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robot builder wip

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brothermechanic 2024-07-01 14:12:33 +03:00
parent ba6a8e9d08
commit bafa332cac
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10 changed files with 381 additions and 256 deletions
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2
rcg_pipeline/README.md
View file

@ -31,5 +31,5 @@ import rcg_pipeline
project_dir = '/path/to/<my_project_dir>'
rcg_pipeline.libs.generate_libs_database(project_dir)
rcg_pipeline.render_asset.build_render_assets(project_dir)
rcg_pipeline.render_assets.build_render_assets(project_dir)
```

14
rcg_pipeline/rcg_pipeline/__init__.py
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@ -39,12 +39,14 @@ __email__ = 'brothermechanic@yandex.com'
__copyright__ = 'Copyright (C) 2021-2024 Robossembler LLC'
__url__ = ['https://robossembler.org']
__license__ = 'GPL-3'
#__all__ = ['libs', 'render_asset', 'rcg_full_pipeline']
#__all__ = ['libs', 'render_assets', 'rcg_full_pipeline']
import logging
from . import libs
from . import render_asset
from . import robot_asset
#from . import world_assets
logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
@ -56,7 +58,15 @@ def rcg_full_pipeline(project_dir):
# 1 generate libs
libs.generate_libs_database(project_dir)
# 2 build render assets
# 2.1 build render assets
render_asset.build_render_assets(project_dir)
return True
# 3 build robot assets
def build_robot_assets(robot_dirs):
for robot_dir in robot_dirs:
robot_asset.build_robot_asset(robot_dir)
# 4 build world assets
# world_assets.build_world_assets(assembly_dirs, world_dirs)

17
rcg_pipeline/rcg_pipeline/render_asset.py
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@ -60,9 +60,12 @@ def recursive_layer_collection(layer_coll, coll_name):
return False
def assembly_builder(item, libs_data, libs_data_dir, collection=None, parent=None):
def assembly_builder(item, libs_data, collection=None, parent=None):
'''
'''
if not item.get('type'):
item['type'] = 'PART'
if not collection:
collection = bpy.context.scene.collection
@ -99,11 +102,10 @@ def assembly_builder(item, libs_data, libs_data_dir, collection=None, parent=Non
if not loc.library]
if local_obj:
local_obj[0].name += '_loc'
item_file_path = os.path.join(libs_data_dir, item_data[0]['path'])
# TODO already linked
bpy.ops.wm.link(
filepath=item_file_path,
directory=os.path.join(item_file_path, 'Collection'),
filepath=item_data[0]['path'],
directory=os.path.join(item_data[0]['path'], 'Collection'),
filename=item['base_name'],
relative_path=True,
do_reuse_local_id=True,
@ -137,7 +139,7 @@ def assembly_builder(item, libs_data, libs_data_dir, collection=None, parent=Non
if item.get('children'):
for child_item in item.get('children'):
assembly_builder(
child_item, libs_data, libs_data_dir, collection, parent=item_obj)
child_item, libs_data, collection, parent=item_obj)
return True
@ -225,8 +227,11 @@ def build_render_assets(project_dir):
render_collection.name)
bpy.context.view_layer.active_layer_collection = active_collection
# solve libs paths
for lib_data in libs_data:
lib_data['path'] = os.path.join(project_dir, lib_data['path'])
# build original hierarchy
assembly_builder(tree_item, libs_data, project_dir, render_collection)
assembly_builder(tree_item, libs_data, render_collection)
# rebuild to LCS hierarchy
assembly_rebuilder()

127
rcg_pipeline/rcg_pipeline/robot_asset.py Normal file
View file

@ -0,0 +1,127 @@
# ***** BEGIN GPL LICENSE BLOCK *****
#
# Copyright (C) 2021-2024 Robossembler LLC
#
# Created by Ilia Kurochkin (brothermechanic)
# contact: brothermechanic@yandex.com
#
# This file is part of Robossembler Framework
# project repo: https://gitlab.com/robossembler/framework
#
# Robossembler Framework is free software;
# you can redistribute it and/or modify
# it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 3
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, see <https://www.gnu.org/licenses/>.
#
# ***** END GPL LICENSE BLOCK *****
#
# coding: utf-8
'''
DESCRIPTION.
Generate render asset from assembly tree and CG libs database.
