def testDebugHouseWithRender(self):
renderer = None
physics = None
viewer = None
try:
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
renderer = Panda3dRenderer(scene,
shadowing=False,
mode='offscreen')
renderer.showRoomLayout(showCeilings=False)
physics = Panda3dBulletPhysics(
scene, suncgDatasetRoot=TEST_SUNCG_DATA_DIR, debug=True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314,
0, -0.00260737, 0.661308, 0.75011, 0, 43.621, -55.7499,
12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
self.hulkSmash(renderer, physics, viewer)
def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson("0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
modelLightsInfo = SunCgModelLights(os.path.join(TEST_SUNCG_DATA_DIR, 'metadata', 'suncgModelLights.json'))
renderer = Panda3dRenderer(scene, shadowing=True, mode='offscreen', modelLightsInfo=modelLightsInfo)
renderer.showRoomLayout(showCeilings=False)
mat = np.array([0.999992, 0.00394238, 0, 0,
-0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0,
43.621, -55.7499, 12.9722, 1])
scene.agents[0].setMat(LMatrix4f(*mat.ravel()))
renderer.step(dt=0.1)
image = renderer.getRgbImages()['agent-0']
depth = renderer.getDepthImages(mode='distance')['agent-0']
self.assertTrue(np.min(depth) >= renderer.zNear)
self.assertTrue(np.max(depth) <= renderer.zFar)
fig = plt.figure(figsize=(16, 8))
plt.axis("off")
ax = plt.subplot(121)
ax.imshow(image)
ax = plt.subplot(122)
ax.imshow(depth / np.max(depth), cmap='binary')
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
renderer.destroy()
def __init__(self, houseId, suncgDatasetRoot=None, size=(256, 256), debug=False, depth=False, realtime=False, dt=0.1, cameraTransform=None):
self.__dict__.update(houseId=houseId, suncgDatasetRoot=suncgDatasetRoot, size=size,
debug=debug, depth=depth, realtime=realtime, dt=dt, cameraTransform=cameraTransform)
self.scene = SunCgSceneLoader.loadHouseFromJson(houseId, suncgDatasetRoot)
agentRadius = 0.1
agentHeight = 1.6
if self.cameraTransform is None:
self.cameraTransform = TransformState.makePos(LVector3f(0.0, 0.0, agentHeight/2.0 - agentRadius))
self.renderWorld = Panda3dRenderer(self.scene, size, shadowing=False, depth=depth, cameraTransform=self.cameraTransform)
self.physicWorld = Panda3dBulletPhysics(self.scene, suncgDatasetRoot, debug=debug, objectMode='box',
agentRadius=agentRadius, agentHeight=agentHeight, agentMass=60.0, agentMode='capsule')
self.clock = ClockObject.getGlobalClock()
self.worlds = {
"physics": self.physicWorld,
"render": self.renderWorld,
}
self.agent = self.scene.agents[0]
self.agentRbNp = self.agent.find('**/+BulletRigidBodyNode')
self.labeledNavMap = None
self.occupancyMapCoord = None
def testObjectWithViewer(self):
scene = Scene()
modelId = '83'
modelFilename = os.path.join(TEST_SUNCG_DATA_DIR, "object",
str(modelId),
str(modelId) + ".egg")
assert os.path.exists(modelFilename)
model = loadModel(modelFilename)
model.setName('model-' + str(modelId))
model.show(BitMask32.allOn())
objectsNp = scene.scene.attachNewNode('objects')
objNp = objectsNp.attachNewNode('object-' + str(modelId))
model.reparentTo(objNp)
# Calculate the center of this object
minBounds, maxBounds = model.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to make position relative to the center
model.setTransform(TransformState.makePos(-centerPos))
renderer = None
viewer = None
try:
renderer = Panda3dRenderer(scene, shadowing=False)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
viewer.cam.setTransform(
TransformState.makePos(LVecBase3(5.0, 0.0, 0.0)))
viewer.cam.lookAt(model)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
if renderer is not None:
renderer.destroy()
if viewer is not None:
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def testDebugObjectWithRender(self):
scene = Scene()
modelId = '83'
modelFilename = os.path.join(TEST_SUNCG_DATA_DIR, "object",
str(modelId),
str(modelId) + ".egg")
assert os.path.exists(modelFilename)
model = loadModel(modelFilename)
model.setName('model-' + str(modelId))
model.hide()
objectsNp = scene.scene.attachNewNode('objects')
objNp = objectsNp.attachNewNode('object-' + str(modelId))
model.reparentTo(objNp)
# Calculate the center of this object
minBounds, maxBounds = model.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to make position relative to the center
model.setTransform(TransformState.makePos(-centerPos))
renderer = None
physics = None
viewer = None
try:
renderer = Panda3dRenderer(scene, shadowing=False)
physics = Panda3dBulletPhysics(scene, debug=True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
viewer.cam.setTransform(
TransformState.makePos(LVecBase3(5.0, 0.0, 0.0)))
viewer.cam.lookAt(model)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
self.hulkSmash(renderer, physics, viewer)