def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
initial_pose = client.simGetVehiclePose()
if args.verbose:
ff.print_pose(initial_pose, airsim.to_eularian_angles)
if args.flush:
client.simFlushPersistentMarkers()
# NOTE we have to use (-y, -x, -z), and not (x, -y, -z), because these
# files were exported from Unreal Engine as FBX with Force Front XAxis
BUILDING = False
STATUE = True
def convert_position(p, t, s):
if BUILDING or STATUE:
if t is not None: p += t
if s is not None: p *= s
x, y, z = map(float, p)
return Vector3r(-y, -x, -z)
else:
return convert_uavmvs_to_airsim_position(p, t, s)
points = [
# convert_uavmvs_to_airsim_position(_, translation=args.offset, scaling=args.scale)
convert_position(_, args.offset, args.scale)
for _ in args.points[::args.every_k]
]
client.simPlotPoints(points,
Rgba.Blue,
POINT_CLOUD_POINT_SIZE,
is_persistent=True)
if args.trajectory is not None:
camera_poses, camera_positions = [], []
for i, camera in enumerate(args.trajectory):
if not camera.spline_interpolated: # XXX
pose = convert_uavmvs_to_airsim_pose(camera=camera,
translation=args.offset,
scaling=args.scale)
# print(f"=== {i} ===")
# print(camera)
# print(pose)
camera_poses.append(pose)
camera_positions.append(pose.position)
# client.simPlotLineStrip(camera_positions, Rgba.Black, TRAJECTORY_THICKNESS, is_persistent=True)
# client.simPlotPoints(camera_positions, Rgba.White, CAMERA_POSE_SIZE, is_persistent=True)
client.simPlotTransforms(camera_poses,
10 * CAMERA_POSE_SIZE,
is_persistent=True)
if args.edit:
enter_edit_mode(client, points)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.flush:
client.simFlushPersistentMarkers()
if not args.transformation:
poses = [
Pose(record.position, record.orientation)
for record in args.recording.values()
]
positions = [record.position for record in args.recording.values()]
else:
matrix = np.loadtxt(
args.transformation) # load the 4x4 transformation matrix
print(matrix)
poses = []
positions = []
for record in args.recording.values():
pos = Vector3r(*np.matmul(matrix, np.append(record.position, 1)))
poses.append(Pose(pos, record.orientation))
positions = [pos]
if args.axes:
client.simPlotTransforms(poses,
scale=100.0,
thickness=2.5,
is_persistent=True)
else:
client.simPlotPoints(positions,
args.color,
size=10,
is_persistent=True)
if args.lines:
client.simPlotLineStrip(positions,
args.color,
thickness=2.5,
is_persistent=True)
if args.aim:
line_list = []
for pose in poses:
line_list.append(pose.position)
x_axis, _, _ = AirSimNedTransform.local_axes_frame(pose)
line_list.append(pose.position + x_axis * 100)
client.simPlotLineList(line_list,
args.color,
thickness=2.5,
is_persistent=True)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.flush:
client.simFlushPersistentMarkers()
def pose_from_meshroom_to_airsim(meshroom_pose):
assert len(meshroom_pose.center) == 3 and len(
meshroom_pose.rotation) == 9, meshroom_pose
xyzw = MeshroomTransform.rotation(meshroom_pose.rotation,
as_xyzw_quaternion=True)
return Pose(Vector3r(*meshroom_pose.center), Quaternionr(*xyzw))
poses = [
pose_from_meshroom_to_airsim(pose)
for pose in args.poses_dict.values()
]
positions = [pose.position for pose in poses]
if args.axes:
client.simPlotTransforms(poses,
scale=75.0,
thickness=2.5,
is_persistent=True)
else:
client.simPlotPoints(positions,
args.color,
size=10,
is_persistent=True)
if args.lines:
client.simPlotLineStrip(positions,
args.color,
thickness=2.5,
is_persistent=True)
if args.transformation:
meshroom_to_airsim = np.loadtxt(
args.transformation) # load the 4x4 transformation matrix
print(meshroom_to_airsim)
def align_meshroom_to_airsim(meshroom_pose,
meshroom_to_airsim_transform):
# NOTE this transformation is only based on the positions (and not on the orientations)
meshroom_pos = np.append(meshroom_pose.position.to_numpy_array(),
1) # [x, y, z, 1]
airsim_pos = np.matmul(meshroom_to_airsim_transform, meshroom_pos)
return Pose(Vector3r(*airsim_pos), meshroom_pose.orientation)
aligned_poses = [
align_meshroom_to_airsim(pose, meshroom_to_airsim)
for pose in poses
]
aligned_positions = [pose.position for pose in aligned_poses]
if args.axes:
client.simPlotTransforms(aligned_poses,
scale=75.0,
thickness=2.5,
is_persistent=True)
else:
client.simPlotPoints(aligned_positions,
args.color,
size=10,
is_persistent=True)
if args.lines:
client.simPlotLineStrip(positions,
args.color,
thickness=2.5,
is_persistent=True)