def get_data_file(bn: str) -> str:
import act4e_interfaces
p = os.path.dirname(act4e_interfaces.__file__)
data = os.path.join(p, 'data')
f = os.path.join(data, bn)
if not os.path.exists(f):
raise ZException('does not exist', f=f)
return read_ustring_from_utf8_file(f)
def make_scenario_main(args=None):
setup_logging()
parser = argparse.ArgumentParser()
parser.add_argument("--config", help="Configuration", required=True)
parser.add_argument("-o", "--output", help="Destination directory", required=True)
parser.add_argument("-n", "--num", type=int, help="Number of scenarios to generate", required=True)
parsed = parser.parse_args(args=args)
config: str = parsed.config
basename = os.path.basename(config).split(".")[0]
data = read_ustring_from_utf8_file(config)
interpreted = yaml.load(data, Loader=yaml.Loader)
n: int = parsed.num
output: str = parsed.output
params = object_from_ipce(interpreted, ScenarioGenerationParam, iedo=iedo)
for i in range(n):
scenario_name = f"{basename}-{i:03d}"
yaml_str = _get_map_yaml(params.map_name)
scenario = make_scenario(
yaml_str=yaml_str,
scenario_name=scenario_name,
only_straight=params.only_straight,
min_dist=params.min_dist,
delta_y_m=params.delta_y_m,
robots_npcs=params.robots_npcs,
robots_parked=params.robots_parked,
robots_pcs=params.robots_parked,
nduckies=params.nduckies,
duckie_min_dist_from_other_duckie=params.duckie_min_dist_from_other_duckie,
duckie_min_dist_from_robot=params.duckie_min_dist_from_robot,
duckie_y_bounds=params.duckie_y_bounds,
delta_theta_rad=np.deg2rad(params.theta_tol_deg),
)
scenario_struct = ipce_from_object(scenario, Scenario, ieso=ieso)
scenario_yaml = yaml.dump(scenario_struct)
filename = os.path.join(output, f"{scenario_name}.scenario.yaml")
write_ustring_to_utf8_file(scenario_yaml, filename)
dm = interpret_scenario(scenario)
output_dir = os.path.join(output, scenario_name)
dw.draw_static(dm, output_dir=output_dir)
export_gltf(dm, output_dir, background=False)
def make_scenario_main(args=None):
setup_logging()
parser = argparse.ArgumentParser()
# parser.add_argument("--config", help="Configuration", required=True)
parser.add_argument("-o",
"--output",
help="Destination directory",
required=True)
parser.add_argument("-n",
"--num",
type=int,
help="Number of scenarios to generate",
required=True)
parser.add_argument(
"--styles",
default="synthetic-F",
help=
"Draw preview in various styles, comma separated. (needs gym duckietown)",
)
parsed, rest = parser.parse_known_args(args=args)
if parsed.styles == "all":
styles = ["synthetic", "synthetic-F", "photos", "smooth"]
else:
styles = parsed.styles.split(",")
for config in rest:
basename = os.path.basename(config).split(".")[0]
data = read_ustring_from_utf8_file(config)
interpreted = yaml.load(data, Loader=yaml.Loader)
n: int = parsed.num
output: str = parsed.output
params: ScenarioGenerationParam = object_from_ipce(
interpreted, ScenarioGenerationParam, iedo=iedo)
for i in range(n):
scenario_name = f"{basename}-{i:03d}"
yaml_str = _get_map_yaml(params.map_name)
scenario = make_scenario(
yaml_str=yaml_str,
scenario_name=scenario_name,
only_straight=params.only_straight,
min_dist=params.min_dist,
delta_y_m=params.delta_y_m,
robots_npcs=params.robots_npcs,
robots_parked=params.robots_parked,
robots_pcs=params.robots_pcs,
nduckies=params.nduckies,
duckie_min_dist_from_other_duckie=params.
