def testGetColorsFromObjectBasic(self):
modelId = '317'
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))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
colorDescriptions = MaterialColorTable.getColorsFromObject(
obj, mode='basic')
self.assertTrue(len(colorDescriptions) == 1)
self.assertTrue(colorDescriptions[0] == "silver")
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))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
colorDescriptions = MaterialColorTable.getColorsFromObject(
obj, mode='basic')
self.assertTrue(len(colorDescriptions) == 1)
self.assertTrue(colorDescriptions[0] == "white")
def testGetColorsFromObjectAdvanced(self):
modelId = '317'
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))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
colorDescriptions = MaterialColorTable.getColorsFromObject(
obj, mode='advanced')
self.assertTrue(len(colorDescriptions) == 1)
self.assertTrue(colorDescriptions[0] == "navajo white")
colorDescriptions = MaterialColorTable.getColorsFromObject(
obj, mode='advanced', thresholdRelArea=0.0)
self.assertTrue(len(colorDescriptions) == 2)
self.assertTrue("navajo white" in colorDescriptions)
self.assertTrue("dark slate gray" in colorDescriptions)
modelId = '210'
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))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
colorDescriptions = MaterialColorTable.getColorsFromObject(
obj, mode='advanced')
self.assertTrue(len(colorDescriptions) == 2)
self.assertTrue("dark gray" in colorDescriptions)
self.assertTrue("cadet blue" in colorDescriptions)
def testStep(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
maxBufferLength=30.0)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.setLoop(True)
sound.setLoopCount(1)
sound.play()
for i, dt in enumerate([5.0, 20.0, 10.0]):
acoustics.step(dt)
if i == 0:
self.assertTrue(sound.status() == AudioSound.PLAYING)
elif i > 1:
self.assertTrue(sound.status() == AudioSound.READY)
inbuf = acoustics.srcBuffers[sound]
outbuf = acoustics.outBuffers[agentNp.getName()]
fig = plt.figure()
plt.subplot(121)
plt.plot(inbuf)
plt.subplot(122)
plt.plot(outbuf.T)
plt.show(block=False)
time.sleep(4.0)
plt.close(fig)
def testGetColorsFromObjectTransparent(self):
modelId = 'sphere'
modelFilename = os.path.join(TEST_DATA_DIR, "models", "sphere.egg")
assert os.path.exists(modelFilename)
model = loadModel(modelFilename)
model.setName('model-' + str(modelId))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
colorDescriptions = MaterialColorTable.getColorsFromObject(
obj, mode='basic')
self.assertTrue(len(colorDescriptions) == 1)
self.assertTrue(colorDescriptions[0] == "maroon")
def testObj2bam(self):
inputFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.obj')
with tempfile.NamedTemporaryFile(suffix='.bam', delete=False) as f:
outputFilename = f.name
obj2bam(inputFilename, outputFilename)
model = loadModel(outputFilename)
os.remove(outputFilename)
self.assertTrue(not model.isEmpty())
with tempfile.NamedTemporaryFile(suffix='.bam', delete=False) as f:
outputFilename = f.name
obj2bam(inputFilename,
outputFilename,
coordinateSystem='z-up',
recomputeVertexNormals=True,
recomputeTangentBinormal=True,
recomputePolygonNormals=True,
triangulatePolygons=True,
degreeSmoothing=30.0)
model = loadModel(outputFilename)
os.remove(outputFilename)
self.assertTrue(not model.isEmpty())
def testRenderWithModelLights(self):
filename = os.path.join(TEST_SUNCG_DATA_DIR, 'metadata',
'suncgModelLights.json')
info = SunCgModelLights(filename)
scene = Scene()
modelId = 's__1296'
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))
# Add lights to model
for lightNp in info.getLightsForModel(modelId):
lightNp.node().setShadowCaster(True, 512, 512)
lightNp.reparentTo(model)
scene.scene.setLight(lightNp)
viewer = None
try:
viewer = Viewer(scene, interactive=False, shadowing=True)
viewer.cam.setTransform(
TransformState.makePos(LVector3f(0.5, 0.5, 3.0)))
viewer.cam.lookAt(lightNp)
for _ in range(20):
viewer.step()
time.sleep(1.0)
finally:
if viewer is not None:
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def testGetDimensionsFromObject(self):
modelId = '274'
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))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
# XXX: should use the full metadata files if descriptors are not precomputed
modelInfoFilename = os.path.join(TEST_SUNCG_DATA_DIR, "metadata", "models.csv")
modelCatFilename = os.path.join(TEST_SUNCG_DATA_DIR, "metadata", "ModelCategoryMapping.csv")
dimensionDescription = DimensionTable().getDimensionsFromModelId(modelId, modelInfoFilename, modelCatFilename)
self.assertTrue(dimensionDescription == 'normal')
def testMultipleSources(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define multiple sound sources
sources = []
