def project_to_2d(point_on_plane, plane_center, plane_width, plane_height, plane_quaternion):
if not isinstance(point_on_plane, list) and not isinstance(point_on_plane, tuple) \
and not isinstance(point_on_plane, np.ndarray):
raise GenericRolloutException("point_on_plane must be a type of list, tuple, or numpy.ndarray")
if not isinstance(plane_center, list) and not isinstance(plane_center, tuple) \
and not isinstance(plane_center, np.ndarray):
raise GenericRolloutException("plane_center must be a type of list, tuple, or numpy.ndarray")
if not isinstance(plane_quaternion, list) and not isinstance(plane_quaternion, tuple) \
and not isinstance(plane_quaternion, np.ndarray):
raise GenericRolloutException("plane_quaternion must be a type of list, tuple, or numpy.ndarray")
point_on_plane = np.array(point_on_plane)
plane_center = np.array(plane_center)
plane_quaternion = np.array(plane_quaternion)
# Transpose the center back to origin
point_on_plane_from_origin = point_on_plane - plane_center
# Reverse the rotation so plane can align back to y-axis
inverse_cam_quaternion = inverse_quaternion(plane_quaternion)
point_on_y_axis = apply_orientation(inverse_cam_quaternion, point_on_plane_from_origin)
# Rotate pitch 90 degree and yaw 90 degree, so plane will align to x and y axis
# Remember rotation order is roll, pitch, yaw in euler_to_quaternion method
project_2d_quaternion = euler_to_quaternion(pitch=np.pi / 2.0, yaw=np.pi / 2.0)
point_on_2d_plane = apply_orientation(np.array(project_2d_quaternion), point_on_y_axis)
# Align plane to origin at x, y = (0, 0)
point_on_2d_plane = point_on_2d_plane + np.array([plane_width / 2.0, plane_height / 2.0, 0.0])
# Re-scale x and y space between 0 and 1
return (point_on_2d_plane[0] / plane_width), (point_on_2d_plane[1] / plane_height)
def get_object_bounding_rect(object_pose, object_dims):
"""
Returns a list of points (numpy.ndarray) of bounding rectangle on the floor.
object_pose - Object pose object.
object_dims - Tuple representing the dimension of object (width, height)
"""
half_width = 0.5 * (object_dims.value[0])
half_length = 0.5 * (object_dims.value[1])
local_verts = np.array([
[+half_length, +half_width, 0.0],
[+half_length, -half_width, 0.0],
[-half_length, -half_width, 0.0],
[-half_length, +half_width, 0.0],
])
object_position = np.array([
object_pose.position.x, object_pose.position.y,
object_pose.position.z
])
object_orientation = np.array([
object_pose.orientation.x,
object_pose.orientation.y,
object_pose.orientation.z,
object_pose.orientation.w,
])
return [
object_position + apply_orientation(object_orientation, p)
for p in local_verts
]
def update(self, car_pose):
"""
Update the frustums
Args:
car_pose (Pose): Gazebo Pose of the agent
"""
with self.lock:
self.frustums = []
self.cam_poses = []
self.near_plane_infos = []
# Retrieve car pose to calculate camera pose.
car_pos = np.array([car_pose.position.x, car_pose.position.y,
car_pose.position.z])
car_quaternion = [car_pose.orientation.x,
car_pose.orientation.y,
car_pose.orientation.z,
car_pose.orientation.w]
for camera_offset in self.camera_offsets:
# Get camera position by applying position offset from the car position.
cam_pos = car_pos + apply_orientation(car_quaternion, camera_offset)
# Get camera rotation by applying car rotation and pitch angle of camera.
_, _, yaw = quaternion_to_euler(x=car_quaternion[0],
y=car_quaternion[1],
z=car_quaternion[2],
w=car_quaternion[3])
cam_quaternion = np.array(euler_to_quaternion(pitch=self.camera_pitch, yaw=yaw))
# Calculate frustum with camera position and rotation.
planes, cam_pose, near_plane_info = self._calculate_frustum_planes(cam_pos=cam_pos,
cam_quaternion=cam_quaternion)
self.frustums.append(planes)
self.cam_poses.append(cam_pose)
self.near_plane_infos.append(near_plane_info)
def _get_agent_pos(self, car_pose, car_link_points, relative_pos):
'''Returns a dictionary with the keys defined in AgentPos which contains
the position of the agent on the track, the location of the desired
links, and the orientation of the agent.
