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 main():
env = BasicEnvironment(houseId="0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
realtime=True)
env.setAgentOrientation((60.0, 0.0, 0.0))
env.setAgentPosition((42, -39, 1.0))
env.renderWorld.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
viewer = Viewer(env.scene, interactive=False, showPosition=True)
# Find agent and reparent camera to it
agent = env.scene.scene.find('**/agents/agent*/+BulletRigidBodyNode')
viewer.camera.reparentTo(agent)
linearVelocity = np.zeros(3)
angularVelocity = np.zeros(3)
rotationStepCounter = -1
rotationsStepDuration = 40
try:
while True:
# Constant speed forward (Y-axis)
linearVelocity = LVector3f(0.0, 1.0, 0.0)
env.setAgentLinearVelocity(linearVelocity)
# Randomly change angular velocity (rotation around Z-axis)
if rotationStepCounter > rotationsStepDuration:
# End of rotation
rotationStepCounter = -1
angularVelocity = np.zeros(3)
elif rotationStepCounter >= 0:
# During rotation
rotationStepCounter += 1
else:
# No rotation, initiate at random
if np.random.random() > 0.5:
angularVelocity = np.zeros(3)
angularVelocity[2] = np.random.uniform(low=-np.pi,
high=np.pi)
rotationStepCounter = 0
env.setAgentAngularVelocity(angularVelocity)
# Simulate
env.step()
viewer.step()
except KeyboardInterrupt:
pass
viewer.destroy()
return 0
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 testRenderHouse(self):
scene = SunCgSceneLoader.loadHouseFromJson(
"0004d52d1aeeb8ae6de39d6bd993e992", TEST_SUNCG_DATA_DIR)
samplingRate = 16000.0
hrtf = CipicHRTF(os.path.join(TEST_DATA_DIR, 'hrtf', 'cipic_hrir.mat'),
samplingRate)
acoustics = EvertAcoustics(scene,
hrtf,
samplingRate,
maximumOrder=3,
debug=True)
# Hide ceilings
for nodePath in scene.scene.findAllMatches(
'**/layouts/*/acoustics/*c'):
nodePath.hide()
viewer = Viewer(scene)
viewer.disableMouse()
# 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, 43.621, -55.7499, 12.9722, 1
])
mat = LMatrix4f(*mat.ravel())
viewer.cam.setMat(mat)
for _ in range(20):
acoustics.step(dt=0.1)
viewer.step()
time.sleep(1.0)
acoustics.destroy()
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 main():
env = BasicEnvironment(houseId="0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
realtime=True)
env.renderWorld.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
viewer = Viewer(env.scene, interactive=True, showPosition=True)
viewer.cam.setPos((42, -39, 1.1))
viewer.cam.setHpr(60.0, 0.0, 0.0)
viewer.run()
viewer.destroy()
viewer.graphicsEngine.removeAllWindows()
return 0
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()
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 main():
# Create scene and remove any default agents
scene = SunCgSceneLoader.loadHouseFromJson(
houseId="0004d52d1aeeb8ae6de39d6bd993e992", datasetRoot=SUNCG_DATA_DIR)
scene.scene.find('**/agents').node().removeAllChildren()
scene.agents = []
# Create multiple agents
agents = []
for i in range(3):
agentRadius = 0.15
agent = Agent(scene, 'agent-%d' % (i), agentRadius)
agents.append(agent)
# NOTE: specify to move the camera slightly outside the model (not to render the interior of the model)
cameraTransform = TransformState.makePos(
LVector3f(0.0, 1.1 * agentRadius, 0.0))
# Initialize rendering and physics
renderer = RgbRenderer(scene,
size=(128, 128),
fov=70.0,
cameraTransform=cameraTransform)
renderer.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
physics = Panda3dBulletPhysics(scene,
SUNCG_DATA_DIR,
objectMode='box',
agentRadius=agentRadius,
agentMode='sphere')
