def __init__(self,
min_radius,
max_radius,
min_elev,
max_elev,
min_az=0,
max_az=2 * np.pi,
min_roll=0,
max_roll=2 * np.pi,
num_prealloc_samples=1):
"""Initialize a ViewsphereDiscretizer.
Parameters
----------
min_radius : float
Minimum radius for viewing sphere.
max_radius : float
Maximum radius for viewing sphere.
min_elev : float
Minimum elevation (angle from z-axis) for camera position.
max_elev : float
Maximum elevation for camera position.
min_az : float
Minimum azimuth (angle from x-axis) for camera position.
max_az : float
Maximum azimuth for camera position.
min_roll : float
Minimum roll (rotation of camera about axis generated by azimuth and
elevation) for camera.
max_roll : float
Maximum roll for camera.
num_prealloc_samples : int
Number of preallocated samples.
"""
# read params
self.min_radius = min_radius
self.max_radius = max_radius
self.min_az = min_az * np.pi
self.max_az = max_az * np.pi
self.min_elev = min_elev * np.pi
self.max_elev = max_elev * np.pi
self.min_roll = min_roll * np.pi
self.max_roll = max_roll * np.pi
self.num_prealloc_samples = num_prealloc_samples
# setup random variables
self.rad_rv = ss.uniform(loc=self.min_radius,
scale=self.max_radius - self.min_radius)
self.elev_rv = ss.uniform(loc=self.min_elev,
scale=self.max_elev - self.min_elev)
self.az_rv = ss.uniform(loc=self.min_az,
scale=self.max_az - self.min_az)
self.roll_rv = ss.uniform(loc=self.min_roll,
scale=self.max_roll - self.min_roll)
RandomVariable.__init__(self, self.num_prealloc_samples)
def __init__(self, params, u_config):
if not isinstance(params, GraspQualityConfig):
raise ValueError('Must provide GraspQualityConfig')
self.params_ = params
self._parse_config(u_config)
self.rvs_ = {}
for param_name, param_rv in self.sigmas_.iteritems():
self.rvs_[param_name] = scipy.stats.multivariate_normal(param_rv[0], param_rv[1])
RandomVariable.__init__(self, self.num_prealloc_samples_)
def __init__(self, grasp, config):
self.grasp_ = grasp
self._parse_config(config)
center_sigma = self.R_sample_sigma_.T.dot(grasp.center)
self.t_rv_ = scipy.stats.multivariate_normal(center_sigma, self.sigma_trans_**2)
self.r_xi_rv_ = scipy.stats.multivariate_normal(np.zeros(3), self.sigma_rot_**2)
self.open_width_rv_ = scipy.stats.norm(grasp.open_width, self.sigma_open_width_**2)
self.close_width_rv_ = scipy.stats.norm(grasp.close_width, self.sigma_close_width_**2)
self.approach_rv_ = scipy.stats.norm(grasp.approach_angle, self.sigma_approach_**2)
RandomVariable.__init__(self, self.num_prealloc_samples_)
def __init__(self, obj, mean_T_obj_world, config):
self.obj_ = obj
self.mean_T_obj_world_ = mean_T_obj_world
self._parse_config(config)
# translation in the sampling reference frame
translation_sigma = self.R_sample_sigma_.T.dot(self.mean_T_obj_world_.translation)
# setup random variables
if isinstance(mean_T_obj_world, SimilarityTransform):
self.s_rv_ = scipy.stats.norm(self.mean_T_obj_world_.scale, self.sigma_scale_**2)
else:
self.s_rv_ = scipy.stats.norm(1.0, self.sigma_scale_**2)
self.t_rv_ = scipy.stats.multivariate_normal(translation_sigma, self.sigma_trans_**2)
self.r_xi_rv_ = scipy.stats.multivariate_normal(np.zeros(3), self.sigma_rot_**2)
self.com_rv_ = scipy.stats.multivariate_normal(np.zeros(3), self.sigma_com_**2)
RandomVariable.__init__(self, self.num_prealloc_samples_)
def __init__(self,
mesh,
render_modes,
frame,
config,
stable_pose=None,
scene_objs=None,
num_prealloc_samples=0):
"""Initialize a ViewsphereDiscretizer.
