def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
# Reset the drone
client.reset()
client.enableApiControl(True)
client.armDisarm(True)
# Draw the ROI outline (erasing previous plots)
client.simFlushPersistentMarkers()
if SHOW_PLOTS:
client.simPlotLineStrip(points=args.roi.corners(repeat_first=True),
is_persistent=True)
# Get the first position the drone will fly to
initial_pose = client.simGetVehiclePose()
closest_corner = args.roi.closest_corner(initial_pose.position)
if args.verbose:
ff.print_pose(initial_pose, airsim.to_eularian_angles)
ff.log_info(f"Closest corner {ff.to_xyz_str(closest_corner)}")
start_pos = Vector3r(
*ff.to_xyz_tuple(closest_corner if args.corner else args.roi.center))
# NOTE AirSim uses NED coordinates, so negative Z values are "up" actually
if (z := args.z_offset):
start_pos.z_val -= z # start higher up, to avoid crashing with objects
def enter_edit_mode(client: airsim.MultirotorClient,
points: List[Vector3r]) -> None:
mode = EditMode.TRANSLATING
step = 1.0
total = {
EditMode.TRANSLATING:
Vector3r(0, 0, 0),
# EditMode.ROTATING: Vector3r(0, 0, 0),
EditMode.SCALING:
Vector3r(1, 1, 1),
}
try:
while True:
key = ord(airsim.wait_key())
if key == 224: # arrow keys
arrow_key = ArrowKey(ord(airsim.wait_key()))
client.simFlushPersistentMarkers()
if mode == EditMode.TRANSLATING:
delta = {
ArrowKey.Up: Vector3r(step, 0, 0),
ArrowKey.Down: Vector3r(-step, 0, 0),
ArrowKey.Left: Vector3r(0, -step, 0),
ArrowKey.Right: Vector3r(0, step, 0),
}[arrow_key]
points = [point + delta for point in points]
total[EditMode.TRANSLATING] += delta
elif mode == EditMode.SCALING:
factor = {
ArrowKey.Up: 1 + step * 0.1,
ArrowKey.Down: 1 - step * 0.1,
ArrowKey.Left: 1 - step * 0.1,
ArrowKey.Right: 1 + step * 0.1,
}[arrow_key]
points = [point * factor for point in points]
total[EditMode.SCALING] *= factor
else:
assert False # TODO handle other edit modes for rotating and scaling
client.simPlotPoints(points,
Rgba.Blue,
POINT_CLOUD_POINT_SIZE,
is_persistent=True)
elif key == 27: # esc
ff.log("TRANSLATING:", total[EditMode.TRANSLATING])
ff.log("SCALING:", total[EditMode.SCALING])
return
else:
if key == ord(b"["):
step /= 2.0
elif key == ord(b"]"):
step *= 2.0
elif key == ord(b"\t"):
mode = EditMode.next(mode)
ff.log(f"{mode=} {step=}")
except KeyboardInterrupt:
return
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
initial_pose = client.simGetVehiclePose()
if args.verbose:
ff.print_pose(initial_pose, airsim.to_eularian_angles)
if args.flush:
client.simFlushPersistentMarkers()
# NOTE we have to use (-y, -x, -z), and not (x, -y, -z), because these
# files were exported from Unreal Engine as FBX with Force Front XAxis
BUILDING = False
STATUE = True
def convert_position(p, t, s):
if BUILDING or STATUE:
if t is not None: p += t
if s is not None: p *= s
x, y, z = map(float, p)
return Vector3r(-y, -x, -z)
else:
return convert_uavmvs_to_airsim_position(p, t, s)
points = [
# convert_uavmvs_to_airsim_position(_, translation=args.offset, scaling=args.scale)
convert_position(_, args.offset, args.scale)
for _ in args.points[::args.every_k]
]
client.simPlotPoints(points,
Rgba.Blue,
POINT_CLOUD_POINT_SIZE,
is_persistent=True)
if args.trajectory is not None:
camera_poses, camera_positions = [], []
for i, camera in enumerate(args.trajectory):
if not camera.spline_interpolated: # XXX
pose = convert_uavmvs_to_airsim_pose(camera=camera,
translation=args.offset,
scaling=args.scale)
# print(f"=== {i} ===")
# print(camera)
# print(pose)
camera_poses.append(pose)
camera_positions.append(pose.position)
