forked from robotika/heidi
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viewer.py
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/
viewer.py
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#!/usr/bin/env python
"""
simple tool for robot path analysis
viewer.py <filename> [--startIndex=<num>] [<scale> [<tile size>]]
"""
import sys
import os, math, pygame
from pygame.locals import *
# ------- video loading ----------
import pave
import cv2
# hack for RR only
from rr_drone import processFrame
printPosition = True
printEncoders = True
size = 1200, 660
offset = 150, 150
absOffset = 0, 0 # offset of original (x,y) coordinate system (Robotour stromovka = 1049800.66, 5580126.84 )
sample_color = (255,0,0)
sample_size = 20
track_color = (0,255,0)
track_size = 2
tile_size = 0.5
def deg(degAngle): return math.pi*degAngle/180.0
def draw(surface, samples):
for s in samples:
surface.fill(sample_color, (to_px(s[0]), to_px(s[1]), sample_size, sample_size))
def to_px(x): return int(x*150*scale)
def _scr(x,y): return (to_px(x)+offset[0], size[1]-to_px(y)-offset[1])
def scr(x,y): return _scr(x-absOffset[0], y-absOffset[1])
def scr1( point ) : return scr( point[0], point[1] )
#-------------------------------------------------
def getCombinedPose( pose, sensorPose ):
x = pose[0] + sensorPose[0] * math.cos( pose[2] ) - sensorPose[1] * math.sin( pose[2] )
y = pose[1] + sensorPose[0] * math.sin( pose[2] ) + sensorPose[1] * math.cos( pose[2] )
heading = sensorPose[2] + pose[2]
return (x, y, heading)
def loadVideoFrame( filename ):
assert ":" in filename, filename
frameNumber = int(filename.split(':')[-1])
filename = ":".join(filename.split(":")[:-1])
f = open(filename,"rb")
proc = pave.PaVE()
while True:
packet = f.read(10000)
if (packet) == 0:
break
proc.append( packet )
header,payload = proc.extract()
while payload:
if pave.isIFrame( header ) and pave.frameNumber( header ) == frameNumber:
tmpFile = open( "tmp.bin", "wb" )
tmpFile.write( payload )
tmpFile.flush()
tmpFile.close()
cap = cv2.VideoCapture( "tmp.bin" )
ret, frame = cap.read()
processFrame( frame, debug=True ) # hack!!
cv2.imwrite( "test.jpg", frame ) # dirty solution how to get image from OpenCV to Pygame :(
return pygame.image.load( "test.jpg" )
header,payload = proc.extract()
return None # frame not found
def loadData( filename ):
# geometry = ( ( -0.02, 0.04, deg(90) ), ( -0.02, -0.04, deg(-90) ) )
# geometry = ( ( -0.09, 0.14, deg(90) ), ( -0.09, -0.14, deg(-90) ) )
# geometry = ( ( -0.09, 0.14, deg(90) ), ( -0.09, -0.14, deg(-90) ),
# ( 0.05, 0.10, deg(0) ), ( 0.05, -0.10, deg(0) ) )
map = []
geometry = []
posesSet = []
poses = []
scans = []
image = None
video = None
camdir = None
compass = None
readingMap = False
for line in open( filename ):
arr = line.rstrip().split()
if not line.rstrip():
continue
if arr[0] == "Map":
readingMap = True
elif arr[0] == "Poses":
readingMap = False
if poses:
posesSet.append( (poses, scans, image, camdir, compass) )
poses = []
scans = []
image = None
camdir = None
compass = None
elif arr[0] == "Compass":
readingMap = False
compass = float(arr[1])
elif arr[0] == "Geometry":
geometry = []
tmp = arr[1:]
while len( tmp ) > 0:
geometry.append( (float(tmp[0]), float(tmp[1]), float(tmp[2])) )
tmp = tmp[3:]
elif arr[0] == "Ranger":
readingMap = False
i = 0
for a in arr[4:]:
scans.append( ( getCombinedPose( (float(arr[1]), float(arr[2]), float(arr[3])), geometry[i] ), float(a)) )
i += 1
elif arr[0] == "Beacon":
assert( int(arr[1]) == 1 )
index = len(arr)>4 and int(arr[4]) or 0
if len(arr) == 7:
scans.append( ( ( float(arr[2]), float(arr[3]), 0.0 ), -1.5, [int(c) for c in arr[-3:]]) ) # color param
else:
scans.append( ( ( float(arr[2]), float(arr[3]), 0.0 ), -1.0-index/10.0) )
elif arr[0] == "Puck":
assert( int(arr[1]) == 1 )
scans.append( ( ( float(arr[2]), float(arr[3]), 0.0 ), -2.0) )
elif arr[0] == "RefPose":
assert( int(arr[1]) == 1 )
scans.append( ( ( float(arr[2]), float(arr[3]), 0.0 ), -3.0) )
elif arr[0] == "Image":
image = arr[1]
elif arr[0] == "Video":
video = arr[1]
elif arr[0] == "Frame":
assert video != None