Parameters
----------
mesh : :obj:`Mesh3D`
mesh of the object to render
render_modes : :obj:`list` of :obj:`perception.RenderMode`
render modes to use
frame: :obj:`str`
string name of the camera frame
config : :obj:`autolab_core.YamlConfig`
configuration containing parameters of random variable
stable_pose : :obj:`StablePose`
stable pose for the mesh to rest in
scene_objs : :obj:`dict` mapping :obj:`str` to :obj:`SceneObject`
objects to render statically in the scene
num_prealloc_samples : int
Number of preallocated samples.
Notes
-----
Required parameters of config are specified in Other Parameters
Other Parameters
----------
min_f : float
Minimum focal length of camera
max_f : float
Maximum focal length of camera
min_cx : float
Minimum camera optical center in x
max_cx : float
Maximum camera optical center in x
min_cy : float
Minimum camera optical center in y
max_cy : float
Maximum camera optical center in y
im_height : int
Height of camera image
im_width : int
Width of camera image
min_radius : float
Minimum radius for viewing sphere.
max_radius : float
Maximum radius for viewing sphere.
min_elev : float
Minimum elevation (angle from z-axis) for camera position.
max_elev : float
Maximum elevation for camera position.
min_az : float
Minimum azimuth (angle from x-axis) for camera position.
max_az : float
Maximum azimuth for camera position.
min_roll : float
Minimum roll (rotation of camera about axis generated by azimuth and
elevation) for camera.
max_roll : float
Maximum roll for camera.
min_x : float
Minimum x translation of object on table
max_x : float
Maximum x translation of object on table
min_y : float
Minimum y translation of object on table
max_y : float
Maximum y translation of object on table
"""
# read params
self.mesh = mesh
self.render_modes = render_modes
self.frame = frame
self.config = config
self.stable_pose = stable_pose
self.scene_objs = scene_objs
self.num_prealloc_samples = num_prealloc_samples
# init random variables
self.ws_rv = UniformPlanarWorksurfaceRandomVariable(
self.frame,
self.config,
num_prealloc_samples=self.num_prealloc_samples)
RandomVariable.__init__(self, self.num_prealloc_samples)
def __init__(self, frame, config, num_prealloc_samples=1):
"""Initialize a ViewsphereDiscretizer.
Parameters
----------
frame: :obj:`str`
string name of the camera frame
config : :obj:`autolab_core.YamlConfig`
configuration containing parameters of random variable
num_prealloc_samples : int
Number of preallocated samples.
Notes
-----
Required parameters of config are specified in Other Parameters
Other Parameters
----------
min_f : float
Minimum focal length of camera
max_f : float
Maximum focal length of camera
min_cx : float
Minimum camera optical center in x
max_cx : float
Maximum camera optical center in x
min_cy : float
Minimum camera optical center in y
max_cy : float
Maximum camera optical center in y
im_height : int
Height of camera image
im_width : int
Width of camera image
min_radius : float
Minimum radius for viewing sphere.
max_radius : float
Maximum radius for viewing sphere.
min_elev : float
Minimum elevation (angle from z-axis), in degrees, for camera position.
max_elev : float
Maximum elevation for camera position, in degrees.
min_az : float
Minimum azimuth (angle from x-axis), in degrees, for camera position.
max_az : float
Maximum azimuth, in degrees, for camera position.
min_roll : float
Minimum roll (rotation of camera about axis generated by azimuth and
elevation), in degrees, for camera.
max_roll : float
Maximum roll, in degrees, for camera.
min_x : float
Minimum x translation of object on table
max_x : float
Maximum x translation of object on table
min_y : float
Minimum y translation of object on table
max_y : float
Maximum y translation of object on table
"""
# read params
self.frame = frame
self.config = config
self.num_prealloc_samples = num_prealloc_samples
self._parse_config(config)
# setup random variables
# camera
self.focal_rv = ss.uniform(loc=self.min_f,
scale=self.max_f - self.min_f)
self.cx_rv = ss.uniform(loc=self.min_cx,
scale=self.max_cx - self.min_cx)
self.cy_rv = ss.uniform(loc=self.min_cy,
scale=self.max_cy - self.min_cy)
# viewsphere
self.rad_rv = ss.uniform(loc=self.min_radius,
scale=self.max_radius - self.min_radius)
self.elev_rv = ss.uniform(loc=self.min_elev,
scale=self.max_elev - self.min_elev)
self.az_rv = ss.uniform(loc=self.min_az,
scale=self.max_az - self.min_az)
self.roll_rv = ss.uniform(loc=self.min_roll,
scale=self.max_roll - self.min_roll)
# table translation
self.tx_rv = ss.uniform(loc=self.min_x, scale=self.max_x - self.min_x)
self.ty_rv = ss.uniform(loc=self.min_y, scale=self.max_y - self.min_y)
RandomVariable.__init__(self, self.num_prealloc_samples)
def __init__(self, object_name, scene, render_modes, frame, config, num_prealloc_samples=0):
"""Initialize a UniformPlanarWorksurfaceImageRandomVariable.