for i, pos in enumerate([(39, -40.5, 1.5), (45.5, -42.5, 0.5)]):
sourceSize = 0.25
modelId = 'source-%d' % (i)
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(*pos))
sources.append(objectNp)
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene, hrtf, samplingRate, maximumOrder=2)
audioFilenames = ['toilet.ogg', 'radio.ogg']
for audioFilename, source in zip(audioFilenames, sources):
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', audioFilename)
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, source)
sound.setLoop(True)
sound.setLoopCount(1)
sound.play()
for _ in range(20):
acoustics.step(dt=0.1)
obs = acoustics.getObservationsForAgent(agentNp.getName())
self.assertTrue('audio-buffer-right' in obs)
self.assertTrue('audio-buffer-left' in obs)
self.assertTrue(
np.array_equal(obs['audio-buffer-right'].shape,
obs['audio-buffer-left'].shape))
def testInit(self):
scene = Scene()
# Load object to scene
modelId = '126'
modelFilename = os.path.join(TEST_SUNCG_DATA_DIR, "object",
str(modelId),
str(modelId) + ".egg")
assert os.path.exists(modelFilename)
model = loadModel(modelFilename)
model.setName('object-' + str(modelId))
model.reparentTo(scene.scene)
self.assertTrue(scene.getTotalNbHouses() == 0)
self.assertTrue(scene.getTotalNbRooms() == 0)
self.assertTrue(scene.getTotalNbObjects() == 1)
def testGetMaterialNameFromObject(self):
modelId = '317'
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))
obj = NodePath('object-' + str(modelId))
model.reparentTo(obj)
materialDescriptions = MaterialTable.getMaterialNameFromObject(obj)
self.assertTrue(len(materialDescriptions) == 1)
self.assertTrue(materialDescriptions[0] == "wood")
materialDescriptions = MaterialTable.getMaterialNameFromObject(obj, thresholdRelArea=0.0)
self.assertTrue(len(materialDescriptions) == 1)
self.assertTrue(materialDescriptions[0] == "wood")
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 getApproximationForModel(model, mode='box'):
if mode == 'mesh':
transform = model.getNetTransform()
approxModel = model.copyTo(model.getParent())
approxModel.detachNode()
approxModel.setTransform(transform)
elif mode == 'box':
# Bounding box approximation
# FIXME: taking the tight bounds after the transform does not fit well models
# that are rotated (e.g. diagonal orientation).
minRefBounds, maxRefBounds = model.getTightBounds()
refDims = maxRefBounds - minRefBounds
refPos = model.getPos()
refCenter = minRefBounds + (maxRefBounds - minRefBounds) / 2.0
refDeltaCenter = refCenter - refPos
approxModel = loadModel(os.path.join(MODEL_DATA_DIR, 'cube.egg'))
# Rescale the cube model to match the bounding box of the original
# model
minBounds, maxBounds = approxModel.getTightBounds()
dims = maxBounds - minBounds
pos = approxModel.getPos()
center = minBounds + (maxBounds - minBounds) / 2.0
deltaCenter = center - pos
position = refPos + refDeltaCenter - deltaCenter
scale = LVector3f(refDims.x / dims.x, refDims.y / dims.y,
refDims.z / dims.z)
# NOTE: remove the local transform used to center the model
transform = model.getNetTransform().compose(
model.getTransform().getInverse())
transform = transform.compose(
TransformState.makePosHprScale(position, LVector3f(0, 0, 0),
scale))
approxModel.setTransform(transform)
else:
raise Exception('Unknown mode type for object shape: %s' % (mode))
approxModel.setName(model.getName())
return approxModel
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)
def __init__(self, scene, agentId, agentRadius=0.25):
self.scene = scene
self.agentId = agentId
agentsNp = self.scene.scene.find('**/agents')
agentNp = agentsNp.attachNewNode(agentId)
agentNp.setTag('agent-id', agentId)
scene.agents.append(agentNp)
# Define a simple sphere model
modelId = 'sphere-0'
modelFilename = os.path.join(CDIR, 'sphere.egg')
agentNp.setTag('model-id', modelId)
model = loadModel(modelFilename)
model.setColor(
LVector4f(np.random.uniform(), np.random.uniform(),
np.random.uniform(), 1.0))
model.setName('model-' + os.path.basename(modelFilename))
model.setTransform(TransformState.makeScale(agentRadius))
model.reparentTo(agentNp)
model.hide(BitMask32.allOn())
# 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
agentNp.setTransform(TransformState.makePos(centerPos))
model.setTransform(model.getTransform().compose(
TransformState.makePos(-centerPos)))
self.agentNp = agentNp
self.model = model
self.agentRbNp = None
self.rotationStepCounter = -1
self.rotationsStepDuration = 40
def testAddAmbientSound(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
maxBufferLength=30.0)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.setLoop(True)
sound.setLoopCount(1)
# Add ambient sound
filename = os.path.join(TEST_DATA_DIR, 'audio', 'radio.ogg')
ambientSound = EvertAudioSound(filename)
ambientSound.setLoop(True)
ambientSound.setLoopCount(0)
