def run(self): self.start() init_setup_commands = [{"$type": "set_screen_size", "width": 600, "height": 480}, {"$type": "set_render_quality", "render_quality": 5}] self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(10, 10)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) self.communicate(self.get_add_hdri_skybox("autumn_hockey_4k")) # Add the avatar. self.communicate(TDWUtils.create_avatar(position={"x": 3, "y": 1.3, "z": 0}, look_at=TDWUtils.array_to_vector3([0, 0.5, 0]), avatar_id="avatar")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("grass_countryside") print(record) self.communicate({"$type": "add_material", "name": "grass_countryside", "url": record.get_url()}) self.communicate({"$type": "set_proc_gen_floor_material", "name": "grass_countryside"}) # self.communicate({"$type": "set_field_of_view", # "field_of_view": 68.0, # "avatar_id": "avatar"}) self.add_object(model_name="b05_clochild4", position={"x": 0, "y": 0, "z": 0}, rotation={"x": 0, "y": 30, "z": 0}, library="models_full.json") self.add_object(model_name="baseballbat", position={"x": 0.5, "y": 0, "z": 0.3}, rotation={"x": 0, "y": 30, "z": 0}, library="models_full.json") self.add_object(model_name="base-ball", position={"x": 0.4, "y": 0, "z": 0.22}, rotation={"x": 0, "y": 30, "z": 10}, library="models_full.json") # Enable image capture self.communicate({"$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"]}) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({"$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([0, 0.5, 0])}) images = Images(scene_data[0]) TDWUtils.save_images(images, "kid_baseball", output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior")
def run(self): self.start() init_setup_commands = [{"$type": "set_screen_size", "width": 600, "height": 480}, {"$type": "set_render_quality", "render_quality": 5}] self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(32, 32)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate(TDWUtils.create_avatar(position={"x": -1.5, "y": 1.5, "z": -15}, look_at=TDWUtils.array_to_vector3([-1.7, 0.7, -2.3]), avatar_id="avatar")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("concrete_chipped_cracked") self.communicate({"$type": "add_material", "name": "concrete_chipped_cracked", "url": record.get_url()}) self.communicate({"$type": "set_proc_gen_floor_material", "name": "concrete_chipped_cracked"}) # self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"}) self.communicate({"$type": "set_field_of_view", "field_of_view": 68.0, "avatar_id": "avatar"}) bus = self.add_object(model_name="b06_bus_new", position={"x": -2, "y": 0, "z": 0}, rotation={"x": 0, "y": -70, "z": 0}, library="models_full.json") bus_bounds = self.get_bounds_data(bus) bus_front = bus_bounds.get_front(0) print(bus_front) self.add_object(model_name="3dscan_man_004", position={"x": -3.7, "y": 0, "z": -7.3}, rotation={"x": 0, "y": 0, "z": 0}, library="models_full.json") # Enable image capture self.communicate({"$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"]}) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({"$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([-1.7, 0.7, -2.3])}) images = Images(scene_data[0]) TDWUtils.save_images(images, "bus", output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior")
def run(self): self.create_scene() print("Using Controller.get_add_material wrapper function:") self.communicate([self.get_add_material("parquet_long_horizontal_clean"), {"$type": "set_proc_gen_floor_material", "name": "parquet_long_horizontal_clean"}]) sleep(5) self.create_scene() print("Using the add_material command without any wrappers:") lib = MaterialLibrarian() record = lib.get_record("parquet_long_horizontal_clean") self.communicate([{"$type": "add_material", "name": record.name, "url": record.get_url()}, {"$type": "set_proc_gen_floor_material", "name": "parquet_long_horizontal_clean"}])
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(8, 8)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("parquet_wood_mahogany") self.communicate({ "$type": "add_material", "name": "parquet_wood_mahogany", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "parquet_wood_mahogany" }) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": -1, "y": 1.4, "z": -1 }, look_at=TDWUtils.array_to_vector3( [-0.1, 0.7, -0.1]), avatar_id="avatar")) self.communicate({ "$type": "set_field_of_view", "field_of_view": 68.0, "avatar_id": "avatar" }) table_id = self.add_object( model_name= "b03_restoration_hardware_pedestal_salvaged_round_tables", position={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") table_bounds = self.get_bounds_data(table_id) top = table_bounds.get_top(0) self.add_object(model_name="club_sandwich", position={ "x": 0.45, "y": top[1], "z": 0.25 }, rotation={ "x": 0, "y": 30, "z": 0 }, library="models_full.json") self.add_object(model_name="coffeemug", position={ "x": 0.03, "y": top[1], "z": 0.03 }, library="models_full.json") self.add_object(model_name="knife3", position={ "x": -0.17, "y": top[1], "z": 0.15 }, rotation={ "x": 0, "y": 24, "z": 90 }, library="models_full.json") self.add_object(model_name="notes_02", position={ "x": 0.17, "y": top[1], "z": -0.12 }, rotation={ "x": 0, "y": 24, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([-0.1, 0.7, -0.1]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "sadnwich2", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior" )