Parameters
----------
object_name : str
The name of the object to render views about
scene : Scene
The scene to be rendered which contains the target object.
render_modes : list of perception.RenderMode
A list of RenderModes that indicate the wrapped images to return.
frame : str
The name of the camera's frame of reference.
config : autolab_core.YamlConfig
A configuration containing parameters of the random variable.
num_prealloc_samples : int
Number of preallocated samples.
Notes
-----
Required parameters of config are specified in Other Parameters.
Other Parameters
----------------
focal_length : Focal length of the camera
min : float
max : float
delta_optical_center: Change in optical center from neutral.
min : float
max : float
radius: Distance from camera to world origin.
min : float
max : float
azimuth: Azimuth (angle from x-axis) of camera in degrees.
min : float
max : float
elevation: Elevation (angle from z-axis) of camera in degrees.
min : float
max : float
roll: Roll (angle about view direction) of camera in degrees.
min : float
max : float
x: Translation of world center in x axis.
min : float
max : float
y: Translation of world center in y axis.
min : float
max : float
im_height : float Height of image in pixels.
im_width : float Width of image in pixels.
"""
# read params
self.object_name = object_name
self.scene = scene
self.render_modes = render_modes
self.frame = frame
self.config = config
self.num_prealloc_samples = num_prealloc_samples
# init random variables
self.ws_rv = UniformPlanarWorksurfaceRandomVariable(self.frame, self.config, num_prealloc_samples=self.num_prealloc_samples)
RandomVariable.__init__(self, self.num_prealloc_samples)
def __init__(self, frame, config, num_prealloc_samples=1):
"""Initialize a UniformPlanarWorksurfaceRandomVariable.
Parameters
----------
frame : str
string name of the camera frame
config : autolab_core.YamlConfig
configuration containing parameters of random variable
num_prealloc_samples : int
Number of preallocated samples.
Notes
-----
Required parameters of config are specified in Other Parameters
Other Parameters
----------
focal_length : Focal length of the camera
min : float
max : float
delta_optical_center: Change in optical center from neutral.
min : float
max : float
radius: Distance from camera to world origin.
min : float
max : float
azimuth: Azimuth (angle from x-axis) of camera in degrees.
min : float
max : float
elevation: Elevation (angle from z-axis) of camera in degrees.
min : float
max : float
roll: Roll (angle about view direction) of camera in degrees.
min : float
max : float
x: Translation of world center in x axis.
min : float
max : float
y: Translation of world center in y axis.
min : float
max : float
im_height : float Height of image in pixels.
im_width : float Width of image in pixels.
"""
# read params
self.frame = frame
self.config = config
self.num_prealloc_samples = num_prealloc_samples
self._parse_config(config)
# setup random variables
# camera
self.focal_rv = ss.uniform(loc=self.min_f, scale=self.max_f-self.min_f)
self.cx_rv = ss.uniform(loc=self.min_cx, scale=self.max_cx-self.min_cx)
self.cy_rv = ss.uniform(loc=self.min_cy, scale=self.max_cy-self.min_cy)
# viewsphere
self.rad_rv = ss.uniform(loc=self.min_radius, scale=self.max_radius-self.min_radius)
self.elev_rv = ss.uniform(loc=self.min_elev, scale=self.max_elev-self.min_elev)
self.az_rv = ss.uniform(loc=self.min_az, scale=self.max_az-self.min_az)
self.roll_rv = ss.uniform(loc=self.min_roll, scale=self.max_roll-self.min_roll)
# table translation
self.tx_rv = ss.uniform(loc=self.min_x, scale=self.max_x-self.min_x)
self.ty_rv = ss.uniform(loc=self.min_y, scale=self.max_y-self.min_y)
RandomVariable.__init__(self, self.num_prealloc_samples)
