format="%(levelname)s %(asctime)s %(message)s",
level=logging.DEBUG)
console = logging.StreamHandler()
console.setLevel(logging.INFO)
console.setFormatter(logging.Formatter("%(asctime)s %(message)s"))
logging.getLogger("").addHandler(console)
##########
# Load the pre-voxelated vehicle model for testing
b_fldr = r"voxelated_models/vehicles"
vox_size_str = str(SETTINGS["voxel_size"])
vox_folder = os.path.join(b_fldr, SETTINGS["run_id"], vox_size_str)
vox_veh_file = "voxels_{}_vox{}".format(SETTINGS["run_id"], vox_size_str)
voxel_dat = data_io.load_array(vox_folder, vox_veh_file, True)
vehicle = Vehicle(voxel_dat)
### Hardcoded dummy troop positions that may be meaningless. Uses 3D voxel indices. These
# values are for testing only, based on the Ricardo master assembly 11/11/2013.
crew_points = np.array([[40, 40, 25], [40, 80, 25], [20, 145, 40]])
# Perform exit checks and return combined results
can_exit, exit_grid, air_inside = main(vehicle, crew_points, debug=True)
# Print exit status: do all points pass exit check?
exit_ok = all(v.values() for v in can_exit.values())
if SETTINGS["debug"]:
## Render a 3D image, for debugging purposes only
from mayavi import mlab
else:
logging.info('Commencing voxelization of vehicle model')
assembly.voxelate_geometry()
# Voxelate Litter_Open model on a grid of same size
x_pts, y_pts, z_pts = [
assembly.voxel_data[k] for k in ("x_grid", "y_grid", "z_grid")
]
valid_litter_found = assembly.voxelate_litter(x_pts, y_pts, z_pts)
data_io.save_multi_array(vox_veh_folder, vox_veh_file,
assembly.voxel_data)
logging.info("Vehicle successfully voxelated.")
# All later operations act on pre-voxelated models. Create voxel objects with redundant info.
vehicle = Vehicle(assembly.voxel_data,
vehicle_csys=assembly.get_vehicle_csys())
# Find exit points (hatches + where rear doorway and floor intersect)
# The door and floor may never intersect at all; instead, use the intersection between the
# voxelated arrays, vehicle_interior w/ door.
vox_veh_cabin = vehicle.get_vox_from_coord(
assembly.get_manikin_positions(datum_name="SWRI_H_POINT",
veh_role="troop")[0])
vehicle_interior = vehicle.get_labels(mask_from_voxel=vox_veh_cabin)
# Run floor and ceil finding routines to prepare object for later scripts. Finding floor
# automatically also gets ceiling.
vehicle.get_floor(vox_veh_cabin)
logging.info("Vehicle floor, ceiling, and interior successfully labeled")
logging.info("Vehicle voxel data loaded from preexisting file {}".format(vox_veh_file))
valid_litter_found = "litter" in assembly.voxel_data # Does cached geom incl litter?
else:
logging.info('Commencing voxelization of vehicle model')
assembly.voxelate_geometry()
# Voxelate Litter_Open model on a grid of same size
x_pts, y_pts, z_pts = [assembly.voxel_data[k] for k in ("x_grid", "y_grid", "z_grid")]
valid_litter_found = assembly.voxelate_litter(x_pts, y_pts, z_pts)
data_io.save_multi_array(vox_veh_folder, vox_veh_file, assembly.voxel_data)
logging.info("Vehicle successfully voxelated.")
# All later operations act on pre-voxelated models. Create voxel objects with redundant info.
vehicle = Vehicle(assembly.voxel_data, vehicle_csys=assembly.get_vehicle_csys())
# Find exit points (hatches + where rear doorway and floor intersect)
# The door and floor may never intersect at all; instead, use the intersection between the
# voxelated arrays, vehicle_interior w/ door.
vox_veh_cabin = vehicle.get_vox_from_coord(
assembly.get_manikin_positions(datum_name="SWRI_H_POINT", veh_role="troop")[0])
vehicle_interior = vehicle.get_labels(mask_from_voxel=vox_veh_cabin)
# Run floor and ceil finding routines to prepare object for later scripts. Finding floor
# automatically also gets ceiling.
vehicle.get_floor(vox_veh_cabin)
logging.info("Vehicle floor, ceiling, and interior successfully labeled")
if not SETTINGS['debug']:
save_results(result_folder, file_name, collisions, save_plots=settings["show_2d"])
if __name__ == "__main__":
#############
# User specified settings from separate file
from rpl.tools.api import test_bench_api as tba
SETTINGS = tba.load_settings("settings.js")
# Load in vehicle occupied voxels file
vox_veh_folder = r"voxelated_models/vehicles/{}/{}".format(SETTINGS["run_id"],
SETTINGS["voxel_size"])
vox_veh_file = "voxels_{}_vox{}".format(SETTINGS["run_id"], SETTINGS["voxel_size"])
veh_vox = data_io.load_array(vox_veh_folder, vox_veh_file, multi_array=True)
vehicle = Vehicle(veh_vox, voxel_size=SETTINGS["voxel_size"])
# Get floor and ceiling at a dummy position that may or may not work; used for testing code
#### Arbitrary: use a point in the exact center of the vehicle
#vox_veh_cabin = (vehicle.shape[0] // 2, vehicle.shape[1] // 2, vehicle.shape[2] // 2)
# Point chosen for the EFV tester model
vox_veh_cabin = (140,30,10)
vehicle.get_labels(vox_veh_cabin)
vehicle.get_floor(vox_veh_cabin)
vehicle.get_ceil(vox_veh_cabin)
for pose_name in SETTINGS["manikins_to_use"]:
logging.debug("Checking intersection of '{}'".format(pose_name))
main(pose_name, vehicle, settings=SETTINGS)
if __name__ == "__main__":
#############
# User specified settings from separate file
from rpl.tools.api import test_bench_api as tba
SETTINGS = tba.load_settings("settings.js")
# Load in vehicle occupied voxels file
vox_veh_folder = r"voxelated_models/vehicles/{}/{}".format(
SETTINGS["run_id"], SETTINGS["voxel_size"])
vox_veh_file = "voxels_{}_vox{}".format(SETTINGS["run_id"],
SETTINGS["voxel_size"])
veh_vox = data_io.load_array(vox_veh_folder,
vox_veh_file,
multi_array=True)
vehicle = Vehicle(veh_vox, voxel_size=SETTINGS["voxel_size"])
# Get floor and ceiling at a dummy position that may or may not work; used for testing code
#### Arbitrary: use a point in the exact center of the vehicle
#vox_veh_cabin = (vehicle.shape[0] // 2, vehicle.shape[1] // 2, vehicle.shape[2] // 2)
# Point chosen for the EFV tester model
vox_veh_cabin = (140, 30, 10)
vehicle.get_labels(vox_veh_cabin)
vehicle.get_floor(vox_veh_cabin)
vehicle.get_ceil(vox_veh_cabin)
for pose_name in SETTINGS["manikins_to_use"]:
logging.debug("Checking intersection of '{}'".format(pose_name))
main(pose_name, vehicle, settings=SETTINGS)
