independent(point)
self.assert_close(
(6.177, 8.434, 12.480), point_ind,
abs_tol=0.001) # Limited to the accuracy of unreal prints
def test_to_and_from_unreal_interchangable_point_and_pose(self):
point = (125, -73, 403)
pose = mytf.Transform((-19, -23, 300), (0.6, -0.7, -0.3, 1.4))
ue_point = uetrans.transform_to_unreal(point)
ue_pose = uetrans.transform_to_unreal(pose)
ue_point_trans = uetrans.UnrealTransform(location=ue_point)
ue_pose_point = ue_pose.location
point_prime = uetrans.transform_from_unreal(ue_point_trans).location
pose_prime = uetrans.transform_from_unreal(ue_pose_point)
self.assert_array(point, point_prime)
self.assert_array(pose.location, pose_prime)
def parse_transform(location, rotation):
"""
Construct a transform from a stored location and rotation.
Handles changing the coordinate frame from Unreal space to a conventional coordinate frame.
:param location: dict containing X, Y, and Z
:param rotation: dict containing W, Z, Y, and Z
:return: a Transform object, in a sane coordinate frame and scaled to meters
"""
ue_camera_pose = ue_tf.UnrealTransform(location=(location['X'],
location['Y'],
location['Z']),
rotation=ue_tf.quat2euler(
w=rotation['W'],
x=rotation['X'],
y=rotation['Y'],
z=rotation['Z'],
))
return ue_tf.transform_from_unreal(ue_camera_pose)
def begin(self):
"""
Start producing images.
This will trigger any necessary startup code,
and will allow get_next_image to be called.
Return False if there is a problem starting the source.
:return: True iff the simulator has started correctly.
"""
# Start the simulator process
if self._host == 'localhost':
if self._client is not None:
# Stop the client to free up the port
self._client.disconnect()
self._client = None
self._store_config()
start_simulator(self._executable)
# Wait for the UnrealCV server to start, pulling lines from stdout to check
time.sleep(
2) # Wait, we can't capture some of the output right now
# while self._simulator_process.poll() is not None:
# line = self._simulator_process.stdout.readline()
# if 'listening on port {0}'.format(self._port) in line.lower():
# # Server has started, break
# break
# Create and connect the client
if self._client is None:
self._client = unrealcv.Client((self._host, self._port))
if not self._client.isconnected():
# Try and connect to the server 3 times, waiting 2s between tries
for _ in range(10):
self._client.connect()
if self._client.isconnected():
break
else:
time.sleep(2)
if not self._client.isconnected():
# Cannot connect to the server, shutdown completely.
self.shutdown()
# Set camera state from configuration
if self._client is not None and self._client.isconnected():
# Set camera properties
self.set_field_of_view(self._fov)
self.set_fstop(self._aperture)
self.set_enable_dof(self._use_dof)
if self._use_dof: # Don't bother setting dof properties if dof is disabled
if self._focus_distance is None:
self.set_autofocus(True)
else:
self.set_focus_distance(self._focus_distance)
# Set quality settings
self._client.request(
"vset /quality/texture-mipmap-bias {0}".format(
self._texture_mipmap_bias))
self._client.request(
"vset /quality/normal-maps-enabled {0}".format(
int(self._normal_maps_enabled)))
self._client.request("vset /quality/roughness-enabled {0}".format(
int(self._roughness_enabled)))
self._client.request(
"vset /quality/geometry-decimation {0}".format(
self._geometry_decimation))
# Get the initial camera pose, which will be set by playerstart in the level
location = self._client.request("vget /camera/0/location")
location = location.split(' ')
if len(location) == 3:
rotation = self._client.request("vget /camera/0/rotation")
rotation = rotation.split(' ')
if len(rotation) == 3:
ue_trans = uetf.UnrealTransform(
location=(float(location[0]), float(location[1]),
float(location[2])),
# Reorder to roll, pitch, yaw, Unrealcv order is pitch, yaw, roll
rotation=(float(rotation[2]), float(rotation[0]),
float(location[1])))
self._current_pose = uetf.transform_from_unreal(ue_trans)
return self._client is not None and self._client.isconnected()
def test_constructor_clone(self):
trans1 = uetrans.UnrealTransform(location=(1, 2, 3),
rotation=(4, 5, 6))
trans2 = uetrans.UnrealTransform(trans1)
self.assert_array(trans1.location, trans2.location)
self.assert_array(trans1.euler, trans2.euler)
def test_location_basic(self):
trans = uetrans.UnrealTransform(location=(1, 2, 3))
self.assert_array((1, 2, 3), trans.location)
def test_location_default(self):
trans = uetrans.UnrealTransform()
self.assert_array(np.zeros(3), trans.location)
def test_rotation_basic(self):
# The rotation here is for 45 degrees around axis 1,2,3
trans = uetrans.UnrealTransform(location=(1, 2, 3),
rotation=(142, -36, 100))
self.assert_array((142, -36, 100), trans.euler)
def test_rotation_default(self):
trans = uetrans.UnrealTransform()
self.assert_array(trans.euler, (0, 0, 0))
def test_find_independent_point_moves_origin(self):
point = (1, 3, 5)
trans = uetrans.UnrealTransform(location=(10, 9, 8))
point_ind = trans.find_independent(point)
self.assert_array((11, 12, 13), point_ind)
def test_find_independent_pose_moves_origin(self):
pose = uetrans.UnrealTransform(location=(1, 3, 5),
rotation=(45, 30, -30))
trans = uetrans.UnrealTransform(location=(10, 9, 8))
pose_ind = trans.find_independent(pose)
self.assert_array((11, 12, 13), pose_ind.location)
def test_find_relative_point_moves_origin(self):
point = (11, 12, 13)
trans = uetrans.UnrealTransform(location=(10, 9, 8))
point_rel = trans.find_relative(point)
self.assert_array(point_rel, (1, 3, 5))