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 640, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) self.communicate(TDWUtils.create_empty_room(8, 8)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("laser_cut_white_norway_spruce") self.communicate({ "$type": "add_material", "name": "laser_cut_white_norway_spruce", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "laser_cut_white_norway_spruce" }) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": 1.5, "y": 1.6, "z": 0 }, look_at=TDWUtils.array_to_vector3( [0, 0.5, 0]), avatar_id="avatar")) self.communicate({ "$type": "set_field_of_view", "field_of_view": 68.0, "avatar_id": "avatar" }) table = self.add_object( model_name="boconcept_lugo_dining_table_vray1.5", position={ "x": 0, "y": 0, "z": 0.0 }, rotation={ "x": 0, "y": -90, "z": 0 }, library="models_full.json") table_bounds = self.get_bounds_data(table) top = table_bounds.get_top(0) self.add_object(model_name='macbook_001', position={ "x": 0, "y": top[1], "z": 0.1 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") self.add_object(model_name='spunlight_designermesh_lamp', position={ "x": -0.19, "y": top[1], "z": -0.4 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") self.add_object(model_name="apple_magic_mouse_2_(2015)_vray", position={ "x": 0, "y": top[1], "z": 0.32 }, rotation={ "x": 0, "y": 86, "z": 0 }, library="models_full.json") self.add_object(model_name="f10_apple_iphone_4", position={ "x": 0.14, "y": top[1], "z": -0.3 }, rotation={ "x": 0, "y": 12, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([0, 0.5, 0]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "phone", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior" )
def run(self): self.start() # init_setup_commands = [{"$type": "set_screen_size", # "width": 600, # "height": 480}, # {"$type": "set_render_quality", # "render_quality": 5}] # self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(8, 8)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": 2.5, "y": 1.5, "z": 0.3 }, look_at=TDWUtils.array_to_vector3( [3, 0.5, 0.5]), avatar_id="avatar")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("gravel_white") self.communicate({ "$type": "add_material", "name": "gravel_white", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "gravel_white" }) # self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"}) # self.communicate({"$type": "set_field_of_view", # "field_of_view": 68.0, # "avatar_id": "avatar"}) bench = self.add_object(model_name="b04_wood_metal_park_bench", position={ "x": 3, "y": 0, "z": 0.5 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") bench_bounds = self.get_bounds_data(bench) top = bench_bounds.get_top(0) self.add_object(model_name="b05_baseball_bat_01", position={ "x": 2.8, "y": top[1] - 0.35, "z": 0 }, rotation={ "x": 0, "y": 90, "z": 90 }, library="models_full.json") self.add_object(model_name="b05_baseballnew_v03_12", position={ "x": 2.9, "y": top[1] - 0.35, "z": 0.4 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([3, 0.5, 0.5]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "bench_ball", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior" )
class Controller(object): """ Base class for all controllers. Usage: ```python from tdw.controller import Controller c = Controller() c.start() ``` """ def __init__(self, port: int = 1071, check_version: bool = True, launch_build: bool = True): """ Create the network socket and bind the socket to the port. :param port: The port number. :param check_version: If true, the controller will check the version of the build and print the result. :param launch_build: If True, automatically launch the build. If one doesn't exist, download and extract the correct version. Set this to False to use your own build, or (if you are a backend developer) to use Unity Editor. """ # Compare the installed version of the tdw Python module to the latest on PyPi. # If there is a difference, recommend an upgrade. if check_version: self._check_pypi_version() # Launch the build. if launch_build: Controller.launch_build() context = zmq.Context() self.socket = context.socket(zmq.REP) self.socket.bind('tcp://*:' + str(port)) self.socket.recv() self.model_librarian: Optional[ModelLibrarian] = None self.scene_librarian: Optional[SceneLibrarian] = None self.material_librarian: Optional[MaterialLibrarian] = None self.hdri_skybox_librarian: Optional[HDRISkyboxLibrarian] = None self.humanoid_librarian: Optional[HumanoidLibrarian] = None self.humanoid_animation_librarian: Optional[ HumanoidAnimationLibrarian] = None # Compare the version of the tdw module to the build version. if check_version and launch_build: self._check_build_version() def communicate(self, commands: Union[dict, List[dict]]) -> list: """ Send commands and receive output data in response. :param commands: A list of JSON commands. :return The output data from the build. """ if not isinstance(commands, list): commands = [commands] self.socket.send_multipart([json.dumps(commands).encode('utf-8')]) return self.socket.recv_multipart() def start(self, scene="ProcGenScene") -> None: """ Init TDW. :param scene: The scene to load. """ self.communicate([{"$type": "load_scene", "scene_name": scene}]) def get_add_object(self, model_name: str, object_id: int, position={ "x": 0, "y": 0, "z": 0 }, rotation={ "x": 0, "y": 0, "z": 0 }, library: str = "") -> dict: """ Returns a valid add_object command. :param model_name: The name of the model. :param position: The position of the model. :param rotation: The starting