'''
__version__ = '1.0'
import logging
import json
import os
import shutil
import bpy
from .utils.collection_tools import remove_collections_with_objects
from .utils.cleanup_orphan_data import cleanup_orphan_data
from .render_asset import (assembly_builder, recursive_layer_collection)
logger = logging.getLogger(__name__)
def collect_asset_base_paths(tree_data):
yield tree_data['base_path']
for asset_data in tree_data['children']:
yield from collect_asset_base_paths(asset_data)
def solve_assets_path(assets_data, asset_base_path):
for asset in assets_data:
asset['path'] = os.path.join(asset_base_path, asset['path'])
return assets_data
def build_robot_asset(robot_dir):
'''
'''
robot_dir = os.path.normpath(robot_dir)
robot_name = os.path.basename(robot_dir)
robot_data_path = os.path.join(robot_dir, robot_name + '.json')
blend_path = os.path.join(robot_dir, robot_name + '.blend')
if not os.path.exists(robot_data_path):
raise Exception('No robot database found! Check %s directory' % robot_dir)
with open(robot_data_path, encoding='utf-8') as data:
robot_data = json.load(data)
# robot dir cleanup
if os.path.exists(blend_path):
os.remove(blend_path)
if os.path.exists(blend_path + '1'):
os.remove(blend_path + '1')
# start from stratch
bpy.ops.wm.read_homefile()
remove_collections_with_objects()
cleanup_orphan_data()
# create robot collection
robot_collection = bpy.data.collections.new(robot_name)
bpy.context.scene.collection.children.link(robot_collection)
active_collection = recursive_layer_collection(
bpy.context.view_layer.layer_collection,
robot_collection.name)
bpy.context.view_layer.active_layer_collection = active_collection
asset_base_paths = list(set(collect_asset_base_paths(robot_data)))
all_assets_data =[]
for asset_base_path in asset_base_paths:
assets_data_path = os.path.join(asset_base_path, 'assets.json')
if not os.path.exists(assets_data_path):
raise Exception('No assets database found! Check %s directory' % asset_base_path)
with open(assets_data_path, encoding='utf-8') as data:
assets_data = json.load(data)
# solve assets paths
for asset in assets_data:
asset['path'] = os.path.join(asset_base_path, asset['path'])
all_assets_data += assets_data
assembly_builder(robot_data, all_assets_data)
# mark as asset
robot_collection.asset_mark()
# TODO collection thumbnail
bpy.ops.wm.save_as_mainfile(filepath=blend_path)
robot_data = []
robot_data.append(
{
'type': 'ROBOT',
'name': robot_name,
'path': os.path.relpath(blend_path, robot_dir),
'thumbnail': ''
}
)
logger.info('Robot Asset %s was generated!', robot_name)
# write db file
robot_data_path = os.path.join(robot_dir, 'robot.json')
with open(robot_data_path, 'w', encoding='utf-8') as assets_data_file:
json.dump(robot_data, assets_data_file, ensure_ascii=False, indent=4)
logger.info('Database saved successfully to %s!', robot_data_path)
return blend_path

2
rcg_pipeline/rcg_pipeline/scripts/addons/Robossembler/__init__.py
View file

@ -47,7 +47,7 @@ from .io_assets_manager import add_to_asset_manager, add_links_assets
bl_info = {
'name': 'Robossembler Tools',
'author': 'brothermechanic@gmail.com',
'version': (0, 2),
'version': (1, 0),
'blender': (4, 2, 0),
'location': '3D View > Toolbox',
'description': 'Robossembler pipeline tools',

71
rcg_pipeline/rcg_pipeline/scripts/addons/Robossembler/export_assembly.py Normal file
View file

@ -0,0 +1,71 @@
import logging
import os
import json
import bpy
logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
def round_locations(objs):
''' Geting location of objects and round it. '''
for obj in objs:
for idx, axis in enumerate(obj.location[:]):
obj.location[idx] = round(axis, 5)
return objs
def assembly_tree(obj, dict_tree) -> dict:
''' '''
# collect lib assets only
if not obj.instance_type == 'COLLECTION':
return False
# collect name
dict_tree['name'] = obj.name
dict_tree['base_name'] = obj.instance_collection.name
# dict_tree['file_name'] = obj.instance_collection.library.name
file_path = os.path.realpath(bpy.path.abspath(
obj.instance_collection.library.filepath))
dict_tree['base_path'] = file_path.split('/assets')[0]
# collect transforms
obj.rotation_mode = 'QUATERNION'
dict_tree['pose'] = [
{'loc_xyz': [round(axis, 5) for axis in obj.location]},
{'rot_wxyz': [round(axis, 5) for axis in obj.rotation_quaternion]}
]
# collect children
dict_tree['children'] = []
for child in obj.children:
# skip hidden objects
if child.hide_get():
continue
# skip nonlib objects
if child.instance_type == 'COLLECTION':
dict_tree['children'].append({})
assembly_tree(child, dict_tree['children'][-1])
return True
def export_assembly_config():
''' '''
assert len(bpy.context.scene.collection.children) == 1, (
'Assembly should have only one collection!')
