def main():
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (cairo_plot_rectangle)
from vehicles_cairo import cairo_plot_circle, cairo_set_axis, show_grid
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--outdir", "-o", default='.',
help="output directory [%default]")
# parser.add_option("--outdir", "-o", default='.',
# help="additional config directory [%default]")
(options, args) = parser.parse_args()
if args:
raise Exception()
width = 400
height = 400
r = Report('skins_demo')
f = r.figure(cols=3)
import cairo
VehiclesConfig.make_sure_loaded()
skins = get_conftools_skins().keys()
logger.info('Skins: %s' % skins)
for id_skin in skins:
skin = get_conftools_skins().instance(id_skin)
with f.data_file(id_skin, MIME_PNG) as filename:
surf = cairo.ImageSurface(cairo.FORMAT_ARGB32, # @UndefinedVariable
width, height)
cr = cairo.Context(surf) # @UndefinedVariable
cairo_plot_rectangle(cr, 0, 0, width, height, fill_color=[1, 1, 1])
cairo_set_axis(cr, width, height, [-2, +2, -2, +2])
cairo_plot_circle(cr, center=[0, 0], radius=1, facecolor=None,
edgecolor=(1, 0, 0), width=0.1)
show_grid(cr, bx=[-3, +3], by=[-3, +3], spacing=1.0)
if skin.njoints_required() > 1:
logger.warning('Skipping skin %r' % id_skin)
continue
try:
skin.draw(cr, joints=[])
except Exception:
logger.error('Error for skin %r' % id_skin)
raise
surf.write_to_png(filename) # Output to PNG
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def info(self, s):
logger.info(s) # XXX
def inspect_textures():
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("-w", "--world", default='stochastic_box_10',
help="ID world [%default].")
parser.add_option("-n", default=1, type='int',
help="number of simulations [%default].")
parser.add_option("--outdir", "-o", default='out-inspect_textures',
help="output directory [%default]")
parser.add_option("--figsize", default=1, type='float',
help="figsize (inches) [%default]")
parser.add_option("-z", "--zoom", default=0, type='float',
help="zoom in meters; 0 for full view [%default]")
(options, args) = parser.parse_args()
if args:
raise Exception() # XXX
id_world = options.world
logger.info(' id_world: %s' % id_world)
world = VehiclesConfig.worlds.instance(id_world) # @UndefinedVariable
from reprep import Report
basename = 'inspect_textures-%s' % (id_world)
r = Report(basename)
for i in range(options.n):
sec = r.node('simulation%d' % i)
world.new_episode()
primitives = world.get_primitives()
for p in primitives:
psec = sec.node('%s_%d' % (p.__class__.__name__, p.id_object))
psec.text('object', pformat(p.to_yaml()))
f = psec.figure(cols=2)
if not isinstance(p, GeometricShape):
continue
perimeter = p.get_perimeter()
texture = instantiate_spec(p.texture)
chunk_size = 10
nchunks = np.ceil(perimeter * 1.0 / chunk_size)
for c in range(int(nchunks)):
xfrom = c * chunk_size
xto = np.minimum(perimeter, xfrom + chunk_size)
N = 1000
x = np.linspace(xfrom, xto, N)
lum = texture(x)
with f.plot('chunk%s' % c,
figsize=(options.figsize * 10,
options.figsize)) as pylab:
pylab.plot(x, lum)
pylab.axis((xfrom, xfrom + chunk_size, -0.1, 1.1))
#
# if False:
# with f.data_pylab('pdf', mime=MIME_PDF,
# figsize=(options.figsize,
# options.figsize)) as pylab:
# display_all(pylab, sim_state, grid=1, zoom=0,
# show_sensor_data = True)
# f.last().add_to(f)
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def info(self, s):
logger.info(s) # XXX
def main():
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (cairo_plot_rectangle)
from vehicles_cairo import cairo_plot_circle, cairo_set_axis, show_grid
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--outdir",
"-o",
default='.',
help="output directory [%default]")
# parser.add_option("--outdir", "-o", default='.',
# help="additional config directory [%default]")
(options, args) = parser.parse_args()
if args:
raise Exception()
width = 400
height = 400
r = Report('skins_demo')
f = r.figure(cols=3)
import cairo
VehiclesConfig.make_sure_loaded()
skins = get_conftools_skins().keys()
logger.info('Skins: %s' % skins)
for id_skin in skins:
skin = get_conftools_skins().instance(id_skin)
with f.data_file(id_skin, MIME_PNG) as filename:
surf = cairo.ImageSurface(
cairo.FORMAT_ARGB32, # @UndefinedVariable
width,
height)
cr = cairo.Context(surf) # @UndefinedVariable
cairo_plot_rectangle(cr, 0, 0, width, height, fill_color=[1, 1, 1])
cairo_set_axis(cr, width, height, [-2, +2, -2, +2])
cairo_plot_circle(cr,
center=[0, 0],
radius=1,
facecolor=None,
edgecolor=(1, 0, 0),
width=0.1)
show_grid(cr, bx=[-3, +3], by=[-3, +3], spacing=1.0)
if skin.njoints_required() > 1:
logger.warning('Skipping skin %r' % id_skin)
continue
try:
skin.draw(cr, joints=[])
except Exception:
logger.error('Error for skin %r' % id_skin)
raise
surf.write_to_png(filename) # Output to PNG
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def main():
from vehicles_cairo import vehicles_has_cairo
if not vehicles_has_cairo:
logger.error('This program cannot be run if Cairo is not installed.')