rotation of the model, in Euler angles. :param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`. :param object_id: The ID of the new object. :return An add_object command that the controller can then send. """ if self.model_librarian is None or ( library != "" and self.model_librarian.library != library): self.model_librarian = ModelLibrarian(library=library) record = self.model_librarian.get_record(model_name) return { "$type": "add_object", "name": model_name, "url": record.get_url(), "scale_factor": record.scale_factor, "position": position, "rotation": rotation, "category": record.wcategory, "id": object_id } def get_add_material(self, material_name: str, library: str = "") -> dict: """ Returns a valid add_material command. :param material_name: The name of the material. :param library: The path to the records file. If left empty, the default library will be selected. See `MaterialLibrarian.get_library_filenames()` and `MaterialLibrarian.get_default_library()`. :return An add_material command that the controller can then send. """ if self.material_librarian is None: self.material_librarian = MaterialLibrarian(library=library) record = self.material_librarian.get_record(material_name) return { "$type": "add_material", "name": material_name, "url": record.get_url() } def get_add_scene(self, scene_name: str, library: str = "") -> dict: """ Returns a valid add_scene command. :param scene_name: The name of the scene. :param library: The path to the records file. If left empty, the default library will be selected. See `SceneLibrarian.get_library_filenames()` and `SceneLibrarian.get_default_library()`. :return An add_scene command that the controller can then send. """ if self.scene_librarian is None: self.scene_librarian = SceneLibrarian(library=library) record = self.scene_librarian.get_record(scene_name) return { "$type": "add_scene", "name": scene_name, "url": record.get_url() } def get_add_hdri_skybox(self, skybox_name: str, library: str = "") -> dict: """ Returns a valid add_hdri_skybox command. :param skybox_name: The name of the skybox. :param library: The path to the records file. If left empty, the default library will be selected. See `HDRISkyboxLibrarian.get_library_filenames()` and `HDRISkyboxLibrarian.get_default_library()`. :return An add_hdri_skybox command that the controller can then send. """ if self.hdri_skybox_librarian is None: self.hdri_skybox_librarian = HDRISkyboxLibrarian(library=library) record = self.hdri_skybox_librarian.get_record(skybox_name) return { "$type": "add_hdri_skybox", "name": skybox_name, "url": record.get_url(), "exposure": record.exposure, "initial_skybox_rotation": record.initial_skybox_rotation, "sun_elevation": record.sun_elevation, "sun_initial_angle": record.sun_initial_angle, "sun_intensity": record.sun_intensity } def get_add_humanoid(self, humanoid_name: str, object_id: int, position={ "x": 0, "y": 0, "z": 0 }, rotation={ "x": 0, "y": 0, "z": 0 }, library: str = "") -> dict: """ Returns a valid add_humanoid command. :param humanoid_name: The name of the humanoid. :param position: The position of the humanoid. :param rotation: The starting rotation of the humanoid, in Euler angles. :param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidLibrarian.get_library_filenames()` and `HumanoidLibrarian.get_default_library()`. :param object_id: The ID of the new object. :return An add_humanoid command that the controller can then send. """ if self.humanoid_librarian is None or ( library != "" and self.humanoid_librarian.library != library): self.humanoid_librarian = HumanoidLibrarian(library=library) record = self.humanoid_librarian.get_record(humanoid_name) return { "$type": "add_humanoid", "name": humanoid_name, "url": record.get_url(), "position": position, "rotation": rotation, "id": object_id } def get_add_humanoid_animation( self, humanoid_animation_name: str, library="") -> (dict, HumanoidAnimationRecord): """ Returns a valid add_humanoid_animation command and the record (which you will need to play an animation). :param humanoid_animation_name: The name of the animation. :param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidAnimationLibrarian.get_library_filenames()` and `HumanoidAnimationLibrarian.get_default_library()`. return An add_humanoid_animation command that the controller can then send. """ if self.humanoid_animation_librarian is None: self.humanoid_animation_librarian = HumanoidAnimationLibrarian( library=library) record = self.humanoid_animation_librarian.get_record( humanoid_animation_name) return { "$type": "add_humanoid_animation", "name": humanoid_animation_name, "url": record.get_url() }, record def load_streamed_scene(self, scene="tdw_room_2018") -> None: """ Load a streamed scene. This is equivalent to: `c.communicate(c.get_add_scene(scene))` :param scene: The name of the streamed scene. """ self.communicate(self.get_add_scene(scene)) def add_object(self, model_name: str, position={ "x": 0, "y": 0, "z": 0 }, rotation={ "x": 0, "y": 0, "z": 0 }, library: str = "") -> int: """ Add a model to the scene. This is equivalent to: `c.communicate(c.get_add_object())` :param model_name: The name of the model. :param position: The position of the model. :param rotation: The starting rotation of the model, in Euler angles. :param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`. :return The ID of the new object. """ object_id = Controller.get_unique_id() self.communicate( self.get_add_object(model_name, object_id, position, rotation, library)) return