def test_rgbd_camera(self):
sdf_path = FindResourceOrThrow(
"drake/systems/sensors/test/models/nothing.sdf")
tree = RigidBodyTree()
with open(sdf_path) as f:
sdf_string = f.read()
AddModelInstancesFromSdfString(sdf_string, FloatingBaseType.kFixed,
None, tree)
frame = RigidBodyFrame("rgbd camera frame", tree.FindBody("link"))
tree.addFrame(frame)
# Use HDTV size.
width = 1280
height = 720
camera = attic_mut.RgbdCamera(name="camera",
tree=tree,
frame=frame,
z_near=0.5,
z_far=5.0,
fov_y=np.pi / 4,
show_window=False,
width=width,
height=height)
def check_info(camera_info):
self.assertIsInstance(camera_info, mut.CameraInfo)
self.assertEqual(camera_info.width(), width)
self.assertEqual(camera_info.height(), height)
check_info(camera.color_camera_info())
check_info(camera.depth_camera_info())
self.assertIsInstance(camera.color_camera_optical_pose(), Isometry3)
self.assertIsInstance(camera.depth_camera_optical_pose(), Isometry3)
self.assertTrue(camera.tree() is tree)
# N.B. `RgbdCamera` copies the input frame.
self.assertEqual(camera.frame().get_name(), frame.get_name())
self._check_ports(camera)
# Test discrete camera.
period = attic_mut.RgbdCameraDiscrete.kDefaultPeriod
discrete = attic_mut.RgbdCameraDiscrete(camera=camera,
period=period,
render_label_image=True)
self.assertTrue(discrete.camera() is camera)
self.assertTrue(discrete.mutable_camera() is camera)
self.assertEqual(discrete.period(), period)
self._check_ports(discrete)
# That we can access the state as images.
context = discrete.CreateDefaultContext()
values = context.get_abstract_state()
self.assertIsInstance(values.get_value(0), Value[mut.ImageRgba8U])
self.assertIsInstance(values.get_value(1), Value[mut.ImageDepth32F])
self.assertIsInstance(values.get_value(2), Value[mut.ImageLabel16I])
def test_frame_api(self):
tree = RigidBodyTree(FindResourceOrThrow(
"drake/examples/pendulum/Pendulum.urdf"))
# xyz + rpy
frame = RigidBodyFrame(
name="frame_1", body=tree.world(),
xyz=[0, 0, 0], rpy=[0, 0, 0])
self.assertEqual(frame.get_name(), "frame_1")
tree.addFrame(frame)
self.assertTrue(frame.get_frame_index() < 0, frame.get_frame_index())
self.assertTrue(frame.get_rigid_body() is tree.world())
self.assertIsInstance(frame.get_transform_to_body(), Isometry3)
self.assertTrue(tree.findFrame(frame_name="frame_1") is frame)
def test_rgbd_camera(self):
sdf_path = FindResourceOrThrow(
"drake/systems/sensors/test/models/nothing.sdf")
tree = RigidBodyTree()
with open(sdf_path) as f:
sdf_string = f.read()
AddModelInstancesFromSdfString(
sdf_string, FloatingBaseType.kFixed, None, tree)
frame = RigidBodyFrame("rgbd camera frame", tree.FindBody("link"))
tree.addFrame(frame)
# Use HDTV size.
width = 1280
height = 720
camera = attic_mut.RgbdCamera(
name="camera", tree=tree, frame=frame,
z_near=0.5, z_far=5.0,
fov_y=np.pi / 4, show_window=False,
width=width, height=height)
def check_info(camera_info):
self.assertIsInstance(camera_info, mut.CameraInfo)
self.assertEqual(camera_info.width(), width)
self.assertEqual(camera_info.height(), height)
check_info(camera.color_camera_info())
check_info(camera.depth_camera_info())
self.assertIsInstance(camera.color_camera_optical_pose(), Isometry3)
self.assertIsInstance(camera.depth_camera_optical_pose(), Isometry3)
self.assertTrue(camera.tree() is tree)
# N.B. `RgbdCamera` copies the input frame.
self.assertEqual(camera.frame().get_name(), frame.get_name())
self._check_ports(camera)
# Test discrete camera.
period = attic_mut.RgbdCameraDiscrete.kDefaultPeriod
discrete = attic_mut.RgbdCameraDiscrete(
camera=camera, period=period, render_label_image=True)
self.assertTrue(discrete.camera() is camera)
self.assertTrue(discrete.mutable_camera() is camera)
self.assertEqual(discrete.period(), period)
self._check_ports(discrete)
# That we can access the state as images.
context = discrete.CreateDefaultContext()
values = context.get_abstract_state()
self.assertIsInstance(values.get_value(0), Value[mut.ImageRgba8U])
self.assertIsInstance(values.get_value(1), Value[mut.ImageDepth32F])
self.assertIsInstance(values.get_value(2), Value[mut.ImageLabel16I])
from pydrake.systems.sensors import CameraInfo
from pydrake.attic.systems.sensors import RgbdCamera
# Create tree describing scene.
urdf_path = FindResourceOrThrow(
"drake/multibody/models/box.urdf")
tree = RigidBodyTree()
AddModelInstanceFromUrdfFile(
urdf_path, FloatingBaseType.kFixed, None, tree)
# - Add frame for camera fixture.
frame = RigidBodyFrame(
name="rgbd camera frame",
body=tree.world(),
xyz=[-2, 0, 2], # Ensure that the box is within range.
rpy=[0, np.pi / 4, 0])
tree.addFrame(frame)
# Create camera.
camera = RgbdCamera(
name="camera", tree=tree, frame=frame,
z_near=0.5, z_far=5.0,
fov_y=np.pi / 4, show_window=True)
# - Describe state.
x = np.zeros(tree.get_num_positions() + tree.get_num_velocities())
# Allocate context and render.
context = camera.CreateDefaultContext()
context.FixInputPort(0, BasicVector(x))
output = camera.AllocateOutput()
camera.CalcOutput(context, output)
