def preflight(args: argparse.Namespace) -> None:
assert os.path.isfile(args.roi), f"Invalid file path: '{args.roi}'"
with open(args.roi, "r") as f:
args.roi = Rect.from_dump(f.read())
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(
*ff.LaunchEnvArgs(args),
# settings=ff.settings_str_from_dict(
# AirSimSettings(
# clock_speed=args.clock,
# sim_mode=ff.SimMode.Multirotor,
# view_mode=ff.ViewMode.SpringArmChase,
# # camera_defaults=AirSimSettings.Camera(
# # capture_settings=[AirSimSettings.CaptureSettings()]
# # ),
# subwindows=[
# AirSimSettings.Subwindow(0, camera_name=ff.CameraName.front_center),
# AirSimSettings.Subwindow(1, camera_name=ff.CameraName.back_center),
# AirSimSettings.Subwindow(2, camera_name=ff.CameraName.bottom_center),
# ],
# ).as_dict()
# ),
)
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def preflight(args: argparse.Namespace) -> None:
assert os.path.isfile(args.roi), f"Invalid file path: '{args.roi}'"
with open(args.roi, "r") as f:
args.rect = Rect.from_dump(f.read())
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def preflight(args: argparse.Namespace) -> None:
assert os.path.isfile(args.rec), f"Invalid file path: '{args.rec}'"
args.color = Rgba(*((0, 0.651,
0.929) if args.color is None else args.color))
args.recording = AirSimRecord.dict_from(rec_file=args.rec)
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def preflight(args: argparse.Namespace) -> None:
assert os.path.isfile(
args.viewpoints_path), f"Invalid file path: '{args.viewpoints_path}'"
with open(args.viewpoints_path, "r") as viewpoints_file:
viewpoints = json.load(viewpoints_file)
args.viewpoints = zip(viewpoints["positions"], viewpoints["orientations"])
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def preflight(args: argparse.Namespace) -> None:
assert os.path.isfile(
args.ply_path), f"Invalid file path: '{args.ply_path}'"
# Parse the point cloud into a pandas dataframe and extract its points
ply_df = read_ply(args.ply_path)
if args.verbose:
ff.log(ply_df)
args.points = ply_df["points"][["x", "y", "z"]].to_numpy()
n_of_points, _ = args.points.shape
print(f"The point cloud has {n_of_points} points.")
# NOTE avoid plotting all points for large clouds, since Unreal can't handle it
k = 0 if args.every_k is None else args.every_k
while not k:
try:
k = int(
input_or_exit(
"Do you want to plot one every how many points? "))
except KeyboardInterrupt:
exit()
except:
k = 0
print("\nPlease input a valid integer. ", end="")
continue
answer = input_or_exit(
f"This will plot a total of {n_of_points // k} points"
f" (i.e. one every {k}).\nDo you want to continue? [Y/n] ")
k = 0 if answer.lower().strip() in ["n", "no"] else k
args.every_k = k
# Check if a uavmvs trajectory was passed in and parse it into points
if args.trajectory_path is not None:
_, ext = os.path.splitext(args.trajectory_path)
assert os.path.isfile(args.trajectory_path
), f"Invalid file path: '{args.trajectory_path}'"
assert ext in parse_uavmvs.keys(
), f"Invalid trajectory extension: '{args.trajectory_path}'"
args.trajectory = parse_uavmvs[ext](args.trajectory_path)
if args.verbose:
ff.log(f"The trajectory has {len(args.trajectory)} camera poses")
else:
args.trajectory = None
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def preflight(args: argparse.Namespace) -> None:
assert os.path.isfile(args.sfm), f"Invalid file path: '{args.sfm}'"
args.color = Rgba(*((1, 0.706, 0) if args.color is None else args.color))
# TODO get transforms, i.e. poses (position + orientation) from each camera
views, poses = MeshroomParser.parse_cameras(cameras_file_path=args.sfm)
args.views_dict, args.poses_dict = MeshroomParser.extract_views_and_poses(
views, poses)
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def main(args: argparse.Namespace) -> None:
if args.verbose:
ff.print_airsim_path(airsim.__path__)
assert args.env_name is not None, "missing --launch option"
ff.launch_env(*ff.LaunchEnvArgs(args))
if not args.skip_connect:
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
client = connect(ff.SimMode.ComputerVision)
time.sleep(1)
client.reset()
ff.log("Done")
def main(args: argparse.Namespace) -> None:
if args.verbose:
ff.print_airsim_path(airsim.__path__)
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
input("\nPress [enter] to connect to AirSim ")
preflight(args) # setup
client = connect_to_airsim()
try:
fly(client, args) # do stuff
except KeyboardInterrupt:
client.reset() # avoid UE4 'fatal error' when exiting with Ctrl+C
def preflight(args: argparse.Namespace) -> None:
path = args.trajectory_path
_, ext = os.path.splitext(path)
assert os.path.isfile(path), path
assert ext in parse_uavmvs.keys(), path
args.trajectory = parse_uavmvs[ext](path)
if args.verbose:
ff.log(f"The trajectory has {len(args.trajectory)} camera poses")
if args.capture_dir:
args.capture_dir = os.path.abspath(args.capture_dir)
assert os.path.isdir(args.capture_dir), args.capture_dir
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")
def preflight(args: argparse.Namespace) -> None:
if args.env_name is not None:
# the --launch option was passed
ff.launch_env(*ff.LaunchEnvArgs(args))
ff.input_or_exit("\nPress [enter] to connect to AirSim ")