object_id def get_version(self) -> Tuple[str, str]: """ Send a send_version command to the build. :return The TDW version and the Unity Engine version. """ resp = self.communicate({"$type": "send_version"}) for r in resp[:-1]: if Version.get_data_type_id(r) == "vers": v = Version(r) return v.get_tdw_version(), v.get_unity_version() if len(resp) == 1: raise Exception( "Tried receiving version output data but didn't receive anything!" ) raise Exception(f"Expected output data with ID vers but got: " + Version.get_data_type_id(resp[0])) @staticmethod def get_unique_id() -> int: """ Generate a unique integer. Useful when creating objects. :return The new unique ID. """ return int.from_bytes(os.urandom(3), byteorder='big') @staticmethod def get_frame(frame: bytes) -> int: """ Converts the frame byte array to an integer. :param frame: The frame as bytes. :return The frame as an integer. """ return int.from_bytes(frame, byteorder='big') @staticmethod def launch_build() -> None: """ Launch the build. If a build doesn't exist at the expected location, download one to that location. """ # Download the build. if not Build.BUILD_PATH.exists(): print( f"Couldn't find build at {Build.BUILD_PATH}\nDownloading now..." ) success = Build.download() if not success: print("You need to launch your own build.") else: success = True # Launch the build. if success: Popen(str(Build.BUILD_PATH.resolve())) def _check_build_version(self, version: str = __version__, build_version: str = None) -> None: """ Check the version of the build. If there is no build, download it. If the build is of the wrong version, recommend an upgrade. :param version: The version of TDW. You can set this to an arbitrary version for testing purposes. :param build_version: If not None, this overrides the expected build version. Only override for debugging. """ v = PyPi.strip_post_release(version) tdw_version, unity_version = self.get_version() # Override the build version for testing. if build_version is not None: tdw_version = build_version pypi_version = PyPi.get_latest_minor_release(tdw_version) print( f"Build version {tdw_version}\nUnity Engine {unity_version}\nPython tdw module version {version}" ) if v < tdw_version: print( "WARNING! Your TDW build is newer than your tdw Python module. They might not be compatible." ) print( f"To download the correct build:\n\nfrom tdw.release.build import Build\nBuild.download(version={v})" ) print( f"\nTo upgrade your Python module (usually recommended):\n\npip3 install tdw=={pypi_version}" ) elif v > tdw_version: print( "WARNING! Your TDW build is older than your tdw Python module. Downloading the correct build..." ) Build.download(v) @staticmethod def _check_pypi_version(v_installed_override: str = None, v_pypi_override: str = None) -> None: """ Compare the version of the tdw Python module to the latest on PyPi. If there is a mismatch, offer an upgrade recommendation. :param v_installed_override: Override for the installed version. Change this to debug. :param v_pypi_override: Override for the PyPi version. Change this to debug. """ # Get the version of the installed tdw module. installed_tdw_version = PyPi.get_installed_tdw_version() # Get the latest version of the tdw module on PyPi. pypi_version = PyPi.get_pypi_version() # Apply overrides if v_installed_override is not None: installed_tdw_version = v_installed_override if v_pypi_override is not None: pypi_version = v_pypi_override # If there is a mismatch, recommend an upgrade. if installed_tdw_version != pypi_version: # Strip the installed version of the post-release suffix (e.g. 1.6.3.4 to 1.6.3). stripped_installed_version = PyPi.strip_post_release( installed_tdw_version) # This message is here only for debugging. if stripped_installed_version != __version__: print( f"Your installed version: {stripped_installed_version} " f"doesn't match tdw.version.__version__: {__version__} " f"(this may be because you're using code from the tdw repo that is ahead of PyPi)." ) # Strip the latest PyPi version of the post-release suffix. stripped_pypi_version = PyPi.strip_post_release(pypi_version) print( f"You are using TDW {installed_tdw_version} but version {pypi_version} is available." ) # If user is behind by a post release, recommend an upgrade to the latest. # (Example: installed version is 1.6.3.4 and PyPi version is 1.6.3.5) if stripped_installed_version == stripped_pypi_version: print( f"Upgrade to the latest version of TDW:\npip3 install tdw -U" ) # Using a version behind the latest (e.g. latest is 1.6.3 and installed is 1.6.2) # If the user is behind by a major or minor release, recommend either upgrading to a minor release # or to a major release. # (Example: installed version is 1.6.3.4 and PyPi version is 1.7.0.0) else: installed_major = PyPi.get_major_release( stripped_installed_version) pypi_minor = PyPi.get_latest_minor_release( stripped_installed_version) # Minor release mis-match. if PyPi.strip_post_release( pypi_minor) != stripped_installed_version: print( f"To upgrade to the last version of 1.{installed_major}:\n" f"pip3 install tdw=={pypi_minor}") pypi_major = PyPi.get_major_release(stripped_pypi_version) # Major release mis-match. if installed_major != pypi_major: # Offer to upgrade to a major release. print( f"Consider upgrading to the latest version of TDW ({stripped_pypi_version}):" f"\npip3 install tdw -U") else: print("Your installed tdw Python module is up to date with PyPi.")