duckie_min_dist_from_other_duckie,
duckie_min_dist_from_robot=params.duckie_min_dist_from_robot,
duckie_y_bounds=params.duckie_y_bounds,
delta_theta_rad=np.deg2rad(params.theta_tol_deg),
pc_robot_protocol=params.pc_robot_protocol,
npc_robot_protocol=params.npc_robot_protocol,
tree_density=params.tree_density,
tree_min_dist=params.tree_min_dist,
)
# styles = ['smooth']
for style in styles:
try:
from gym_duckietown.simulator import Simulator
except ImportError:
logger.warning(traceback.format_exc())
# noinspection PyUnusedLocal
Simulator = None
else:
sim = Simulator(
"4way",
enable_leds=True,
domain_rand=False,
num_tris_distractors=0,
camera_width=640,
camera_height=480,
# distortion=True,
color_ground=[0, 0.3, 0], # green
style=style,
)
logger.info("resetting")
sim.reset()
m = cast(
dw.MapFormat1,
yaml.load(scenario.environment, Loader=yaml.Loader))
if "objects" not in m:
m["objects"] = {}
obs: Dict[str, object] = m["objects"]
for robot_name, srobot in scenario.robots.items():
st = dw.SE2Transform.from_SE2(
pose_from_friendly(srobot.configuration.pose))
obs[robot_name] = dict(kind="duckiebot",
pose=st.as_json_dict(),
height=0.12,
color=srobot.color)
for duckie_name, duckie in scenario.duckies.items():
st = dw.SE2Transform.from_SE2(
pose_from_friendly(duckie.pose))
obs[duckie_name] = dict(kind="duckie",
pose=st.as_json_dict(),
height=0.08,
color=duckie.color)
sim._interpret_map(m)
sim.reset()
logger.info("rendering obs")
img = sim.render_obs()
out = os.path.join(output, scenario_name, style, "cam.png")
save_rgb_to_png(img, out)
out = os.path.join(output, scenario_name, style, "cam.jpg")
save_rgb_to_jpg(img, out)
sim.cur_pos = [-100.0, -100.0, -100.0]
from gym_duckietown.simulator import FrameBufferMemory
td = FrameBufferMemory(width=1024, height=1024)
horiz = sim._render_img(
width=td.width,
height=td.height,
multi_fbo=td.multi_fbo,
final_fbo=td.final_fbo,
img_array=td.img_array,
top_down=True,
)
# img = sim.render("top_down")
out = cast(
FilePath,
os.path.join(output, scenario_name, style,
"top_down.jpg"))
save_rgb_to_jpg(horiz, out)
out = cast(
FilePath,
os.path.join(output, scenario_name, style,
"top_down.png"))
save_rgb_to_png(horiz, out)
dw.Tile.style = style
dm = interpret_scenario(scenario)
output_dir = os.path.join(output, scenario_name, style)
dw.draw_static(dm, output_dir=output_dir)
export_gltf(dm, output_dir, background=False)
scenario_struct = ipce_from_object(scenario, Scenario, ieso=ieso)
scenario_yaml = yaml.dump(scenario_struct)
filename = os.path.join(output, scenario_name, f"scenario.yaml")
write_ustring_to_utf8_file(scenario_yaml, filename)
def export_gltf(dm: DuckietownMap, outdir: str, background: bool = True):
gltf = GLTF()
# setattr(gltf, 'md52PV', {})
scene_index = add_scene(gltf, Scene(nodes=[]))
map_nodes = []
it: IterateByTestResult
tiles = list(iterate_by_class(dm, Tile))
if not tiles:
raise ZValueError("no tiles?")
