def testAgent(self):
physics = None
viewer = None
try:
scene = Scene()
physics = Panda3dBulletPhysics(scene, debug=True)
agent = scene.agents[0].find('**/+BulletRigidBodyNode')
agent.setPos(LVector3f(0, 0, 1.0))
agent.node().setLinearVelocity(LVector3f(1, 0, 0))
agent.node().setAngularVelocity(LVector3f(0, 0, 1))
agent.node().setActive(True)
viewer = Viewer(scene, interactive=False)
viewer.disableMouse()
mat = np.array([1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, -10, 0, 1])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(50):
viewer.step()
time.sleep(1.0)
finally:
self.hulkSmash(None, physics, viewer)
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 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 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 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 loadHouseFromJson(houseId, datasetRoot):
filename = SunCgSceneLoader.getHouseJsonPath(datasetRoot, houseId)
with open(filename) as f:
data = json.load(f)
assert houseId == data['id']
houseId = str(data['id'])
# Create new node for house instance
houseNp = NodePath('house-' + str(houseId))
objectIds = {}
for levelId, level in enumerate(data['levels']):
logger.debug('Loading Level %s to scene' % (str(levelId)))
# Create new node for level instance
levelNp = houseNp.attachNewNode('level-' + str(levelId))
roomNpByNodeIndex = {}
for nodeIndex, node in enumerate(level['nodes']):
if not node['valid'] == 1: continue
modelId = str(node['modelId'])
if node['type'] == 'Room':
logger.debug('Loading Room %s to scene' % (modelId))
# Create new nodes for room instance
roomNp = levelNp.attachNewNode('room-' + str(modelId))
roomLayoutsNp = roomNp.attachNewNode('layouts')
roomObjectsNp = roomNp.attachNewNode('objects')
# Load models defined for this room
for roomObjFilename in reglob(
os.path.join(datasetRoot, 'room', houseId),
modelId + '[a-z].obj'):
# Convert extension from OBJ + MTL to EGG format
f, _ = os.path.splitext(roomObjFilename)
modelFilename = f + ".egg"
if not os.path.exists(modelFilename):
raise Exception(
'The SUNCG dataset object models need to be convert to Panda3D EGG format!'
)
# Create new node for object instance
objectNp = NodePath('object-' + str(modelId) + '-0')
objectNp.reparentTo(roomLayoutsNp)
model = loadModel(modelFilename)
model.setName('model-' + os.path.basename(f))
model.reparentTo(objectNp)
model.hide()
if 'nodeIndices' in node:
for childNodeIndex in node['nodeIndices']:
roomNpByNodeIndex[childNodeIndex] = roomObjectsNp
elif node['type'] == 'Object':
logger.debug('Loading Object %s to scene' % (modelId))
# Instance identification
if modelId in objectIds:
objectIds[modelId] = objectIds[modelId] + 1
else:
objectIds[modelId] = 0
# Create new node for object instance
objectNp = NodePath('object-' + str(modelId) + '-' +
str(objectIds[modelId]))
#TODO: loading the BAM format would be much more efficient
# Convert extension from OBJ + MTL to EGG format
objFilename = os.path.join(datasetRoot, 'object',
node['modelId'],
node['modelId'] + '.obj')
assert os.path.exists(objFilename)
f, _ = os.path.splitext(objFilename)
modelFilename = f + ".egg"
if not os.path.exists(modelFilename):
raise Exception(
'The SUNCG dataset object models need to be convert to Panda3D EGG format!'
)
model = loadModel(modelFilename)
model.setName('model-' + os.path.basename(f))
model.reparentTo(objectNp)
model.hide()
# 4x4 column-major transformation matrix from object coordinates to scene coordinates
transform = np.array(node['transform']).reshape((4, 4))
# Transform from Y-UP to Z-UP coordinate systems
#TODO: use Mat4.convertMat(CS_zup_right, CS_yup_right)
yupTransform = np.array([[1, 0, 0, 0], [0, 0, -1, 0],
[0, 1, 0, 0], [0, 0, 0, 1]])
zupTransform = np.array([[1, 0, 0, 0], [0, 0, 1, 0],
[0, -1, 0, 0], [0, 0, 0, 1]])
transform = np.dot(np.dot(yupTransform, transform),
zupTransform)
transform = TransformState.makeMat(
LMatrix4f(*transform.ravel()))
# 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
objectNp.setTransform(
transform.compose(TransformState.makePos(centerPos)))
model.setTransform(TransformState.makePos(-centerPos))
# Get the parent nodepath for the object (room or level)
if nodeIndex in roomNpByNodeIndex:
objectNp.reparentTo(roomNpByNodeIndex[nodeIndex])
else:
objectNp.reparentTo(levelNp)
# Validation
assert np.allclose(mat4ToNumpyArray(
model.getNetTransform().getMat()),
mat4ToNumpyArray(transform.getMat()),
atol=1e-6)
objectNp.setTag('model-id', str(modelId))
objectNp.setTag('level-id', str(levelId))
objectNp.setTag('house-id', str(houseId))
elif node['type'] == 'Ground':
logger.debug('Loading Ground %s to scene' % (modelId))
# Create new nodes for ground instance
groundNp = levelNp.attachNewNode('ground-' + str(modelId))
groundLayoutsNp = groundNp.attachNewNode('layouts')
# Load model defined for this ground
for groundObjFilename in reglob(
os.path.join(datasetRoot, 'room', houseId),
modelId + '[a-z].obj'):
# Convert extension from OBJ + MTL to EGG format
f, _ = os.path.splitext(groundObjFilename)
modelFilename = f + ".egg"
if not os.path.exists(modelFilename):
raise Exception(
'The SUNCG dataset object models need to be convert to Panda3D EGG format!'
)
objectNp = NodePath('object-' + str(modelId) + '-0')
objectNp.reparentTo(groundLayoutsNp)
model = loadModel(modelFilename)
model.setName('model-' + os.path.basename(f))
model.reparentTo(objectNp)
model.hide()
else:
raise Exception('Unsupported node type: %s' %
(node['type']))
scene = Scene()
houseNp.reparentTo(scene.scene)
# Recenter objects in rooms
for room in scene.scene.findAllMatches('**/room*'):
# Calculate the center of this room
minBounds, maxBounds = room.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to room node
room.setTransform(TransformState.makePos(centerPos))
# Add recentering transform to all children nodes
for childNp in room.getChildren():
childNp.setTransform(TransformState.makePos(-centerPos))
# Recenter objects in grounds
for ground in scene.scene.findAllMatches('**/ground*'):
# Calculate the center of this ground
minBounds, maxBounds = ground.getTightBounds()
centerPos = minBounds + (maxBounds - minBounds) / 2.0
# Add offset transform to ground node
ground.setTransform(TransformState.makePos(centerPos))
# Add recentering transform to all children nodes
for childNp in ground.getChildren():
childNp.setTransform(TransformState.makePos(-centerPos))
return scene
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()