asm_collection = bpy.context.scene.collection.children[0]
root = [obj for obj in asm_collection.objects if not obj.parent]
assert len(root) == 1, 'Assembly should have only one root!'
dict_tree = {}
assembly_tree(root[0], dict_tree)
# write file
project_dir = '/media/disk/robossembler/project/pipeline/assemblies/arm/'
config_name = asm_collection.name
assembly_path = os.path.join(project_dir, config_name + '.json')
with open(assembly_path, 'w', encoding='utf-8') as json_file:
json.dump(dict_tree, json_file, ensure_ascii=False, indent=4)
logger.info('Assembly tree saved successfully to %s!', assembly_path)
return assembly_path
round_locations(bpy.data.objects)
export_assembly_config()

45
rcg_pipeline/rcg_pipeline/scripts/addons/Robossembler/io_anim_ros2bag/__init__.py
View file

@ -28,39 +28,42 @@ from .ros2bag_parser import get_animation_data
logger = logging.getLogger(__name__)
def set_animation_data(context, ros2bag_path, frame_start=0, frame_end=0, fps=30):
def set_animation_data(context, ros2bag_path):
''' Set animation data from Ros2Bag database '''
scene = context.scene
ros2bag_data = get_animation_data(
ros2bag_path=ros2bag_path, frame_start=frame_start, frame_end=frame_end, fps=fps)
ros2bag_data = get_animation_data(ros2bag_path=ros2bag_path)
scene.frame_start = ros2bag_data['frame_start']
scene.frame_end = ros2bag_data['frame_end']
scene.render.fps = ros2bag_data['fps']
lost_links = [item for item in ros2bag_data['scene_links'] if not bpy.data.objects.get(item)]
if lost_links:
logger.warning('Link(s) not found in current scene: %s', lost_links)
for topic in ros2bag_data['topics']:
# TODO if topic['name']
for frame_data in ros2bag_data['frames_data']:
frame_data['id']
for link_data in frame_data['links']:
if link_data['link'] in lost_links:
continue
lost_links = [item for item in topic['links'] if not bpy.data.objects.get(item)]
if lost_links:
logger.warning('Link(s) not found in current scene: %s', lost_links)
parent_location = ((0, 0, 0) if link_data['parent'] == 'world'
else bpy.data.objects[link_data['parent']].location[:])
for frame_data in topic['frames_data']:
# TODO frame_data['timestamp']
for link_data in frame_data['links']:
if link_data['link'] in lost_links:
continue
link = bpy.data.objects[link_data['link']]
link.rotation_mode = 'QUATERNION'
parent_location = ((0, 0, 0) if link_data['parent'] == 'world'
else bpy.data.objects[link_data['parent']].location[:])
link.location = [a + b for a, b in zip(link_data['loc_xyz'], parent_location)]
link.rotation_quaternion = link_data['rot_wxyz']
link = bpy.data.objects[link_data['link']]
link.rotation_mode = 'QUATERNION'
link.keyframe_insert(data_path='location', frame=frame_data['id'])
link.keyframe_insert(data_path='rotation_quaternion', frame=frame_data['id'])
link.location = [a + b for a, b in zip(link_data['loc_xyz'], parent_location)]
link.rotation_quaternion = link_data['rot_wxyz']
link.animation_data.action.name = '{}_action'.format(link_data['link'])
link.keyframe_insert(data_path='location', frame=frame_data['id'])
link.keyframe_insert(data_path='rotation_quaternion', frame=frame_data['id'])
logger.info('Setup of %s links is finished!', len(ros2bag_data['scene_links']))
link.animation_data.action.name = '{}_action'.format(link_data['link'])
logger.info('Setup of %s links is finished!', len(topic['links']))
logger.info('Setup of %s topics is finished!', len(ros2bag_data['topics']))
return True

164
rcg_pipeline/rcg_pipeline/scripts/addons/Robossembler/io_anim_ros2bag/_ros2bag_parser.py
View file

@ -1,164 +0,0 @@
# coding: utf-8
'''
Copyright (C) 2024 Kurochkin Ilia @brothermechanic
The Original Code by: Alexander Shushpanov @shalenikol
Created by brothermechanic