car_pose - Gazebo Pose of the agent
car_link_points (Point[]) - List of car's links' Points.
relative_pos - List containing the x-y relative position of the front of
the agent
'''
try:
# Compute the model's orientation
model_orientation = np.array([
car_pose.orientation.x, car_pose.orientation.y,
car_pose.orientation.z, car_pose.orientation.w
])
# Compute the model's location relative to the front of the agent
model_location = np.array([car_pose.position.x,
car_pose.position.y,
car_pose.position.z]) + \
apply_orientation(model_orientation, np.array(relative_pos))
model_point = Point(model_location[0], model_location[1])
return {
AgentPos.ORIENTATION.value: model_orientation,
AgentPos.POINT.value: model_point,
AgentPos.LINK_POINTS.value: car_link_points
}
except Exception as ex:
raise GenericRolloutException(
"Unable to get position: {}".format(ex))
def _update_temp(self):
with self.lock:
self.frustums = []
self.cam_poses = []
self.near_plane_infos = []
car_model_state = self.model_state_client('racecar', '')
car_pos = np.array([
car_model_state.pose.position.x,
car_model_state.pose.position.y,
car_model_state.pose.position.z
])
car_quaternion = [
car_model_state.pose.orientation.x,
car_model_state.pose.orientation.y,
car_model_state.pose.orientation.z,
car_model_state.pose.orientation.w
]
for camera_offset in self.camera_offsets:
cam_pos = car_pos + apply_orientation(car_quaternion,
camera_offset)
_, _, yaw = quaternion_to_euler(x=car_quaternion[0],
y=car_quaternion[1],
z=car_quaternion[2],
w=car_quaternion[3])
cam_quaternion = np.array(
euler_to_quaternion(pitch=self.camera_pitch, yaw=yaw))
planes, cam_pose, near_plane_info = self._calculate_frustum_planes(
cam_pos=cam_pos, cam_quaternion=cam_quaternion)
self.frustums.append(planes)
self.cam_poses.append(cam_pose)
self.near_plane_infos.append(near_plane_info)
def _update(self, car_model_state, delta_time):
# Calculate target Camera position based on nearest center track from the car.
near_dist = self.track_data._center_line_.project(
Point(car_model_state.pose.position.x,
car_model_state.pose.position.y))
near_pnt_ctr = self.track_data._center_line_.interpolate(near_dist)
yaw = self.track_data._center_line_.interpolate_yaw(
distance=near_dist,
normalized=False,
reverse_dir=False,
position=near_pnt_ctr)
yaw = utils.lerp_angle_rad(self.last_yaw, yaw,
delta_time * self.damping)
quaternion = np.array(
euler_to_quaternion(pitch=self.look_down_angle_rad, yaw=yaw))
target_camera_location = np.array([near_pnt_ctr.x,
near_pnt_ctr.y,
0.0]) + \
apply_orientation(quaternion, np.array([-self.cam_dist_offset, 0, 0]))
target_camera_location_2d = target_camera_location[0:2]
# Linear interpolate Camera position to target position
cur_camera_2d_pos = np.array([
self.last_camera_state.pose.position.x,
self.last_camera_state.pose.position.y
])
new_cam_pos_2d = utils.lerp(cur_camera_2d_pos,
target_camera_location_2d,
delta_time * self.damping)
# Calculate camera rotation quaternion based on lookAt yaw
look_at_yaw = utils.get_angle_between_two_points_2d_rad(
self.last_camera_state.pose.position,
car_model_state.pose.position)
cam_quaternion = euler_to_quaternion(pitch=self.look_down_angle_rad,
yaw=look_at_yaw)
# Configure Camera Model State
camera_model_state = ModelState()
camera_model_state.model_name = self.topic_name
camera_model_state.pose.position.x = new_cam_pos_2d[0]
camera_model_state.pose.position.y = new_cam_pos_2d[1]
camera_model_state.pose.position.z = self.cam_fixed_height
camera_model_state.pose.orientation.x = cam_quaternion[0]
camera_model_state.pose.orientation.y = cam_quaternion[1]
camera_model_state.pose.orientation.z = cam_quaternion[2]
camera_model_state.pose.orientation.w = cam_quaternion[3]
self.model_state_client(camera_model_state)
self.last_camera_state = camera_model_state
self.last_yaw = yaw
def _update(self, car_model_state, delta_time):