ambientSound.setVolume(0.25)
acoustics.addAmbientSound(ambientSound)
ambientSound.play()
acoustics.step(dt=5.0)
sound.play()
acoustics.step(dt=5.0)
obs = acoustics.getObservationsForAgent(agentNp.getName())
data = np.array([obs['audio-buffer-left'], obs['audio-buffer-right']],
dtype=np.float32).T
self.assertTrue(
np.allclose(data.shape[0] / samplingRate, 10.0, atol=1e-3))
#from scipy.io import wavfile
#wavfile.write('output.wav', samplingRate, data)
fig = plt.figure()
plt.plot(data)
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
def testRenderSimpleCubeRoom(self):
samplingRate = 16000.0
scene = Scene()
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
viewer = Viewer(scene, interactive=False)
# Define a simple cube (10 x 10 x 10 m) as room geometry
roomSize = 10.0
modelId = 'room-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'cube.egg')
layoutNp = scene.scene.attachNewNode('layouts')
objectNp = layoutNp.attachNewNode('object-' + modelId)
objectNp.setTag('acoustics-mode', 'obstacle')
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(roomSize))
model.setRenderModeWireframe()
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0))
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectNp = objectsNp.attachNewNode('object-' + modelId)
objectNp.setTag('acoustics-mode', 'source')
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(0.0, 0.0, 0.0))
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=3,
materialAbsorption=False,
frequencyDependent=False,
debug=True)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
acoustics.step(0.1)
center = acoustics.world.getCenter()
self.assertTrue(
np.allclose(acoustics.world.getMaxLength() / 1000.0, roomSize))
self.assertTrue(
np.allclose([center.x, center.y, center.z], [0.0, 0.0, 0.0]))
self.assertTrue(acoustics.world.numElements() == 12)
self.assertTrue(acoustics.world.numConvexElements() == 12)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
mat = np.array([
0.999992, 0.00394238, 0, 0, -0.00295702, 0.750104, -0.661314, 0,
-0.00260737, 0.661308, 0.75011, 0, 0.0, -25.0, 22, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
agentNp = scene.agents[0]
agentNp.setPos(
LVecBase3f(0.25 * roomSize, -0.25 * roomSize, 0.3 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
agentNp.setPos(
LVecBase3f(0.35 * roomSize, -0.35 * roomSize, 0.4 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
agentNp.setPos(
LVecBase3f(-0.25 * roomSize, 0.25 * roomSize, -0.3 * roomSize))
for _ in range(10):
viewer.step()
time.sleep(1.0)
# Calculate and show impulse responses
impulse = acoustics.calculateImpulseResponse(objectNp.getName(),
agentNp.getName())
fig = plt.figure()
plt.plot(impulse.impulse[0], color='b', label='Left channel')
plt.plot(impulse.impulse[1], color='g', label='Right channel')
plt.legend()
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
acoustics.destroy()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
def testRenderHouseWithAcousticsPath(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
agentNp = scene.agents[0]
agentNp.setPos(LVecBase3f(45, -42.5, 1.6))
agentNp.setHpr(45, 0, 0)
# Define a sound source
sourceSize = 0.25
modelId = 'source-0'
modelFilename = os.path.join(TEST_DATA_DIR, 'models', 'sphere.egg')
objectsNp = scene.scene.attachNewNode('objects')
objectsNp.setTag('acoustics-mode', 'source')
objectNp = objectsNp.attachNewNode('object-' + modelId)
model = loadModel(modelFilename)
model.setName('model-' + modelId)
model.setTransform(TransformState.makeScale(sourceSize))
model.reparentTo(objectNp)
objectNp.setPos(LVecBase3f(39, -40.5, 1.5))
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=2,
debug=True)
# Attach sound to object
filename = os.path.join(TEST_DATA_DIR, 'audio', 'toilet.ogg')
sound = EvertAudioSound(filename)
acoustics.attachSoundToObject(sound, objectNp)
sound.play()
acoustics.step(0.0)
# Hide ceilings
for nodePath in scene.scene.findAllMatches(
'**/layouts/*/acoustics/*c'):
nodePath.hide(BitMask32.allOn())
viewer = Viewer(scene, interactive=False)
# Configure the camera
# NOTE: in Panda3D, the X axis points to the right, the Y axis is forward, and Z is up
center = agentNp.getNetTransform().getPos()
mat = np.array([[1.0, 0.0, 0.0, 0.0], [0.0, 0.0, -1.0, 0.0],
[0.0, 1.0, 0.0, 0.0], [center.x, center.y, 20, 1]])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
viewer.step()
time.sleep(1.0)
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
# Calculate and show impulse responses
impulse = acoustics.calculateImpulseResponse(objectNp.getName(),
agentNp.getName())
fig = plt.figure()
plt.plot(impulse.impulse[0], color='b', label='Left channel')
plt.plot(impulse.impulse[1], color='g', label='Right channel')
plt.legend()
plt.show(block=False)
time.sleep(1.0)
plt.close(fig)
acoustics.destroy()