image = video + ":" + arr[1] # frame number
elif arr[0] == "ImageResult":
try:
camdir = float(arr[1])
except: #it cannot be interpreted as a direction
pass
else:
if readingMap:
map.append( ((float(arr[0]), float(arr[1])), (float(arr[2]),float(arr[3]))) )
else:
poses.append( (float(arr[0]), float(arr[1]), float(arr[2])) )
posesSet.append( (poses,scans,image,camdir, compass) )
return posesSet, map
def drawPoses( foreground, poses ):
d = 0.3
for (x,y,heading) in poses:
pygame.draw.circle( foreground, (0,0,255), scr(x,y),5 )
pygame.draw.line( foreground, (255,255,0), scr(x,y), scr(x+d*math.cos(heading),y+d*math.sin(heading)),5)
def drawCompass( foreground, scanArr ):
if scanArr[4]:
x,y,heading = scanArr[0][0]
heading = scanArr[4]
d = 0.4
pygame.draw.line( foreground, (0,0,255), scr(x,y), scr(x+d*math.cos(heading),y+d*math.sin(heading)),5)
def drawScans( foreground, scans, shouldDrawSensors, shouldDrawBeacons ):
for row in scans:
color = None
if len(row) == 2:
((x,y,heading),range) = row
else:
((x,y,heading),range, color) = row
if range >= 0:
if range > 0:
if shouldDrawSensors:
col = (0,255,0)
ptSize = 6
if range > 2.0:
col = (0,100,0)
ptSize = 3
pygame.draw.circle( foreground, col, scr(x+range*math.cos(heading),y+range*math.sin(heading)), ptSize )
pygame.draw.circle( foreground, (255,0,0), scr(x,y), 4 )
elif range > -1.99:
# beacons (not nice)
if shouldDrawBeacons:
if color == None:
pygame.draw.circle( foreground, (255,0,int((-1-range)*255*3.3)), scr(x,y), 6 )
else:
pygame.draw.circle( foreground, color, scr(x,y), 6 )
elif range > -2.5:
# pucks (not nice2)
pygame.draw.circle( foreground, (255,0,168), scr(x,y), 3 )
else:
# ref MCL pose (not nice3)
pygame.draw.circle( foreground, (255,0,0), scr(x,y), 1 )
def drawMap( foreground, map ):
for m in map:
pygame.draw.line( foreground, (0,255,255), scr1(m[0]), scr1(m[1]),5)
def drawImage( foreground, imgFileName, camdir ):
if imgFileName:
# imgFileName = 'D:\\md\\hg\\eduro-logs\\100619-rychnov\\pes1\\cam100619_145404_000.jpg'
if "video_rec" in imgFileName:
camera = loadVideoFrame( imgFileName )
else:
camera = pygame.image.load( imgFileName ).convert()
cameraView = pygame.transform.scale( camera, (320, 180) )
if camdir is not None:
color = (0xFF, 0x00, 0x00)
start_pos = (160, 180)
length = 80
end_pos = (160 - length * math.sin(camdir), 180 - length * math.cos(camdir))
width = 2
pygame.draw.line(cameraView, color, start_pos, end_pos, width)
foreground.blit( cameraView, (size[0]-320,0) )
def drawTiles( background ):
background.fill((35, 35, 35))
tile_size_px = to_px(tile_size)
for x in range(0, size[0] + tile_size_px, tile_size_px):
for y in range(0, size[1] + tile_size_px, tile_size_px):
if (x / tile_size_px) % 2 == (y / tile_size_px) % 2:
background.fill((235, 235, 235), Rect(x, size[1] - y, tile_size_px, tile_size_px))
# draw scale
pygame.draw.line( background, (255,0,0), (20,size[1]-20), (20+to_px(1.0),size[1]-20),3)
pygame.draw.line( background, (255,0,0), (20,size[1]-10), (20,size[1]-30),1)
pygame.draw.line( background, (255,0,0), (20+to_px(1.0),size[1]-10), (20+to_px(1.0),size[1]-30),1)
def main( filename, scale = 1.0, startIndex = None ):
# load pygame
pygame.init()
os.environ['SDL_VIDEO_CENTERED'] = '1'
#screen = pygame.display.set_mode(size, NOFRAME, 0)
screen = pygame.display.set_mode(size)
# create backgroud
background = pygame.Surface(screen.get_size())
drawTiles(background)
# create foreground
foreground = pygame.Surface(screen.get_size())
foreground.set_colorkey((0,0,0))
index = 0
# display everything
screen.blit(background, (0, 0))
screen.blit(foreground, (0, 0))
pygame.display.flip()
pygame.event.set_blocked(MOUSEMOTION) # keep our queue cleaner
pygame.key.set_repeat ( 200, 20 )
shouldDrawTiles = True
shouldDrawMap = True
shouldDrawSensors = False
shouldDrawBeacons = False
shouldRefreshNow = False
posesScanSet, map = loadData( filename )
drawPoses( foreground, posesScanSet[0][0] )
drawScans( foreground, posesScanSet[0][1], shouldDrawSensors, shouldDrawBeacons )
screen.blit(background, (0, 0))
screen.blit(foreground, (0, 0))
pygame.display.set_caption("Viewer init ...")