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
'''
import collections
import logging
import os
from pathlib import Path
from rosbags.highlevel import AnyReader
logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
def append_frame(idx: int, frames, links, frame_data) -> int:
''' Append datalist for frame and increase frame index. '''
frame_data['links'] = links
frames.append(frame_data)
return idx + 1
def gimbal_locks_filter(ros2bag_func):
''' Finding and fix gimbal locks. '''
def wrapper(*args, **kwargs):
# finding gimbal locks
ros2bag_data = ros2bag_func(*args, **kwargs)
gimbal_locks = {}
for link in ros2bag_data['scene_links']:
gimbal_data = collections.defaultdict(list)
link_rotation = []
for frame_data in ros2bag_data['frames_data']:
link_rotation_pre = []
for link_data in frame_data['links']:
if link_data['link'] == link:
link_rotation_pre = link_rotation
link_rotation = link_data['rot_wxyz']
if link_rotation_pre:
idx = 0
for axis_pre, axis_cur in zip(link_rotation_pre, link_rotation):
if (round(axis_cur, 2) > 0 > round(axis_pre, 2)
or round(axis_cur, 2) < 0 < round(axis_pre, 2)):
gimbal_data[frame_data['id']].append(idx)
gimbal_locks[link] = gimbal_data
logger.info(
'Gimbal lock detected for %s link %s axis at %s frame',
link, idx, frame_data['id'])
idx += 1
# fix gimbal locks
for link in gimbal_locks:
gimbal_frame = list(gimbal_locks[link])[0]
if len(gimbal_locks[link]) == 2:
gimbal_range = list(gimbal_locks[link])
else:
at_start = abs(ros2bag_data['frame_start'] - gimbal_frame)
at_end = abs(ros2bag_data['frame_end'] - gimbal_frame)
if at_start < at_end:
gimbal_range = [ros2bag_data['frame_start'], gimbal_frame]
else:
gimbal_range = [gimbal_frame, ros2bag_data['frame_end']]
for frame_data in ros2bag_data['frames_data'][gimbal_range[0]:gimbal_range[1]]:
for link_data in frame_data['links']:
if link_data['link'] == link:
for axis in gimbal_locks[link][gimbal_frame]:
link_data['rot_wxyz'][axis] = (
-1 * link_data['rot_wxyz'][axis])
logger.debug(
'Gimbal lock fixed for %s link %s axis %s',
link, axis, frame_data['id'])
logger.info('Gimbal lock fixed for %s link', link)
return ros2bag_data
return wrapper
#@gimbal_locks_filter
def get_ros2bag_data(ros2bag_path: str,
frame_start=0, frame_end=0, fps=30, target_topic='/tf') -> dict:
''' Get animation data from Ros2Bag database '''
assert ros2bag_path.endswith('.db3'), (
'Please, check Ros2Bag file format and extension!')
scene_links = set()
frames_data = []
ros2bag_dir = os.path.split(ros2bag_path)[0]
with AnyReader([Path(ros2bag_dir.replace('\\', '/'))]) as ros2bag:
targets = [
x for x in ros2bag.connections if x.topic == target_topic]
# TODO Switch to timestamp instead of frame index
idx = 0
idx_pre = - 1
for connection, timestamp, rawdata in ros2bag.messages(connections=targets):
if idx != idx_pre:
frame_data = {'id': idx, 'timestamp': timestamp}
key_link = []
links = []
idx_pre = idx
tf_msg = ros2bag.deserialize(rawdata, connection.msgtype)
for t in tf_msg.transforms:
c_key = t.header.frame_id + t.child_frame_id
if key_link.count(c_key) > 0:
idx = append_frame(idx, frames_data, links, frame_data)
else:
key_link.append(c_key)
scene_links.add(t.child_frame_id)
if t.header.frame_id != 'world':
scene_links.add(t.header.frame_id)
link_data = {}
link_data['parent'] = t.header.frame_id
link_data['link'] = t.child_frame_id
link_data['loc_xyz'] = [
t.transform.translation.x,
t.transform.translation.y,
t.transform.translation.z]
link_data['rot_wxyz'] = [
t.transform.rotation.w,
t.transform.rotation.x,
t.transform.rotation.y,
t.transform.rotation.z]
links.append(link_data)
if frame_end and not idx < frame_end + 1:
break
assert len(frames_data) - 1 == frames_data[-1]['id'], (
'Ros2Bag database has dublicated frames!')
