def loadWorld(self, filename): ## SETUP WORLD print "-------------------- Creating World --------------------" self.world = robotsim.WorldModel() res = self.world.readFile(filename) if not res: print "Unable to read file", filename exit(0) print "-------------------- World Successfully Created --------------------" self.robot = self.world.robot(0) self.space = robotplanning.makeSpace(world=self.world, robot=self.robot, edgeCheckResolution=1e-3, movingSubset='all')
def visualize(self):
world = robotsim.WorldModel()
vis.add("world", world)
vis.add("coordinates", coordinates.manager())
vis.setWindowTitle("PointCloud World")
vp = vis.getViewport()
vp.w, vp.h = 800, 800
vis.setViewport(vp)
# vis.autoFitCamera()
vis.show()
vis.lock()
vis.unlock()
while vis.shown():
time.sleep(0.01)
vis.kill()
WAIT_TIME = 2
# Read hardcoded configurations from json file
PATH_DICTIONARY = {}
try:
file = open(JSON_FILE, 'rw')
PATH_DICTIONARY = json.load(file)
file.close()
MOVING_LIMB = PATH_DICTIONARY[JSON_PATHNAME][JSON_LIMB]
except:
raise Exception('Path Dictionary failed to load')
# print PATH_DICTIONARY['CONFIG_1'][2][1][0]
## SETUP WORLD
print "-------------------- Creating World --------------------"
WORLD = robotsim.WorldModel()
# fn = MODEL_DIR+KLAMPT_MODEL
fn = RESOURCE_DIR + WORLD_MODEL
res = WORLD.readFile(fn)
if not res:
print "Unable to read file", fn
exit(0)
print "-------------------- World Successfully Created --------------------"
ROBOT = WORLD.robot(0)
SPACE = robotplanning.makeSpace(world=WORLD,
robot=ROBOT,
edgeCheckResolution=1e-3,
movingSubset='all')
"""
Merge two Dictionaries
"""
def load_pcloud(self, save_file):
"""
Converts a geometry to another type, if a conversion is available. The
interpretation of param depends on the type of conversion, with 0
being a reasonable default.
Available conversions are:
PointCloud -> TriangleMesh, if the point cloud is structured. param is the threshold
for splitting triangles by depth discontinuity, by default infinity.
"""
long_np_cloud = np.fromfile(save_file)
print(long_np_cloud.shape, ": shape of long numpy cloud")
num_points = long_np_cloud.shape[0] / 3
np_cloud = np.zeros(shape=(num_points, 3))
pcloud = klampt.PointCloud()
scaling_factor = 0.1
points = []
xs = []
ys = []
zs = []
for x in range(num_points):
i = x * 3
x_val = long_np_cloud[i] * scaling_factor
y_val = long_np_cloud[i + 1] * scaling_factor
z_val = long_np_cloud[i + 2] * scaling_factor
np_cloud[x][0] = x_val
np_cloud[x][1] = y_val
np_cloud[x][2] = z_val
xs.append(x_val)
ys.append(y_val)
zs.append(z_val)
points.append(np_cloud[x])
points.sort(key=lambda tup: tup[2])
x_sorted = sorted(xs) # sorted
y_sorted = sorted(ys) # sorted
z_sorted = sorted(zs) # sorted
xfit = stats.norm.pdf(x_sorted, np.mean(x_sorted), np.std(x_sorted))
yfit = stats.norm.pdf(y_sorted, np.mean(y_sorted), np.std(y_sorted))
zfit = stats.norm.pdf(z_sorted, np.mean(z_sorted), np.std(z_sorted))
# plot with various axes scales
plt.figure(1)
# linear
plt.subplot(221)
plt.plot(x_sorted, xfit)
plt.hist(x_sorted, normed=True)
plt.title("X values")
plt.grid(True)
plt.subplot(222)
plt.plot(y_sorted, yfit)
plt.hist(y_sorted, normed=True)
plt.title("Y values")
plt.grid(True)
plt.subplot(223)
plt.plot(z_sorted, zfit)
plt.hist(z_sorted, normed=True)
plt.title("Z values")
plt.grid(True)
# Format the minor tick labels of the y-axis into empty strings with
# `NullFormatter`, to avoid cumbering the axis with too many labels.
plt.gca().yaxis.set_minor_formatter(NullFormatter())
# Adjust the subplot layout, because the logit one may take more space
# than usual, due to y-tick labels like "1 - 10^{-3}"
plt.subplots_adjust(top=0.92,
bottom=0.08,
left=0.10,
right=0.95,
hspace=0.25,
wspace=0.35)
# plt.show()
median_z = np.median(zs)
threshold = 0.25 * scaling_factor
for point in points:
if np.fabs(point[2] - median_z) < threshold:
pcloud.addPoint(point)
print(pcloud.numPoints(), ": num points")
# Visualize
pcloud.setSetting("width", "3")
pcloud.setSetting("height", str(len(points) / 3))
g3d_pcloud = Geometry3D(pcloud)
mesh = g3d_pcloud.convert("TriangleMesh", 0)
world = robotsim.WorldModel()
vis.add("world", world)
vis.add("coordinates", coordinates.manager())
vis.setWindowTitle("PointCloud World")
vp = vis.getViewport()
vp.w, vp.h = 800, 800
vis.setViewport(vp)
vis.autoFitCamera()
vis.show()
vis.lock()
vis.add("mesh", mesh)
vis.unlock()
while vis.shown():
time.sleep(0.01)
vis.kill()
print("done")