# client.simPlotLineStrip(camera_positions, Rgba.Black, TRAJECTORY_THICKNESS, is_persistent=True)
# client.simPlotPoints(camera_positions, Rgba.White, CAMERA_POSE_SIZE, is_persistent=True)
client.simPlotTransforms(camera_poses,
10 * CAMERA_POSE_SIZE,
is_persistent=True)
if args.edit:
enter_edit_mode(client, points)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.reset:
client.reset()
client.simFlushPersistentMarkers()
plot_pose(client, TEST_POSE)
plot_xyz_axis(client, X, Y, Z, origin=O)
with airsimy.pose_at_simulation_pause(client) as pose:
plot_pose(client, pose)
client.simPlotArrows([pose.position], [LOOK_AT_TARGET],
Rgba.White,
is_persistent=True)
# NOTE use x' = (LOOK_AT_TARGET - p) as the new x-axis (i.e. front vector),
# and project the current up/down vector (z-axis in AirSim) into the plane
# that is normal to x' at point p. This way we can get the remaining right
# vector by computing cross(down, front).
x_prime = LOOK_AT_TARGET - pose.position
_, _, z_axis = AirSimNedTransform.local_axes_frame(pose)
z_prime = airsimy.vector_projected_onto_plane(z_axis,
plane_normal=x_prime)
# NOTE don't forget to normalize! Not doing so will break the orientation below.
x_prime /= x_prime.get_length()
z_prime /= z_prime.get_length()
y_prime = z_prime.cross(x_prime)
plot_xyz_axis(
client,
x_prime * 1.25,
y_prime * 1.25,
z_prime * 1.25,
origin=pose.position,
colors=CMY,
thickness=1.5,
)
# Now, find the orientation that corresponds to the x'-y'-z' axis frame:
new_pose = Pose(
pose.position,
airsimy.quaternion_that_rotates_axes_frame(
source_xyz_axes=(X, Y, Z),
target_xyz_axes=(x_prime, y_prime, z_prime),
),
)
plot_pose(client, new_pose
) # NOTE this should be the same as the plot_xyz_axis above!
if args.set:
client.simSetVehiclePose(new_pose, ignore_collision=True)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.flush:
client.simFlushPersistentMarkers()
if not args.transformation:
poses = [
Pose(record.position, record.orientation)
for record in args.recording.values()
]
positions = [record.position for record in args.recording.values()]
else:
matrix = np.loadtxt(
args.transformation) # load the 4x4 transformation matrix
print(matrix)
poses = []
positions = []
for record in args.recording.values():
pos = Vector3r(*np.matmul(matrix, np.append(record.position, 1)))
poses.append(Pose(pos, record.orientation))
positions = [pos]
if args.axes:
client.simPlotTransforms(poses,
scale=100.0,
thickness=2.5,
is_persistent=True)
else:
client.simPlotPoints(positions,
args.color,
size=10,
is_persistent=True)
if args.lines:
client.simPlotLineStrip(positions,
args.color,
thickness=2.5,
is_persistent=True)
if args.aim:
line_list = []
for pose in poses:
line_list.append(pose.position)
x_axis, _, _ = AirSimNedTransform.local_axes_frame(pose)
line_list.append(pose.position + x_axis * 100)
client.simPlotLineList(line_list,
args.color,
thickness=2.5,
is_persistent=True)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
if args.flush:
client.simFlushPersistentMarkers()
def pose_from_meshroom_to_airsim(meshroom_pose):
assert len(meshroom_pose.center) == 3 and len(
meshroom_pose.rotation) == 9, meshroom_pose
xyzw = MeshroomTransform.rotation(meshroom_pose.rotation,
as_xyzw_quaternion=True)
return Pose(Vector3r(*meshroom_pose.center), Quaternionr(*xyzw))
poses = [
pose_from_meshroom_to_airsim(pose)
for pose in args.poses_dict.values()
]
positions = [pose.position for pose in poses]
if args.axes:
client.simPlotTransforms(poses,
scale=75.0,
thickness=2.5,
is_persistent=True)
else:
client.simPlotPoints(positions,
args.color,
size=10,
is_persistent=True)