# Configure the camera
viewer = Viewer(scene,
interactive=False,
showPosition=False,
cameraMask=renderer.cameraMask)
transform = TransformState.makePosHpr(LVecBase3f(44.01, -43.95, 22.97),
LVecBase3f(0.0, -81.04, 0.0))
viewer.cam.setTransform(transform)
# Initialize the agent
agents[0].setPosition((45, -42.5, 1.6))
agents[1].setPosition((42.5, -39, 1.6))
agents[2].setPosition((42.5, -41.5, 1.6))
# Initialize figure that will show the point-of-view of each agent
plt.ion()
fig = plt.figure(figsize=(12, 4), facecolor='white')
ims = []
for i in range(len(agents)):
ax = fig.add_subplot(1, len(agents), i + 1)
ax.set_title(agents[i].agentId)
ax.axis('off')
rgbImage = np.zeros(renderer.size + (3, ), dtype=np.uint8)
im = ax.imshow(rgbImage)
ims.append(im)
plt.tight_layout()
plt.show()
# Main loop
clock = ClockObject.getGlobalClock()
try:
while True:
# Update physics
dt = clock.getDt()
physics.step(dt)
# Update viewer
viewer.step()
for i, agent in enumerate(agents):
# Get the current RGB
rgbImage = renderer.getRgbImage(agent.agentId,
channelOrder="RGB")
# Get the current observation for the agent
observation = {
"position": agent.getPosition(),
"orientation": agent.getOrientation(),
"rgb-image": rgbImage
}
agent.step(observation)
ims[i].set_data(rgbImage)
fig.canvas.draw()
plt.pause(0.0001)
except KeyboardInterrupt:
pass
viewer.destroy()
renderer.destroy()
return 0
def main():
env = BasicEnvironment(houseId="0004d52d1aeeb8ae6de39d6bd993e992",
suncgDatasetRoot=TEST_SUNCG_DATA_DIR,
realtime=True)
# a, b = env.generateOccupancyMap()
# plt.imshow(a, cmap='hot', interpolation='nearest')
# plt.show(block=False)
env.setAgentOrientation((60.0, 0.0, 0.0))
env.setAgentPosition((42, -39, 1.2))
env.renderWorld.showRoomLayout(showCeilings=False,
showWalls=True,
showFloors=True)
viewer = Viewer(env.scene, interactive=False, showPosition=True, fov=50.)
# Find agent and reparent camera to it
agent = env.agentRbNp
viewer.camera.reparentTo(agent)
viewer.capture_video()
# ai_world = AIWorld(env.scene.scene)
# ai_char = AICharacter("seeker", agent, 60, 0.5, 5)
# ai_world.addAiChar(ai_char)
# ai_behaviors = ai_char.getAiBehaviors()
# ai_behaviors.seek(Vec3(35, -39, 1.0))
#
# def update_ai_world(task):
# ai_world.update()
# return task.cont
# taskMgr.add(update_ai_world, "AIUpdate")
#
# while True:
#
# viewer.step()
# env.step()
renderer = Panda3dSemanticsRenderer(env.scene,
TEST_SUNCG_DATA_DIR,
mode='offscreen',
segment_by_instance=True)
renderer.cameras[0].reparentTo(agent)
renderer.showRoomLayout(showCeilings=False)
images = []
linearVelocity = np.zeros(3)
angularVelocity = np.zeros(3)
rotationStepCounter = -1
rotationsStepDuration = 40
try:
while True:
# Constant speed forward (Y-axis)
linearVelocity = LVector3f(0.0, 1.0, 0.0)
env.setAgentLinearVelocity(linearVelocity)
# Randomly change angular velocity (rotation around Z-axis)
if rotationStepCounter > rotationsStepDuration:
# End of rotation
rotationStepCounter = -1
angularVelocity = np.zeros(3)
elif rotationStepCounter >= 0:
# During rotation
rotationStepCounter += 1
else:
# No rotation, initiate at random
if np.random.random() > 0.5:
angularVelocity = np.zeros(3)
angularVelocity[2] = np.random.uniform(low=-np.pi,
high=np.pi)
rotationStepCounter = 0
env.setAgentAngularVelocity(angularVelocity)
# Simulate
env.step()
viewer.step()
image = renderer.getRgbaImages()['agent-0']
images.append(image)
if viewer.stop:
postprocess_images(images, env.scene, renderer)
sys.exit(0)
except KeyboardInterrupt:
postprocess_images(images, env.scene, renderer)
pass
viewer.destroy()
return 0