for it in tiles:
tile = cast(Tile, it.object)
name = it.fqn[-1]
fn = tile.fn
fn_normal = tile.fn_normal
fn_emissive = tile.fn_emissive
fn_metallic_roughness = tile.fn_metallic_roughness
fn_occlusion = tile.fn_occlusion
material_index = make_material(
gltf,
doubleSided=False,
baseColorFactor=[1, 1, 1, 1.0],
fn=fn,
fn_normals=fn_normal,
fn_emissive=fn_emissive,
fn_metallic_roughness=fn_metallic_roughness,
fn_occlusion=fn_occlusion,
)
mi = get_square()
mesh_index = add_polygon(
gltf,
name + "-mesh",
vertices=mi.vertices,
texture=mi.textures,
colors=mi.color,
normals=mi.normals,
material=material_index,
)
node1_index = add_node(gltf, Node(mesh=mesh_index))
i, j = ij_from_tilename(name)
c = (i + j) % 2
color = [1, 0, 0, 1.0] if c else [0, 1, 0, 1.0]
add_back = False
if add_back:
material_back = make_material(gltf, doubleSided=False, baseColorFactor=color)
back_mesh_index = add_polygon(
gltf,
name + "-mesh",
vertices=mi.vertices,
texture=mi.textures,
colors=mi.color,
normals=mi.normals,
material=material_back,
)
flip = np.diag([1.0, 1.0, -1.0, 1.0])
flip[2, 3] = -0.01
back_index = add_node(gltf, Node(mesh=back_mesh_index, matrix=gm(flip)))
else:
back_index = None
tile_transform = it.transform_sequence
tile_matrix2d = tile_transform.asmatrix2d().m
s = dm.tile_size
scale = np.diag([s, s, s, 1])
tile_matrix = SE3_from_SE2(tile_matrix2d)
tile_matrix = tile_matrix @ scale @ SE3_rotz(-np.pi / 2)
tile_matrix_float = list(tile_matrix.T.flatten())
if back_index is not None:
children = [node1_index, back_index]
else:
children = [node1_index]
tile_node = Node(name=name, matrix=tile_matrix_float, children=children)
tile_node_index = add_node(gltf, tile_node)
map_nodes.append(tile_node_index)
if background:
bg_index = add_background(gltf)
add_node_to_scene(gltf, scene_index, bg_index)
exports = {
"Sign": export_sign,
# XXX: the tree model is crewed up
"Tree": export_tree,
# "Tree": None,
"Duckie": export_duckie,
"DB18": export_DB18,
# "Bus": export_bus,
# "Truck": export_truck,
# "House": export_house,
"TileMap": None,
"TrafficLight": export_trafficlight,
"LaneSegment": None,
"PlacedObject": None,
"DuckietownMap": None,
"Tile": None,
}
for it in iterate_by_class(dm, PlacedObject):
ob = it.object
K = type(ob).__name__
if isinstance(ob, Sign):
K = "Sign"
if K not in exports:
logger.warn(f"cannot convert {type(ob).__name__}")
continue
f = exports[K]
if f is None:
continue
thing_index = f(gltf, it.fqn[-1], ob)
tile_transform = it.transform_sequence
tile_matrix2d = tile_transform.asmatrix2d().m
tile_matrix = SE3_from_SE2(tile_matrix2d) @ SE3_rotz(np.pi / 2)
sign_node_index = add_node(gltf, Node(children=[thing_index]))
tile_matrix_float = list(tile_matrix.T.flatten())
tile_node = Node(name=it.fqn[-1], matrix=tile_matrix_float, children=[sign_node_index])
tile_node_index = add_node(gltf, tile_node)
map_nodes.append(tile_node_index)
mapnode = Node(name="tiles", children=map_nodes)
map_index = add_node(gltf, mapnode)
add_node_to_scene(gltf, scene_index, map_index)
# add_node_to_scene(model, scene_index, node1_index)
yfov = np.deg2rad(60)
camera = Camera(
name="perpcamera",
type="perspective",
perspective=PerspectiveCameraInfo(aspectRatio=4 / 3, yfov=yfov, znear=0.01, zfar=1000),
)
gltf.model.cameras.append(camera)
t = np.array([2, 2, 0.15])
matrix = look_at(pos=t, target=np.array([0, 2, 0]))
cam_index = add_node(gltf, Node(name="cameranode", camera=0, matrix=list(matrix.T.flatten())))
add_node_to_scene(gltf, scene_index, cam_index)
cleanup_model(gltf)
fn = os.path.join(outdir, "main.gltf")
make_sure_dir_exists(fn)
logger.info(f"writing to {fn}")
gltf.export(fn)
if True:
data = read_ustring_from_utf8_file(fn)
j = json.loads(data)
data2 = json.dumps(j, indent=2)
write_ustring_to_utf8_file(data2, fn)
fnb = os.path.join(outdir, "main.glb")
logger.info(f"writing to {fnb}")
gltf.export(fnb)
verify_trimesh = False
if verify_trimesh:
res = trimesh.load(fn)
# camera_pose, _ = res.graph['cameranode']
# logger.info(res=res)
import pyrender
scene = pyrender.Scene.from_trimesh_scene(res)
def read_from_file(fn: str, K: type):
data = read_ustring_from_utf8_file(fn)
y = yaml.load(data, Loader=yaml.Loader)
# noinspection PyTypeChecker
return object_from_ipce(y, K)