# Calculate target Camera position based on car position
_, _, car_yaw = quaternion_to_euler(
x=car_model_state.pose.orientation.x,
y=car_model_state.pose.orientation.y,
z=car_model_state.pose.orientation.z,
w=car_model_state.pose.orientation.w)
# Linear Interpolate Yaw angle
car_yaw = utils.lerp_angle_rad(self.last_yaw, car_yaw,
delta_time * self.damping)
target_cam_quaternion = np.array(
euler_to_quaternion(pitch=self.look_down_angle_rad, yaw=car_yaw))
target_camera_location = np.array([car_model_state.pose.position.x,
car_model_state.pose.position.y,
0.0]) + \
apply_orientation(target_cam_quaternion, np.array([-self.cam_dist_offset, 0, 0]))
target_camera_location_2d = target_camera_location[0:2]
# Linear interpolate Camera position to target position
cur_camera_2d_pos = np.array([
self.last_camera_state.pose.position.x,
self.last_camera_state.pose.position.y
])
new_cam_pos_2d = utils.lerp(cur_camera_2d_pos,
target_camera_location_2d,
delta_time * self.damping)
# Calculate camera rotation quaternion based on lookAt yaw
look_at_yaw = utils.get_angle_between_two_points_2d_rad(
self.last_camera_state.pose.position,
car_model_state.pose.position)
cam_quaternion = euler_to_quaternion(pitch=self.look_down_angle_rad,
yaw=look_at_yaw)
# Configure Camera Model State
camera_model_state = ModelState()
camera_model_state.model_name = self.topic_name
camera_model_state.pose.position.x = new_cam_pos_2d[0]
camera_model_state.pose.position.y = new_cam_pos_2d[1]
camera_model_state.pose.position.z = self.cam_fixed_height
camera_model_state.pose.orientation.x = cam_quaternion[0]
camera_model_state.pose.orientation.y = cam_quaternion[1]
camera_model_state.pose.orientation.z = cam_quaternion[2]
camera_model_state.pose.orientation.w = cam_quaternion[3]
self.model_state_client(camera_model_state)
self.last_camera_state = camera_model_state
self.last_yaw = car_yaw
def _reset(self, car_model_state):
camera_model_state = ModelState()
camera_model_state.model_name = self.topic_name
# Calculate target Camera position based on nearest center track from the car.
# 1. Project the car position to 1-d global distance of track
# 2. Minus camera offset from the point of center track
near_dist = self.track_data._center_line_.project(
Point(car_model_state.pose.position.x,
car_model_state.pose.position.y))
near_pnt_ctr = self.track_data._center_line_.interpolate(near_dist)
yaw = self.track_data._center_line_.interpolate_yaw(
distance=near_dist,
normalized=False,
reverse_dir=False,
position=near_pnt_ctr)
quaternion = np.array(
euler_to_quaternion(pitch=self.look_down_angle_rad, yaw=yaw))
target_camera_location = np.array([near_pnt_ctr.x,
near_pnt_ctr.y,
0.0]) + \
apply_orientation(quaternion, np.array([-self.cam_dist_offset, 0, 0]))
# Calculate camera rotation quaternion based on lookAt yaw with respect to
# current camera position and car position
look_at_yaw = utils.get_angle_between_two_points_2d_rad(
Point(target_camera_location[0], target_camera_location[1]),
car_model_state.pose.position)
cam_quaternion = euler_to_quaternion(pitch=self.look_down_angle_rad,
yaw=look_at_yaw)
camera_model_state.pose.position.x = target_camera_location[0]
camera_model_state.pose.position.y = target_camera_location[1]
camera_model_state.pose.position.z = self.cam_fixed_height
camera_model_state.pose.orientation.x = cam_quaternion[0]
camera_model_state.pose.orientation.y = cam_quaternion[1]
camera_model_state.pose.orientation.z = cam_quaternion[2]
camera_model_state.pose.orientation.w = cam_quaternion[3]
self.model_state_client(camera_model_state)
self.last_camera_state = camera_model_state
self.last_yaw = yaw
def get_agent_pos(self, agent_name, link_name_list, relative_pos):
'''Returns a dictionary with the keys defined in AgentPos which contains
the position of the agent on the track, the location of the desired
links, and the orientation of the agent.