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) # Create an empty room. self.communicate({ "$type": "create_empty_environment", "center": { "x": 0, "y": 0, "z": 0 }, "bounds": { "x": 8, "y": 8, "z": 8 } }) self.communicate({"$type": "set_gravity", "value": False}) cube_record = ModelLibrarian("models_special.json").get_record( "prim_cube") self.communicate({ "$type": "add_object", "name": "prim_cube", "url": cube_record.get_url(), "scale_factor": cube_record.scale_factor, "position": { "x": 0, "y": 0, "z": 0 }, "rotation": { "x": 0, "y": 0, "z": 0 }, "category": cube_record.wcategory, "id": 1 }) self.communicate({ "$type": "scale_object", "scale_factor": { "x": 30, "y": 0.0001, "z": 30 }, "id": 1 }) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": 0, "y": 0.6, "z": 0 }, look_at=TDWUtils.array_to_vector3( [0.5, 0.5, 0]), avatar_id="avatar")) self.communicate(self.get_add_hdri_skybox("table_mountain_1_4k")) self.communicate({"$type": "rotate_hdri_skybox_by", "angle": 90}) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("bricks_chatham_gray_used") self.communicate({ "$type": "add_material", "name": "bricks_chatham_gray_used", "url": record.get_url() }) self.communicate( TDWUtils.set_visual_material(c=self, substructure=cube_record.substructure, object_id=1, material="bricks_chatham_gray_used")) # self.communicate({"$type": "set_field_of_view", # "field_of_view": 68.0, # "avatar_id": "avatar"}) bench = self.add_object(model_name="b04_wood_metal_park_bench", position={ "x": 2, "y": 0, "z": 0.5 }, rotation={ "x": 0, "y": -90, "z": 0 }, library="models_full.json") self.add_object(model_name="b04_wood_metal_park_bench", position={ "x": 5, "y": 0, "z": 0.5 }, rotation={ "x": 0, "y": -90, "z": 0 }, library="models_full.json") bench_bounds = self.get_bounds_data(bench) top = bench_bounds.get_top(0) self.add_object(model_name="cgaxis_models_65_06_vray", position={ "x": 1.8, "y": top[1] - 0.42, "z": 0.35 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([0.5, 0.5, 0]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "bench_book", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior" )
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) self.communicate(self.get_add_hdri_skybox("industrial_sunset_4k")) # Create an empty room. self.communicate(TDWUtils.create_empty_room(8, 8)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": 1, "y": 1.5, "z": 0.3 }, look_at=TDWUtils.array_to_vector3( [2.5, 0.5, 0.5]), avatar_id="avatar")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("concrete_049") self.communicate({ "$type": "add_material", "name": "concrete_049", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "concrete_049" }) # self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"}) # self.communicate({"$type": "set_field_of_view", # "field_of_view": 68.0, # "avatar_id": "avatar"}) bench = self.add_object(model_name="cgaxis_models_51_19_01", position={ "x": 2.5, "y": 0, "z": 0.5 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") bench_bounds = self.get_bounds_data(bench) top = bench_bounds.get_top(0) self.add_object(model_name="b05_cat_model_3dmax2012", position={ "x": 2.5, "y": top[1], "z": 0.2 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") self.add_object(model_name="azor", position={ "x": 3, "y": 0, "z": 0.5 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") """ Post-scene construction """ # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_id"] }) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([3, 0.5, 0.5]) }) # images = Images(scene_data[0]) im = cv2.imread( "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/" "compare_COCO_TDW/replicated_images/exterior/id_bench_bike.png") im = cv2.cvtColor(im, cv2.COLOR_BGR2RGB) # WRITE THIS TO JSON! segmentation_data = [] COCO_to_TDW = pd.read_csv( '/Users/leonard/Desktop/coco/COCO_to_TDW.csv', header=None, index_col=0, squeeze=True).to_dict() segmentation_colors = self.communicate({ "$type": "send_segmentation_colors", "frequency": "once" }) for r in segmentation_colors[:-1]: r_id = OutputData.get_data_type_id(r) if r_id == "segm": s = SegmentationColors(r) for i in range(s.get_num()): name = s.get_object_name(i) category = get_COCO(name, COCO_to_TDW) color = s.get_object_color(i) indices = np.where(im != 0) # Segmentation pixels print(color) print(indices) print(im[indices[0][0]] ) # some random RGB val -- MUSt match one of the 3 segmentation_data.append([indices, category]) # TDWUtils.save_images(images, "bench_bike", # output_directory="/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior") # Consider using zip() to clean up coordinates return segmentation_data
