From c44700d657ef02e7b1e51e3d8795720c81781318 Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 01:37:07 -0700 Subject: [PATCH 01/12] Fix param naming --- virtual_maize_field/scripts/field_2d_generator.py | 2 +- virtual_maize_field/scripts/world_description.py | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/virtual_maize_field/scripts/field_2d_generator.py b/virtual_maize_field/scripts/field_2d_generator.py index bd417eb..65d61f3 100644 --- a/virtual_maize_field/scripts/field_2d_generator.py +++ b/virtual_maize_field/scripts/field_2d_generator.py @@ -122,7 +122,7 @@ def chain_segments(self): i = probs.shape[0]-1 while i > 0 : if probs[i]: - hole_size = np.random.randint(1, self.wd.structure["params"]["max_hole_size"]) + hole_size = np.random.randint(1, self.wd.structure["params"]["hole_size_max"]) row = np.delete(row, slice(max(0,i-hole_size), i), axis=0) i = i - hole_size diff --git a/virtual_maize_field/scripts/world_description.py b/virtual_maize_field/scripts/world_description.py index 5b48483..c353ff7 100755 --- a/virtual_maize_field/scripts/world_description.py +++ b/virtual_maize_field/scripts/world_description.py @@ -43,7 +43,7 @@ def __init__( plant_placement_error_max=0.02, plant_mass=0.3, hole_prob = 0.0, - max_hole_size = 7, + hole_size_max = 7, crop_types=",".join(AVAILABLE_CROP_TYPES[1:]), litters=0, litter_types=",".join(AVAILABLE_LITTER_TYPES), @@ -83,7 +83,7 @@ def random_description(self): "plant_placement_error_max": self.plant_placement_error_max, "plant_mass": self.plant_mass, "hole_prob": self.hole_prob, - "max_hole_size": self.max_hole_size, + "hole_size_max": self.hole_size_max, "crop_types": self.crop_types, "litter_types": self.litter_types, "litters":self.litters, From d6f6e4439438815a52b1374c63b15a9738a2787d Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 01:44:28 -0700 Subject: [PATCH 02/12] Fix bug in placements with new dem_res param --- virtual_maize_field/scripts/field_2d_generator.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/virtual_maize_field/scripts/field_2d_generator.py b/virtual_maize_field/scripts/field_2d_generator.py index 65d61f3..287e4d1 100644 --- a/virtual_maize_field/scripts/field_2d_generator.py +++ b/virtual_maize_field/scripts/field_2d_generator.py @@ -267,8 +267,8 @@ def generate_ground(self): def fix_gazebo(self): # move the plants to the center of the flat circles - self.crop_placements -= 0.01 - self.object_placements -= 0.01 + self.crop_placements -= self.wd.structure["params"]["dem_res"] / 2 + self.object_placements -= self.wd.structure["params"]["dem_res"] / 2 # set heightmap position to origin self.heightmap_position = [0, 0] From a1a54d93da2d37136b0af9e8769660ac796b4cbb Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 01:55:58 -0700 Subject: [PATCH 03/12] Revert dem_res to 0.02. With a higher ground resolution not every plant will stand on flat ground --- virtual_maize_field/scripts/world_description.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/virtual_maize_field/scripts/world_description.py b/virtual_maize_field/scripts/world_description.py index c353ff7..003aa21 100755 --- a/virtual_maize_field/scripts/world_description.py +++ b/virtual_maize_field/scripts/world_description.py @@ -33,7 +33,7 @@ def __init__( row_segment_island_radius_min=1.0, row_segment_island_radius_max=3.0, ground_max_elevation=0.2, - dem_res=0.10, + dem_res=0.02, plant_spacing_min=0.13, plant_spacing_max=0.19, plant_height_min=0.3, From c0fade577657322faca56cc305ddcfef3a735e0e Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 02:09:07 -0700 Subject: [PATCH 04/12] Better param names --- virtual_maize_field/scripts/field_2d_generator.py | 10 +++++----- virtual_maize_field/scripts/world_description.py | 8 ++++---- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/virtual_maize_field/scripts/field_2d_generator.py b/virtual_maize_field/scripts/field_2d_generator.py index 287e4d1..b7221d4 100644 --- a/virtual_maize_field/scripts/field_2d_generator.py +++ b/virtual_maize_field/scripts/field_2d_generator.py @@ -217,7 +217,7 @@ def generate_ground(self): metric_width = metric_x_max - metric_x_min + 4 metric_height = metric_y_max - metric_y_min + 4 - resolution = self.wd.structure["params"]["dem_res"] + resolution = self.wd.structure["params"]["ground_resolution"] min_image_size = int( np.ceil(max(metric_width / resolution, metric_height / resolution)) ) @@ -251,7 +251,7 @@ def generate_ground(self): height = heightmap[py, px] heightmap = cv2.circle(heightmap, (px, py), 2, height, -1) self.placements_ground_height.append( - self.wd.structure["params"]["ground_max_elevation"] * height + self.wd.structure["params"]["ground_elevation_max"] * height ) # Convert to grayscale @@ -267,8 +267,8 @@ def generate_ground(self): def fix_gazebo(self): # move the plants to the center of the flat circles - self.crop_placements -= self.wd.structure["params"]["dem_res"] / 2 - self.object_placements -= self.wd.structure["params"]["dem_res"] / 2 + self.crop_placements -= self.wd.structure["params"]["ground_resolution"] / 2 + self.object_placements -= self.wd.structure["params"]["ground_resolution"] / 2 # set heightmap position to origin self.heightmap_position = [0, 0] @@ -342,7 +342,7 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): "x": self.heightmap_position[0], "y": self.heightmap_position[1], }, - "max_elevation": self.wd.structure["params"]["ground_max_elevation"], + "max_elevation": self.wd.structure["params"]["ground_elevation_max"], }, ) diff --git a/virtual_maize_field/scripts/world_description.py b/virtual_maize_field/scripts/world_description.py index 003aa21..72fd45f 100755 --- a/virtual_maize_field/scripts/world_description.py +++ b/virtual_maize_field/scripts/world_description.py @@ -32,8 +32,8 @@ def __init__( row_segment_curved_arc_measure_max=1.0, row_segment_island_radius_min=1.0, row_segment_island_radius_max=3.0, - ground_max_elevation=0.2, - dem_res=0.02, + ground_resolution=0.02, + ground_elevation_max=0.2, plant_spacing_min=0.13, plant_spacing_max=0.19, plant_height_min=0.3, @@ -72,8 +72,8 @@ def __init__( def random_description(self): self.structure = dict() self.structure["params"] = { - "ground_max_elevation": self.ground_max_elevation, - "dem_res": self.dem_res, + "ground_resolution": self.ground_resolution, + "ground_elevation_max": self.ground_elevation_max, "plant_spacing_min": self.plant_spacing_min, "plant_spacing_max": self.plant_spacing_max, "plant_height_min": self.plant_height_min, From 028aa001dfa52b71a470223388ce3f6f214fda5d Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 02:16:48 -0700 Subject: [PATCH 05/12] Add minimap to gitignore and fix name --- virtual_maize_field/.gitignore | 1 + .../scripts/field_2d_generator.py | 2 +- virtual_maize_field/scripts/generate_world.py | 4 ++-- .../virtual_maize_field_mini_map.png | Bin 0 -> 685626 bytes 4 files changed, 4 insertions(+), 3 deletions(-) create mode 100644 virtual_maize_field/virtual_maize_field_mini_map.png diff --git a/virtual_maize_field/.gitignore b/virtual_maize_field/.gitignore index c4d495c..14ff79f 100644 --- a/virtual_maize_field/.gitignore +++ b/virtual_maize_field/.gitignore @@ -28,3 +28,4 @@ CATKIN_IGNORE # Ignore generated files worlds/generated.world