pygame.display.flip()
global absOffset
if startIndex != None:
index = startIndex
if index < len(posesScanSet):
# move robot into center
pose = posesScanSet[index][0][0]
absOffset = pose[:2]
else:
# skip first non-moving part
index = 0
for s in posesScanSet:
pose = s[0][0]
index += 1
if math.fabs(pose[0])+math.fabs(pose[1]) > 1.0:
absOffset = pose[:2]
break
if index >= len(posesScanSet):
index = len(posesScanSet) - 1
print index, len(posesScanSet), absOffset
imgFileName = None
lastImgFileName = None
while 1:
if imgFileName:
t = str(imgFileName)+' ***'
lastImgFileName = imgFileName
else:
t = str(lastImgFileName)
pygame.display.set_caption("Index: %d, sensors %s, img %s" % (index, shouldDrawSensors and "on" or "off", t) )
shouldRefreshNow = False
event = pygame.event.wait()
if event.type == QUIT: return
if event.type == KEYDOWN:
if event.key in (K_ESCAPE,K_q): return
if event.key == K_p:
if index + 1 < len( posesScanSet ):
index += 1
if event.key == K_o:
if index + 10 < len( posesScanSet ):
index += 10
if event.key == K_i:
if index > 0:
index -= 1
if event.key == K_0:
index = 0
if event.key == K_9:
index = len( posesScanSet ) - 1
if event.key == K_m:
shouldDrawMap = not shouldDrawMap;
if event.key == K_s:
shouldDrawSensors = not shouldDrawSensors;
if event.key == K_b:
shouldDrawBeacons = not shouldDrawBeacons;
if event.key == K_RIGHT:
globals()['offset'] = (offset[0]+150, offset[1])
shouldRefreshNow = True
if event.key == K_LEFT:
globals()['offset'] = (offset[0]-150, offset[1])
shouldRefreshNow = True
if event.key == K_UP:
globals()['offset'] = (offset[0], offset[1]+150)
shouldRefreshNow = True
if event.key == K_DOWN:
globals()['offset'] = (offset[0], offset[1]-150)
shouldRefreshNow = True
if event.key == K_PLUS or event.unicode == '+':
globals()['scale'] *= 2.0
globals()['tile_size'] /= 2.0
shouldDrawTiles = shouldDrawMap = shouldDrawSensors = shouldDrawBeacons = True
shouldRefreshNow = True
if event.key == K_MINUS or event.unicode == '-':
globals()['scale'] /= 2.0
globals()['tile_size'] *= 2.0
shouldDrawTiles = shouldDrawMap = shouldDrawSensors = shouldDrawBeacons = True
shouldRefreshNow = True
def has_image(k):
return bool(posesScanSet[k][2])
if has_image(index) or shouldRefreshNow:
foreground.fill( (0,0,0) )
refreshed_since = index
if shouldRefreshNow:
while refreshed_since > 0:
if has_image(refreshed_since):
break
refreshed_since -= 1
for i in range(refreshed_since, index + 1):
drawPoses( foreground, posesScanSet[i][0] )
drawCompass( foreground, posesScanSet[i] )
drawScans( foreground, posesScanSet[i][1], shouldDrawSensors, shouldDrawBeacons )
drawImage( foreground, posesScanSet[i][2], posesScanSet[i][3] )
imgFileName = posesScanSet[i][2]
if event.key == K_a:
foreground.fill( (0,0,0) )
for (p,s,i,camdir,comp) in posesScanSet:
drawScans( foreground, s, shouldDrawSensors, shouldDrawBeacons )
if shouldDrawTiles:
drawTiles(background)
if shouldDrawMap:
drawMap( foreground, map )
screen.blit(background, (0, 0))
screen.blit(foreground, (0, 0))
pygame.display.flip()
def usage():
print __doc__
if __name__ == "__main__":
if len(sys.argv) < 2:
usage()
sys.exit(2)
scale = 1.0
args = sys.argv[:]
startIndex = None
if len(args) > 2 and args[2].startswith("--startIndex"):
startIndex = int(args[2].split('=')[1])
args = args[:2]+args[3:]
if len(args) > 2:
scale = float( args[2] )
if len(args) > 3:
tile_size = float( args[3] )
main(args[1], scale=scale, startIndex=startIndex)