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(16, 16)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": -7.5, "y": 1.5, "z": 0 }, look_at=TDWUtils.array_to_vector3( [0, 0.7, 0]), avatar_id="avatar")) self.communicate(self.get_add_hdri_skybox("industrial_sunset_4k")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("concrete_asphalt_rolled") self.communicate({ "$type": "add_material", "name": "concrete_asphalt_rolled", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "concrete_asphalt_rolled" }) # self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"}) self.communicate({ "$type": "set_field_of_view", "field_of_view": 68.0, "avatar_id": "avatar" }) self.add_object(model_name="b05_model_sell", position={ "x": 2.5, "y": 0, "z": 4 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") self.add_object(model_name="b03_fire_hydrant", position={ "x": 2, "y": 0, "z": -1 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") # record = ModelLibrarian(library='models_full.json').get_record("bigben_clock") # self.communicate({"$type": "add_object", # "name": "bigben_clock", # "url": record.get_url(), # "scale_factor": record.scale_factor * 10, # "position": {"x": 1.7, "y": 0, "z": -3}, # "rotation": TDWUtils.VECTOR3_ZERO, # "category": record.wcategory, # "id": self.get_unique_id()}) self.add_object(model_name="bench", position={ "x": 1.7, "y": 0, "z": -3 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([0, 0.7, 0]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "hydrant_clock", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior" )
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) # Create an empty scene (no walls) self.communicate({ "$type": "create_empty_environment", "center": { "x": 0, "y": 0, "z": 0 }, "bounds": { "x": 30, "y": 30, "z": 30 } }) self.communicate(self.get_add_hdri_skybox("pink_sunrise_4k")) cube = self.communicate({ "$type": "load_primitive_from_resources", "primitive_type": "Cube", "id": 1, "position": { "x": 0, "y": 0, "z": 0 }, "orientation": { "x": 0, "y": 0, "z": 0 } }) self.communicate({ "$type": "scale_object", "scale_factor": { "x": 30, "y": 0.0001, "z": 30 }, "id": 1 }) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("concrete_chipped_cracked") self.communicate({ "$type": "add_material", "name": "concrete_chipped_cracked", "url": record.get_url() }) # self.communicate({"$type": "set_visual_material", # "material_index": 1, # "material_name": "concrete_chipped_cracked", # "object_name": "cube", # "id": 1}) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": -13, "y": 1.5, "z": 0 }, look_at=TDWUtils.array_to_vector3( [5, 1.5, 0]), avatar_id="avatar")) self.communicate({ "$type": "set_field_of_view", "field_of_view": 68.0, "avatar_id": "avatar" }) self.add_object(model_name="spitfire_2012", position={ "x": 0, "y": 0, "z": 2 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") self.add_object(model_name="b03_topkicktruck", position={ "x": -7, "y": 0, "z": -5 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") self.add_object(model_name="3dscan_man_012", position={ "x": -4, "y": 0, "z": 3 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([5, 1.5, 0]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "airplane", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior" )
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(16, 16)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": -7.5, "y": 1.5, "z": 0 }, look_at=TDWUtils.array_to_vector3( [0, 0.7, 0]), avatar_id="avatar")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("concrete_asphalt_rolled") self.communicate({ "$type": "add_material", "name": "concrete_asphalt_rolled", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "concrete_asphalt_rolled" }) # self.communicate({"$type": "set_proc_gen_walls_material", "name": "concrete"}) self.communicate({ "$type": "set_field_of_view", "field_of_view": 68.0, "avatar_id": "avatar" }) self.add_object(model_name="b05_2018_chevy_tahoe_rst", position={ "x": 3, "y": 0, "z": 0.5 }, rotation={ "x": 0, "y": 90, "z": 0 }, library="models_full.json") self.add_object(model_name="b05_chevrolet_camaro_3ds_max_2010_v-ray", position={ "x": -2, "y": 0, "z": -3 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") self.add_object(model_name="b04_harley_davidson_3dsmax2014", position={ "x": -4.2, "y": 0, "z": 2 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") self.add_object(model_name="audia7_2018_vray", position={ "x": -6.5, "y": 0, "z": -3 }, rotation={ "x": 0, "y": 0, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([0, 0.7, 0]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "cars_bikes", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/exterior" )
def run(self): self.start() init_setup_commands = [{ "$type": "set_screen_size", "width": 600, "height": 480 }, { "$type": "set_render_quality", "render_quality": 5 }] self.communicate(init_setup_commands) # Create an empty room. self.communicate(TDWUtils.create_empty_room(8, 8)) # Disable physics. self.communicate({"$type": "set_gravity", "value": False}) # Add the avatar. self.communicate( TDWUtils.create_avatar(position={ "x": 0, "y": 1, "z": 0 }, look_at=TDWUtils.array_to_vector3( [4, 0.3, -0.3]), avatar_id="avatar")) lib = MaterialLibrarian(library="materials_med.json") record = lib.get_record("concrete") self.communicate({ "$type": "add_material", "name": "concrete", "url": record.get_url() }) self.communicate({ "$type": "set_proc_gen_floor_material", "name": "concrete" }) self.communicate({ "$type": "set_proc_gen_wall_material", "name": "concrete" }) # self.communicate({"$type": "set_field_of_view", # "field_of_view": 68.0, # "avatar_id": "avatar"}) self.add_object(model_name="b05_skateboard", position={ "x": 3.2, "y": 0.3, "z": -0.5 }, rotation={ "x": 0, "y": 0, "z": 80 }, library="models_full.json") self.add_object(model_name="skateboard_3", position={ "x": 3, "y": 0, "z": 0.6 }, rotation={ "x": 0, "y": 30, "z": 0 }, library="models_full.json") self.add_object(model_name="b03_3wheels", position={ "x": 1.8, "y": 0, "z": 0.2 }, rotation={ "x": 0, "y": 30, "z": 0 }, library="models_full.json") self.add_object(model_name="bicycle_001", position={ "x": 2.7, "y": 0, "z": -1.1 }, rotation={ "x": 0, "y": 34, "z": 0 }, library="models_full.json") # Enable image capture self.communicate({ "$type": "set_pass_masks", "avatar_id": "avatar", "pass_masks": ["_img", "_id"] }) self.communicate({"$type": "send_images", "frequency": "always"}) scene_data = self.communicate({ "$type": "look_at_position", "avatar_id": "avatar", "position": TDWUtils.array_to_vector3([4, 0.3, -0.3]) }) images = Images(scene_data[0]) TDWUtils.save_images( images, "skateboard", output_directory= "/Users/leonard/Desktop/TDWBase-1.5.0/Python/Leonard/compare_COCO_TDW/replicated_images/interior" )
class Controller(object): """ Base class for all controllers. Usage: ```python from tdw.controller import Controller c = Controller() c.start() ``` """ def __init__(self, port: int = 1071, check_version: bool = True): """ Create the network socket and bind the socket to the port. :param port: The port number. :param check_version: If true, the controller will check the version of the build and print the result. """ context = zmq.Context() self.socket = context.socket(zmq.REP) self.socket.bind('tcp://*:' + str(port)) self.socket.recv() self.model_librarian: Optional[ModelLibrarian] = None self.scene_librarian: Optional[SceneLibrarian] = None self.material_librarian: Optional[MaterialLibrarian] = None self.hdri_skybox_librarian: Optional[HDRISkyboxLibrarian] = None self.humanoid_librarian: Optional[HumanoidLibrarian] = None self.humanoid_animation_librarian: Optional[ HumanoidAnimationLibrarian] = None # Compare the version of the tdw module to the build version. if check_version: tdw_version, unity_version = self.get_version() print( f"Build version {tdw_version}\nUnity Engine {unity_version}\nPython tdw module version {__version__}" ) if __version__ != tdw_version: print( "WARNING! Your Python code is not the same version as the build. They might not be compatible." ) print( "Either use the latest prerelease build, or use the last stable release via:\n" ) print("git checkout v" + last_stable_release) def communicate(self, commands: Union[dict, List[dict]]) -> list: """ Send commands and receive output data in response. :param commands: A list of JSON commands. :return The output data from the build. """ if not isinstance(commands, list): commands = [commands] self.socket.send_multipart([json.dumps(commands).encode('utf-8')]) return self.socket.recv_multipart() def start(self, scene="ProcGenScene") -> None: """ Init TDW. :param scene: The scene to load. """ self.communicate([{"$type": "load_scene", "scene_name": scene}]) def get_add_object(self, model_name: str, object_id: int, position={ "x": 0, "y": 0, "z": 0 }, rotation={ "x": 0, "y": 0, "z": 0 }, library: str = "") -> dict: """ Returns a valid add_object command. :param model_name: The name of the model. :param position: The position of the model. :param rotation: The starting rotation of the model, in Euler angles. :param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`. :param object_id: The ID of the new object. :return An add_object command that the controller can then send. """ if self.model_librarian is None or ( library != "" and self.model_librarian.library != library): self.model_librarian = ModelLibrarian(library=library) record = self.model_librarian.get_record(model_name) return { "$type": "add_object", "name": model_name, "url": record.get_url(), "scale_factor": record.scale_factor, "position": position, "rotation": rotation, "category": record.wcategory, "id": object_id } def get_add_material(self, material_name: str, library: str = "") -> dict: """ Returns a valid add_material command. :param material_name: The name of the material. :param library: The path to the records file. If left empty, the default library will be selected. See `MaterialLibrarian.get_library_filenames()` and `MaterialLibrarian.get_default_library()`. :return An add_material command that the controller can then send. """ if self.material_librarian is None: self.material_librarian = MaterialLibrarian(library=library) record = self.material_librarian.get_record(material_name) return { "$type": "add_material", "name": material_name, "url": record.get_url() } def get_add_scene(self, scene_name: str, library: str = "") -> dict: """ Returns a valid add_scene command. :param scene_name: The name of the scene. :param library: The path to the records file. If left empty, the default library will be selected. See `SceneLibrarian.get_library_filenames()` and `SceneLibrarian.get_default_library()`. :return An add_scene command that the controller can then send. """ if self.scene_librarian is None: self.scene_librarian = SceneLibrarian(library=library) record = self.scene_librarian.get_record(scene_name) return { "$type": "add_scene", "name": scene_name, "url": record.get_url() } def get_add_hdri_skybox(self, skybox_name: str, library: str = "") -> dict: """ Returns a valid add_hdri_skybox command. :param skybox_name: The name of the skybox. :param library: The path to the records file. If left empty, the default library will be selected. See `HDRISkyboxLibrarian.get_library_filenames()` and `HDRISkyboxLibrarian.get_default_library()`. :return An add_hdri_skybox command that the controller can then send. """ if self.hdri_skybox_librarian is None: self.hdri_skybox_librarian = HDRISkyboxLibrarian(library=library) record = self.hdri_skybox_librarian.get_record(skybox_name) return { "$type": "add_hdri_skybox", "name": skybox_name, "url": record.get_url(), "exposure": record.exposure, "initial_skybox_rotation": record.initial_skybox_rotation, "sun_elevation": record.sun_elevation, "sun_initial_angle": record.sun_initial_angle, "sun_intensity": record.sun_intensity } def get_add_humanoid(self, humanoid_name: str, object_id: int, position={ "x": 0, "y": 0, "z": 0 }, rotation={ "x": 0, "y": 0, "z": 0 }, library: str = "") -> dict: """ Returns a valid add_humanoid command. :param humanoid_name: The name of the humanoid. :param position: The position of the humanoid. :param rotation: The starting rotation of the humanoid, in Euler angles. :param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidLibrarian.get_library_filenames()` and `HumanoidLibrarian.get_default_library()`. :param object_id: The ID of the new object. :return An add_humanoid command that the controller can then send. """ if self.humanoid_librarian is None or ( library != "" and self.humanoid_librarian.library != library): self.humanoid_librarian = HumanoidLibrarian(library=library) record = self.humanoid_librarian.get_record(humanoid_name) return { "$type": "add_humanoid", "name": humanoid_name, "url": record.get_url(), "position": position, "rotation": rotation, "id": object_id } def get_add_humanoid_animation( self, humanoid_animation_name: str, library="") -> (dict, HumanoidAnimationRecord): """ Returns a valid add_humanoid_animation command and the record (which you will need to play an animation). :param humanoid_animation_name: The name of the animation. :param library: The path to the records file. If left empty, the default library will be selected. See `HumanoidAnimationLibrarian.get_library_filenames()` and `HumanoidAnimationLibrarian.get_default_library()`. return An add_humanoid_animation command that the controller can then send. """ if self.humanoid_animation_librarian is None: self.humanoid_animation_librarian = HumanoidAnimationLibrarian( library=library) record = self.humanoid_animation_librarian.get_record( humanoid_animation_name) return { "$type": "add_humanoid_animation", "name": humanoid_animation_name, "url": record.get_url() }, record def load_streamed_scene(self, scene="tdw_room_2018") -> None: """ Load a streamed scene. This is equivalent to: `c.communicate(c.get_add_scene(scene))` :param scene: The name of the streamed scene. """ self.communicate(self.get_add_scene(scene)) def add_object(self, model_name: str, position={ "x": 0, "y": 0, "z": 0 }, rotation={ "x": 0, "y": 0, "z": 0 }, library: str = "") -> int: """ Add a model to the scene. This is equivalent to: `c.communicate(c.get_add_object())` :param model_name: The name of the model. :param position: The position of the model. :param rotation: The starting rotation of the model, in Euler angles. :param library: The path to the records file. If left empty, the default library will be selected. See `ModelLibrarian.get_library_filenames()` and `ModelLibrarian.get_default_library()`. :return The ID of the new object. """ object_id = Controller.get_unique_id() self.communicate( self.get_add_object(model_name, object_id, position, rotation, library)) return object_id def get_version(self) -> Tuple[str, str]: """ Send a send_version command to the build. :return The TDW version and the Unity Engine version. """ resp = self.communicate({"$type": "send_version"}) for r in resp[:-1]: if Version.get_data_type_id(r) == "vers": v = Version(r) return v.get_tdw_version(), v.get_unity_version() if len(resp) == 1: raise Exception( "Tried receiving version output data but didn't receive anything!" ) raise Exception(f"Expected output data with ID vers but got: " + Version.get_data_type_id(resp[0])) @staticmethod def get_unique_id() -> int: """ Generate a unique integer. Useful when creating objects. :return The new unique ID. """ return int.from_bytes(os.urandom(3), byteorder='big') @staticmethod def get_frame(frame: bytes) -> int: """ Converts the frame byte array to an integer. :param frame: The frame as bytes. :return The frame as an integer. """ return int.from_bytes(frame, byteorder='big')