return
from vehicles_cairo import (vehicles_cairo_display_pdf,
vehicles_cairo_display_png,
vehicles_cairo_display_svg,
cairo_plot_circle2)
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("--vehicles", default='*',
help="ID vehicle [%default].")
parser.add_option("--world", default='SBox2_10a',
# default='empty_fixed',
help="ID world [%default].")
parser.add_option("--outdir", "-o",
default='vehicles_demo_display_vehicles',
help="output directory [%default]")
parser.add_option("--figsize", default=10, type='float',
help="figsize (inches) [%default]")
parser.add_option("-g", "--grid", default=1, type='float',
help="grid size in meters; 0 for no grid [%default]")
parser.add_option("-d", dest="config", default=".",
help="Config directory")
parser.add_option("--scale", default=False, action='store_true',
help="If given, displays the scale with a red circle")
(options, args) = parser.parse_args()
if args:
raise Exception() # XXX
id_world = options.world
logger.info(' id_world: %s' % id_world)
from reprep import Report, MIME_PDF
basename = 'vehicles_demo'
r = Report(basename)
logger.info('Loading configuration from %s' % options.config)
VehiclesConfig.load(options.config)
# TODO: selection
all_vehicles = VehiclesConfig.vehicles.keys()
if options.vehicles is None:
vehicles = all_vehicles
else:
vehicles = expand_string(options.vehicles, all_vehicles)
print('Plotting vehicles: %s' % vehicles)
f0 = r.figure(cols=6)
f0_data = r.figure(cols=6)
for id_vehicle in sorted(vehicles):
sec = r.node(id_vehicle)
f = sec.figure(cols=6)
world = VehiclesConfig.specs['worlds'].instance(id_world)
vehicle = VehiclesConfig.specs['vehicles'].instance(id_vehicle)
simulation = VehicleSimulation(vehicle, world)
simulation.new_episode()
simulation.compute_observations()
sim_state = simulation.to_yaml()
def draw_scale(cr):
if options.scale:
cairo_plot_circle2(cr, 0, 0,
vehicle.radius, fill_color=(1, .7, .7))
plot_params = dict(grid=options.grid,
zoom=1.5,
zoom_scale_radius=True,
width=500, height=500,
show_sensor_data=True,
show_sensor_data_compact=True,
extra_draw_world=draw_scale,
bgcolor=None,
show_world=False)
with f.data_file('png_with', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
sim_state=sim_state, **plot_params)
f0_data.sub(f.last(), caption=id_vehicle)
plot_params['show_sensor_data'] = False
with f.data_file('png_without', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
sim_state=sim_state, **plot_params)
f0.sub(f.last(), caption=id_vehicle)
with f.data_file('svg', MIME_SVG) as filename:
vehicles_cairo_display_svg(filename,
sim_state=sim_state, **plot_params)
plot_params['grid'] = 0
plot_params['extra_draw_world'] = None
with sec.data_file('pdf', MIME_PDF) as filename:
vehicles_cairo_display_pdf(filename,
sim_state=sim_state, **plot_params)
plot_params['show_robot_body'] = True
plot_params['show_robot_sensors'] = False
with f.data_file('png_only_body', MIME_PNG) as filename:
vehicles_cairo_display_png(filename,
sim_state=sim_state, **plot_params)
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
def inspect_textures():
parser = OptionParser(usage=usage)
parser.disable_interspersed_args()
parser.add_option("-w",
"--world",
default='stochastic_box_10',
help="ID world [%default].")
parser.add_option("-n",
default=1,
type='int',
help="number of simulations [%default].")
parser.add_option("--outdir",
"-o",
default='out-inspect_textures',
help="output directory [%default]")
parser.add_option("--figsize",
default=1,
type='float',
help="figsize (inches) [%default]")
parser.add_option("-z",
"--zoom",
default=0,
type='float',
help="zoom in meters; 0 for full view [%default]")
(options, args) = parser.parse_args()
if args:
raise Exception() # XXX
id_world = options.world
logger.info(' id_world: %s' % id_world)
world = VehiclesConfig.worlds.instance(id_world) # @UndefinedVariable
from reprep import Report
basename = 'inspect_textures-%s' % (id_world)
r = Report(basename)
for i in range(options.n):
sec = r.node('simulation%d' % i)
world.new_episode()
primitives = world.get_primitives()
for p in primitives:
psec = sec.node('%s_%d' % (p.__class__.__name__, p.id_object))
psec.text('object', pformat(p.to_yaml()))
f = psec.figure(cols=2)
if not isinstance(p, GeometricShape):
continue
perimeter = p.get_perimeter()
texture = instantiate_spec(p.texture)
chunk_size = 10
nchunks = np.ceil(perimeter * 1.0 / chunk_size)
for c in range(int(nchunks)):
xfrom = c * chunk_size
xto = np.minimum(perimeter, xfrom + chunk_size)
N = 1000
x = np.linspace(xfrom, xto, N)
lum = texture(x)
with f.plot('chunk%s' % c,
figsize=(options.figsize * 10,
options.figsize)) as pylab:
pylab.plot(x, lum)
pylab.axis((xfrom, xfrom + chunk_size, -0.1, 1.1))
#
# if False:
# with f.data_pylab('pdf', mime=MIME_PDF,
# figsize=(options.figsize,
# options.figsize)) as pylab:
# display_all(pylab, sim_state, grid=1, zoom=0,
# show_sensor_data = True)
# f.last().add_to(f)
filename = os.path.join(options.outdir, 'index.html')
logger.info('Writing to %r.' % filename)
r.to_html(filename)