if args.lines:
client.simPlotLineStrip(positions,
args.color,
thickness=2.5,
is_persistent=True)
if args.transformation:
meshroom_to_airsim = np.loadtxt(
args.transformation) # load the 4x4 transformation matrix
print(meshroom_to_airsim)
def align_meshroom_to_airsim(meshroom_pose,
meshroom_to_airsim_transform):
# NOTE this transformation is only based on the positions (and not on the orientations)
meshroom_pos = np.append(meshroom_pose.position.to_numpy_array(),
1) # [x, y, z, 1]
airsim_pos = np.matmul(meshroom_to_airsim_transform, meshroom_pos)
return Pose(Vector3r(*airsim_pos), meshroom_pose.orientation)
aligned_poses = [
align_meshroom_to_airsim(pose, meshroom_to_airsim)
for pose in poses
]
aligned_positions = [pose.position for pose in aligned_poses]
if args.axes:
client.simPlotTransforms(aligned_poses,
scale=75.0,
thickness=2.5,
is_persistent=True)
else:
client.simPlotPoints(aligned_positions,
args.color,
size=10,
is_persistent=True)
if args.lines:
client.simPlotLineStrip(positions,
args.color,
thickness=2.5,
is_persistent=True)
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
initial_pose = client.simGetVehiclePose()
if args.verbose:
ff.print_pose(initial_pose, airsim.to_eularian_angles)
ff.log(client.simGetCameraInfo(camera_name=CAPTURE_CAMERA))
if args.flush or (args.capture_dir and not args.debug):
client.simFlushPersistentMarkers()
camera_poses = []
for camera in args.trajectory:
position = convert_uavmvs_to_airsim_position(
camera.position, translation=args.offset, scaling=args.scale
)
orientation = quaternion_orientation_from_eye_to_look_at(position, LOOK_AT_TARGET)
camera_poses.append(Pose(position, orientation))
if args.debug:
camera_positions = [pose.position for pose in camera_poses]
client.simPlotPoints(camera_positions, Rgba.Blue, is_persistent=True)
client.simPlotLineStrip(camera_positions, Rgba.Cyan, thickness=2.5, is_persistent=True)
airsim_record = []
def do_stuff_at_uavmvs_viewpoint(i, pose):
nonlocal client, camera_poses, airsim_record
log_string = f"({i}/{len(camera_poses)})"
p, q = pose.position, pose.orientation
if args.debug:
log_string += f" position = {to_xyz_str(p)}"
client.simPlotTransforms([pose], scale=100, is_persistent=True)
# client.simPlotArrows([p], [LOOK_AT_TARGET], Rgba.White, thickness=3.0, duration=10)
elif args.capture_dir:
path = f"{args.prefix}pose{args.suffix}_{i:0{len(str(len(camera_poses)))}}.png"
path = os.path.join(args.capture_dir, path)
airsim.write_png(path, AirSimImage.get_mono(client, CAPTURE_CAMERA))
log_string += f' saved image to "{path}"'
record_line = AirSimRecord.make_line_string(p, q, time_stamp=str(i), image_file=path)
airsim_record.append(record_line)
ff.log(log_string)
if IS_CV_MODE:
for i, camera_pose in enumerate(camera_poses):
client.simSetVehiclePose(camera_pose, ignore_collision=True)
do_stuff_at_uavmvs_viewpoint(i, camera_pose)
time.sleep(CV_SLEEP_SEC)
else:
client.moveToZAsync(z=-10, velocity=VELOCITY).join() # XXX avoid colliding on take off
client.hoverAsync().join()
mean_position_error = 0.0
for i, camera_pose in enumerate(camera_poses):
client.moveToPositionAsync(
*to_xyz_tuple(camera_pose.position),
velocity=VELOCITY,
drivetrain=DrivetrainType.MaxDegreeOfFreedom,
yaw_mode=YawMode(is_rate=False, yaw_or_rate=YAW_N),
).join()
with pose_at_simulation_pause(client) as real_pose:
# NOTE when we pre-compute the viewpoint's camera orientation, we use the
# expected drone position, which (should be close, but) is not the actual
# drone position. Hence, we could experiment with using fake orientation:
# quaternion_orientation_from_eye_to_look_at(real_pose.position, LOOK_AT_TARGET)
fake_pose = Pose(real_pose.position, camera_pose.orientation)