agent_name - String with the name of the agent
link_name_list - List of strings containing the name of the links whose
positions are to be retrieved.
relative_pos - List containing the x-y relative position of the front of
the agent
'''
try:
#Request the model state from gazebo
model_state = self._get_model_state_(agent_name, '')
#Compute the model's orientation
model_orientation = np.array([
model_state.pose.orientation.x, model_state.pose.orientation.y,
model_state.pose.orientation.z, model_state.pose.orientation.w
])
#Compute the model's location relative to the front of the agent
model_location = np.array([model_state.pose.position.x,
model_state.pose.position.y,
model_state.pose.position.z]) + \
apply_orientation(model_orientation, np.array(relative_pos))
model_point = Point(model_location[0], model_location[1])
#Grab the location of the links
make_link_points = lambda link: Point(
link.link_state.pose.position.x, link.link_state.pose.position.
y)
link_points = [
make_link_points(self._get_link_state_(name, ''))
for name in link_name_list
]
return {
AgentPos.ORIENTATION.value: model_orientation,
AgentPos.POINT.value: model_point,
AgentPos.LINK_POINTS.value: link_points
}
except Exception as ex:
raise GenericRolloutException(
"Unable to get position: {}".format(ex))
def _get_initial_camera_pose(self, car_model_state):
_, _, car_yaw = quaternion_to_euler(x=car_model_state.pose.orientation.x,
y=car_model_state.pose.orientation.y,
z=car_model_state.pose.orientation.z,
w=car_model_state.pose.orientation.w)
target_cam_quaternion = np.array(euler_to_quaternion(pitch=self.look_down_angle_rad, yaw=car_yaw))
target_camera_location = np.array([car_model_state.pose.position.x,
car_model_state.pose.position.y,
0.0]) + \
apply_orientation(target_cam_quaternion, np.array([-self.cam_dist_offset, 0, 0]))
camera_model_pose = Pose()
camera_model_pose.position.x = target_camera_location[0]
camera_model_pose.position.y = target_camera_location[1]
camera_model_pose.position.z = self.cam_fixed_height
camera_model_pose.orientation.x = target_cam_quaternion[0]
camera_model_pose.orientation.y = target_cam_quaternion[1]
camera_model_pose.orientation.z = target_cam_quaternion[2]
camera_model_pose.orientation.w = target_cam_quaternion[3]
self.last_yaw = car_yaw
return camera_model_pose
def get_relative_pos(origin, translation, rotation):
'''
Get the relative offset position to the center of car
Args:
origin(list): list of object origin in [x,y,z] in Cartision coordinate
translation(list): list of object translation [x,y,z] in Cartision coordinate
rotation(list): list of object rotation [x,y,z,w] in Quaternion
Return:
Tuple: (x, y)
'''
try:
# Compute the model's location relative to the front of the car
model_location = np.array(origin) + \
apply_orientation(np.array(rotation), np.array(translation))
model_point = (model_location[0], model_location[1])
return model_point
except Exception as ex:
raise GenericRolloutException("Unable to get position: {}".format(ex))
def get_right_vec(quaternion):
return apply_orientation(quaternion, GazeboWorld.right)
def get_up_vec(quaternion):
return apply_orientation(quaternion, GazeboWorld.up)
def get_forward_vec(quaternion):
return apply_orientation(quaternion, GazeboWorld.forward)