frame_end = frames_data[-1]['id']
return {'path': ros2bag_path,
'frame_start': frame_start,
'frame_end': frame_end,
'fps': fps,
'scene_links': list(scene_links),
'frames_data': frames_data}
#if __name__ == '__main__':
import json
ros2bag_path = '/media/disk/robossembler/project/pipeline/projects/subset_0.db3'
json_path = os.path.splitext(ros2bag_path)[0] + '.json'
with open(json_path, "w", encoding='utf-8') as data_file:
json.dump(get_ros2bag_data(ros2bag_path), data_file, indent=4)
logger.info('Database saved successfully to %s!', json_path)

183
rcg_pipeline/rcg_pipeline/scripts/addons/Robossembler/io_anim_ros2bag/ros2bag_parser.py
View file

@ -27,81 +27,142 @@ logger = logging.getLogger(__name__)
logging.basicConfig(level=logging.INFO)
def append_frame(idx: int, frames, links, frame_data) -> int:
def append_frame(idx: int, frames_data, links, frame_data) -> int:
''' Append datalist for frame and increase frame index. '''
frame_data['links'] = links
frames.append(frame_data)
frames_data.append(frame_data)
return idx + 1
def get_ros2bag_data(ros2bag_path: str,
frame_start=0, frame_end=0, fps=30, target_topic='/tf') -> dict:
def gimbal_locks_filter(ros2bag_func):
''' Finding and fix gimbal locks. '''
def wrapper(*args, **kwargs):
# finding gimbal locks
ros2bag_data = ros2bag_func(*args, **kwargs)
gimbal_locks = {}
for link in ros2bag_data['scene_links']:
gimbal_data = collections.defaultdict(list)
link_rotation = []
for frame_data in ros2bag_data['frames_data']:
link_rotation_pre = []
for link_data in frame_data['links']:
if link_data['link'] == link:
link_rotation_pre = link_rotation
link_rotation = link_data['rot_wxyz']
if link_rotation_pre:
idx = 0
for axis_pre, axis_cur in zip(link_rotation_pre, link_rotation):
if (round(axis_cur, 2) > 0 > round(axis_pre, 2)
or round(axis_cur, 2) < 0 < round(axis_pre, 2)):
gimbal_data[frame_data['id']].append(idx)
gimbal_locks[link] = gimbal_data
logger.info(
'Gimbal lock detected for %s link %s axis at %s frame',
link, idx, frame_data['id'])
idx += 1
# fix gimbal locks
for link in gimbal_locks:
gimbal_frame = list(gimbal_locks[link])[0]
if len(gimbal_locks[link]) == 2:
gimbal_range = list(gimbal_locks[link])
else:
at_start = abs(ros2bag_data['frame_start'] - gimbal_frame)
at_end = abs(ros2bag_data['frame_end'] - gimbal_frame)
if at_start < at_end:
gimbal_range = [ros2bag_data['frame_start'], gimbal_frame]
else:
gimbal_range = [gimbal_frame, ros2bag_data['frame_end']]
for frame_data in ros2bag_data['frames_data'][gimbal_range[0]:gimbal_range[1]]:
for link_data in frame_data['links']:
if link_data['link'] == link:
for axis in gimbal_locks[link][gimbal_frame]:
link_data['rot_wxyz'][axis] = (
-1 * link_data['rot_wxyz'][axis])
logger.debug(
'Gimbal lock fixed for %s link %s axis %s',
link, axis, frame_data['id'])
logger.info('Gimbal lock fixed for %s link', link)
return ros2bag_data
return wrapper
@gimbal_locks_filter
def get_ros2bag_data(ros2bag_path) -> dict:
''' Get animation data from Ros2Bag database '''
assert ros2bag_path.endswith('.db3'), (
'Please, check Ros2Bag file format and extension!')