client.simSetVehiclePose(fake_pose, ignore_collision=True)
client.simContinueForFrames(1) # NOTE ensures pose change
do_stuff_at_uavmvs_viewpoint(i, fake_pose)
client.simSetVehiclePose(real_pose, ignore_collision=True)
position_error = real_pose.position.distance_to(camera_pose.position)
mean_position_error += position_error
ff.log_debug(f"{position_error = }")
mean_position_error /= len(camera_poses)
ff.log_debug(f"{mean_position_error = }")
if airsim_record:
print_to_file = args.record_path is not None
file = open(args.record_path, "w") if print_to_file else None
print(AirSimRecord.make_header_string(), file=(file if print_to_file else sys.stdout))
for line in airsim_record:
print(line, file=(file if print_to_file else sys.stdout))
if print_to_file:
file.close()
ff.log_info(f'Saved AirSim record to "{args.record_path}"')
def fly(client: airsim.MultirotorClient, args: argparse.Namespace) -> None:
# TODO verify we are in "ComputerVision" mode
# if (sim_mode := ff.curr_sim_mode()) != ff.SimMode.ComputerVision:
# assert False, f"Please change the SimMode from '{sim_mode}' to 'ComputerVision'"
if args.roi is not None:
if args.verbose:
ff.log_info(f"Loading ROI from '{args.roi}'\n")
with open(args.roi, "r") as f:
zone = Rect.from_dump(f.read())
else:
zone = Rect(Vector3r(), Vector3r(0, 10, 0), Vector3r(10, 0, 0))
# repeat the first coordinate to close the line strip
client.simPlotLineStrip(points=zone.corners(repeat_first=True), is_persistent=True)
# available keys (i.e. not used by AirSim)
# ,----------------------------------------------------------------------------------------.
# | ` | | | | 4 | 5 | 6 | 7 | 8 | 9 | | -* | = | |
# |----------------------------------------------------------------------------------------+
# | Tab | | | | | | Y | U | I* | O | P | [ | ] | |
# |----------------------------------------------------------------------------------------+
# | CpsLck | | | | | G | H | J | K* | L | | ' | Enter |
# |----------------------------------------------------------------------------------------+
# | Shift | Z | X | C | V | | N | | , | . | | Shift |
# `----------------------------------------------------------------------------------------'
ff.log("Use [z], [x], [c], [v] to move the region of interest (ROI)")
ff.log("Press [lshift] to swap editing modes (translating, scaling)")
ff.log("Press [rshift] to save the current ROI to json")
edit_mode = EditMode.TRANSLATING
# define keyboard callbacks
swap_mode_key = keyboard.Key.shift_l
save_rect_key = keyboard.Key.shift_r
def on_press(key):
nonlocal edit_mode, swap_mode_key, zone
client.simPrintLogMessage("ROI coordinates: ", message_param=str(zone))
if key == swap_mode_key:
edit_mode = EditMode.next(edit_mode, skip_rotation=True)
client.simPrintLogMessage("Current edit mode: ", message_param=edit_mode.name)
elif key == save_rect_key:
filename = save_zone(args.outputdir, zone)
client.simPrintLogMessage(f"Saved ROI coordinates to '{filename}'")
if args.verbose:
ff.log_info(f"Saved ROI coordinates to '{filename}'")
elif edit_zone(key, edit_mode, zone):
client.simFlushPersistentMarkers()
client.simPlotLineStrip(points=zone.corners(repeat_first=True), is_persistent=True)
def on_release(key):
if key == keyboard.Key.esc:
return False # stop the listener
# collect events until released
with keyboard.Listener(on_press=on_press, on_release=on_release) as listener:
ff.log("Press [esc] to quit")
listener.join()
if args.clear:
client.simFlushPersistentMarkers()