scene_links = set()
frames_data = []
ros2bag_dir = os.path.split(ros2bag_path)[0]
ros2bag_dir = os.path.dirname(ros2bag_path)
with AnyReader([Path(ros2bag_dir.replace('\\', '/'))]) as ros2bag:
targets = [
x for x in ros2bag.connections if x.topic == target_topic]
# TODO Switch to timestamp instead of frame index
idx = 0
idx_pre = - 1
for connection, timestamp, rawdata in ros2bag.messages(connections=targets):
if idx != idx_pre:
frame_data = {'id': idx, 'timestamp': timestamp}
key_link = []
links = []
idx_pre = idx
with AnyReader([Path(ros2bag_dir)]) as ros2bag:
topics = []
for ros2bag_topic in list(ros2bag.connections):
topic_links = set()
frames_data = []
# TODO Switch to timestamp instead of frame index
idx = 0
idx_pre = - 1
topic_name = None
for connection, timestamp, rawdata in ros2bag.messages(connections=[ros2bag_topic]):
topic_name = connection.topic
if idx != idx_pre:
frame_data = {'id': idx, 'timestamp': timestamp}
key_link = []
links = []
idx_pre = idx
tf_msg = ros2bag.deserialize(rawdata, connection.msgtype)
for t in tf_msg.transforms:
c_key = t.header.frame_id + t.child_frame_id
if key_link.count(c_key) > 0:
idx = append_frame(idx, frames_data, links, frame_data)
else:
key_link.append(c_key)
scene_links.add(t.child_frame_id)
if t.header.frame_id != 'world':
scene_links.add(t.header.frame_id)
link_data = {}
link_data['parent'] = t.header.frame_id
link_data['link'] = t.child_frame_id
link_data['loc_xyz'] = [
t.transform.translation.x,
t.transform.translation.y,
t.transform.translation.z]
link_data['rot_wxyz'] = [
t.transform.rotation.w,
t.transform.rotation.x,
t.transform.rotation.y,
t.transform.rotation.z]
links.append(link_data)
tf_msg = ros2bag.deserialize(rawdata, connection.msgtype)
for t in tf_msg.transforms:
c_key = t.header.frame_id + t.child_frame_id
if key_link.count(c_key) > 0:
idx = append_frame(idx, frames_data, links, frame_data)
else:
key_link.append(c_key)
topic_links.add(t.child_frame_id)
if t.header.frame_id != 'world':
topic_links.add(t.header.frame_id)
link_data = {}
link_data['link'] = t.child_frame_id
link_data['parent'] = t.header.frame_id
link_data['loc_xyz'] = [
t.transform.translation.x,
t.transform.translation.y,
t.transform.translation.z]
link_data['rot_wxyz'] = [
t.transform.rotation.w,
t.transform.rotation.x,
t.transform.rotation.y,
t.transform.rotation.z]
links.append(link_data)
if frame_end and not idx < frame_end + 1:
break
# TODO
if key_link:
idx = append_frame(idx, frames_data, links, frame_data)
assert len(frames_data) - 1 == frames_data[-1]['id'], (
'Ros2Bag database has dublicated frames!')
topics.append({
'name': topic_name,
'frame_range': idx,
'links': list(topic_links),
'frames_data': frames_data
})
frame_end = frames_data[-1]['id']
return {'path': ros2bag_path,
'frame_start': frame_start,
'frame_end': frame_end,
'fps': fps,
'scene_links': list(scene_links),
'frames_data': frames_data}
return {
'ros2bag_path': ros2bag_path,
'frame_start': 0,
'frame_end': max([topic['topic_frames'] for topic in topics]) - 1,
'fps': 30,
'topics': topics
}
#if __name__ == '__main__':
import json
ros2bag_path = '/media/disk/robossembler/project/pipeline/projects/subset_0.db3'
json_path = os.path.splitext(ros2bag_path)[0] + '.json'
with open(json_path, "w", encoding='utf-8') as data_file:
json.dump(get_ros2bag_data(ros2bag_path), data_file, indent=4)
logger.info('Database saved successfully to %s!', json_path)
if __name__ == '__main__':
import json
file_path = '/media/disk/robossembler/project/pipeline/projects/subset_0.db3'
json_path = os.path.splitext(file_path)[0] + '.json'
with open(json_path, 'w', encoding='utf-8') as data_file:
json.dump(get_ros2bag_data(file_path), data_file, indent=4)
logger.info('Database saved successfully to %s!', json_path)

12
rcg_pipeline/rcg_pipeline/utils/collection_tools.py
View file

@ -90,3 +90,15 @@ def remove_collections_with_objects(collection=None):
bpy.data.objects.remove(obj, do_unlink=True)
bpy.data.collections.remove(col)
return True
def recursive_layer_collection(layer_coll, coll_name):
''' Set as active collection '''
found = None
if layer_coll.name == coll_name:
return layer_coll
for layer in layer_coll.children:
found = recursive_layer_collection(layer, coll_name)
if found:
return found
return False