Media/models/virtual_maize_field_heightmap.png +generated_minimap.png diff --git a/virtual_maize_field/scripts/field_2d_generator.py b/virtual_maize_field/scripts/field_2d_generator.py index b7221d4..b5bf52c 100644 --- a/virtual_maize_field/scripts/field_2d_generator.py +++ b/virtual_maize_field/scripts/field_2d_generator.py @@ -34,7 +34,7 @@ def plot_field(self): plt.scatter(self.weed_placements[:, 0], self.weed_placements[:, 1], color="r", marker=".") if self.litter_placements.ndim == 2: plt.scatter(self.litter_placements[:, 0], self.litter_placements[:, 1], color="b", marker=".") - self.mini_map = plt + self.minimap = plt def generate(self): diff --git a/virtual_maize_field/scripts/generate_world.py b/virtual_maize_field/scripts/generate_world.py index 171ddf8..36a35fa 100755 --- a/virtual_maize_field/scripts/generate_world.py +++ b/virtual_maize_field/scripts/generate_world.py @@ -48,5 +48,5 @@ cv2.imwrite(heightmap_path, fgen.heightmap) # save mini_map - mini_map_path = os.path.join(pkg_path, "virtual_maize_field_mini_map.png") - fgen.mini_map.savefig(mini_map_path, dpi=1000) + minimap_path = os.path.join(pkg_path, "generated_minimap.png") + fgen.minimap.savefig(minimap_path, dpi=1000) diff --git a/virtual_maize_field/virtual_maize_field_mini_map.png b/virtual_maize_field/virtual_maize_field_mini_map.png new file mode 100644 index 0000000000000000000000000000000000000000..14471758dba3ee38654afd7457a7c8184a3ef10e GIT binary patch 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z&pV$pJoiUd+iI}OADKmFu*)Bs#bB2|Hp{=4T{^a$nKX!B8{Jk9^ zxP9dtSLb)wQ!WkzAnvk+_}75+^~@nNq%eB+FeIIN<}f%9J#+l4I}i2EZ~aJdsNd0D zTYvri*YViEUg+IH131z%$A1zy>iXgapVnmw@$bL7Ps4{a+%dx)GsH2yHDHKidgd_1 mF+Fn_7(zXB{5yc)e)281?(g&(E&gbx>(trKho*eE?*9Oh@C%0k literal 0 HcmV?d00001 From 19da71e1daa7874092b69203e44d380b82b34146 Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 03:08:04 -0700 Subject: [PATCH 06/12] Fix codestyle --- .../scripts/field_2d_generator.py | 93 ++++++++++--------- virtual_maize_field/scripts/generate_world.py | 10 +- virtual_maize_field/scripts/row_segments.py | 69 ++++---------- .../scripts/world_description.py | 34 +++---- 4 files changed, 80 insertions(+), 126 deletions(-) diff --git a/virtual_maize_field/scripts/field_2d_generator.py b/virtual_maize_field/scripts/field_2d_generator.py index b5bf52c..970497a 100644 --- a/virtual_maize_field/scripts/field_2d_generator.py +++ b/virtual_maize_field/scripts/field_2d_generator.py @@ -17,7 +17,6 @@ def __init__(self, world_description=WorldDescription()): self.wd = world_description np.random.seed(self.wd.structure["params"]["seed"]) - def render_matplotlib(self): # Segments for segment in self.segments: @@ -26,16 +25,18 @@ def render_matplotlib(self): # Plants plt.scatter(self.crop_placements[:, 0], self.crop_placements[:, 1], color="c", marker=".") - def plot_field(self): plt.plot(*self.field_poly.exterior.xy) plt.scatter(self.crop_placements[:, 0], self.crop_placements[:, 1], color="g", marker=".") if self.weed_placements.ndim == 2: - plt.scatter(self.weed_placements[:, 0], self.weed_placements[:, 1], color="r", marker=".") + plt.scatter( + self.weed_placements[:, 0], self.weed_placements[:, 1], color="r", marker="." + ) if self.litter_placements.ndim == 2: - plt.scatter(self.litter_placements[:, 0], self.litter_placements[:, 1], color="b", marker=".") + plt.scatter( + self.litter_placements[:, 0], self.litter_placements[:, 1], color="b", marker="." + ) self.minimap = plt - def generate(self): self.chain_segments() @@ -46,7 +47,6 @@ def generate(self): self.render_to_template() self.plot_field() return [self.sdf, self.heightmap] - def chain_segments(self): # Generate start points @@ -113,20 +113,20 @@ def chain_segments(self): self.rows = [] for row in self.crop_placements: row = np.vstack(row) - + # generate indexes of the end of the hole probs = np.random.sample(row.shape[0]) probs = probs < self.wd.structure["params"]["hole_prob"] - + # iterate in reverse order, and remove plants in the holes - i = probs.shape[0]-1 - while i > 0 : + i = probs.shape[0] - 1 + while i > 0: if probs[i]: hole_size = np.random.randint(1, self.wd.structure["params"]["hole_size_max"]) - row = np.delete(row, slice(max(0,i-hole_size), i), axis=0) + row = np.delete(row, slice(max(0, i - hole_size), i), axis=0) i = i - hole_size - i = i -1 + i = i - 1 self.rows.append(row) # Add bounden noise to placements @@ -142,15 +142,14 @@ def chain_segments(self): x += bg.get() y += bg.get() new_row.append([x, y]) - - self.rows[i] = np.array(new_row) + self.rows[i] = np.array(new_row) # Because the heightmap must be square and has to have a side length of 2^n + 1 # this means that we could have smaller maps, by centering the placements around 0,0 def center_plants(self): self.crop_placements = np.vstack(self.rows) - + x_min = self.crop_placements[:, 0].min() y_min = self.crop_placements[:, 1].min() @@ -159,51 +158,58 @@ def center_plants(self): for i in range(len(self.rows)): self.rows[i] -= np.array([x_min, y_min]) - self.rows[i] -= np.array([x_max, y_max]) / 2 - + self.rows[i] -= np.array([x_max, y_max]) / 2 # The function calculates the placements of the weed plants and # stores them under self.weeds : np.array([[x,y],[x,y],...]) def place_objects(self): def random_points_within(poly, num_points): min_x, min_y, max_x, max_y = poly.bounds - + points = [] - + while len(points) < num_points: np_point = [np.random.uniform(min_x, max_x), np.random.uniform(min_y, max_y)] random_point = shapely.geometry.Point(np_point) - if (random_point.within(poly)): + if random_point.within(poly): points.append(np_point) - + return np.array(points) - + # Get outher boundary of the of the crops outer_plants = np.concatenate((self.rows[0], np.flipud(self.rows[-1]))) self.field_poly = geometry.Polygon(outer_plants) # place x_nr of weeds within the field area - self.weed_placements = random_points_within(self.field_poly, self.wd.structure["params"]["weeds"]) - weed_types = np.random.choice(self.wd.structure["params"]["weed_types"].split(","), self.wd.structure["params"]["weeds"]) - + self.weed_placements = random_points_within( + self.field_poly, self.wd.structure["params"]["weeds"] + ) + weed_types = np.random.choice( + self.wd.structure["params"]["weed_types"].split(","), + self.wd.structure["params"]["weeds"], + ) + # place y_nr of litter within the field area - self.litter_placements = random_points_within(self.field_poly, self.wd.structure["params"]["litters"]) - litter_types = np.random.choice(self.wd.structure["params"]["litter_types"].split(","), self.wd.structure["params"]["litters"]) - + self.litter_placements = random_points_within( + self.field_poly, self.wd.structure["params"]["litters"] + ) + litter_types = np.random.choice( + self.wd.structure["params"]["litter_types"].split(","), + self.wd.structure["params"]["litters"], + ) + # TODO Thijs # place start marker at the beginning of the field - + # TODO Thijs # place location markers at the desginated locations - self.object_placements = np.concatenate((self.weed_placements, self.litter_placements)) self.object_types = np.concatenate((weed_types, litter_types)) - def generate_ground(self): self.crop_placements = np.vstack(self.rows) - + if self.object_placements.ndim == 2: self.placements = np.concatenate((self.crop_placements, self.object_placements), axis=0) else: @@ -218,9 +224,7 @@ def generate_ground(self): metric_height = metric_y_max - metric_y_min + 4 resolution = self.wd.structure["params"]["ground_resolution"] - min_image_size = int( - np.ceil(max(metric_width / resolution, metric_height / resolution)) - ) + min_image_size = int(np.ceil(max(metric_width / resolution, metric_height / resolution))) image_size = int(2 ** np.ceil(np.log2(min_image_size))) + 1 # Generate noise @@ -264,7 +268,6 @@ def generate_ground(self): metric_y_min - 2 + 0.5 * self.metric_size, ] - def fix_gazebo(self): # move the plants to the center of the flat circles self.crop_placements -= self.wd.structure["params"]["ground_resolution"] / 2 @@ -273,7 +276,6 @@ def fix_gazebo(self): # set heightmap position to origin self.heightmap_position = [0, 0] - def render_to_template(self): def into_dict(xy, ground_height, radius, height, mass, m_type, index): coordinate = dict() @@ -289,8 +291,7 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): coordinate["z"] = ground_height coordinate["radius"] = ( radius - + (2 * np.random.rand() - 1) - * self.wd.structure["params"]["plant_radius_noise"] + + (2 * np.random.rand() - 1) * self.wd.structure["params"]["plant_radius_noise"] ) if coordinate["type"] == "cylinder": coordinate["height"] = height @@ -307,11 +308,11 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): self.wd.structure["params"]["plant_height_min"], self.wd.structure["params"]["plant_mass"], np.random.choice(self.wd.structure["params"]["crop_types"].split(",")), - i + i, ) for i, plant in enumerate(self.crop_placements) ] - + # place objects object_coordinates = [ into_dict( @@ -320,15 +321,16 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): self.wd.structure["params"]["plant_radius"], self.wd.structure["params"]["plant_height_min"], self.wd.structure["params"]["plant_mass"], - "ghost_%s" % self.object_types[i] if self.wd.structure["params"] - ["ghost_objects"] else self.object_types[i], - i + "ghost_%s" % self.object_types[i] + if self.wd.structure["params"]["ghost_objects"] + else self.object_types[i], + i, ) for i, plant in enumerate(self.object_placements) ] coordinates.extend(object_coordinates) - + pkg_path = rospkg.RosPack().get_path("virtual_maize_field") template_path = os.path.join(pkg_path, "scripts/field.world.template") template = open(template_path).read() @@ -345,4 +347,3 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): "max_elevation": self.wd.structure["params"]["ground_elevation_max"], }, ) - diff --git a/virtual_maize_field/scripts/generate_world.py b/virtual_maize_field/scripts/generate_world.py index 36a35fa..81a5f38 100755 --- a/virtual_maize_field/scripts/generate_world.py +++ b/virtual_maize_field/scripts/generate_world.py @@ -17,9 +17,7 @@ defaults = argspec.defaults # construct an ArgumentParser that takes these arguments - parser = argparse.ArgumentParser( - description="Generate a virtual maize field world for gazebo" - ) + parser = argparse.ArgumentParser(description="Generate a virtual maize field world for gazebo") for argname, default in zip(possible_kwargs, defaults): # we analyze the default value's type to guess the type for that argument parser.add_argument( @@ -42,11 +40,9 @@ with open(sdf_path, "w") as f: f.write(generated_sdf) # save heightmap - heightmap_path = os.path.join( - pkg_path, "Media/models/virtual_maize_field_heightmap.png" - ) + heightmap_path = os.path.join(pkg_path, "Media/models/virtual_maize_field_heightmap.png") cv2.imwrite(heightmap_path, fgen.heightmap) - + # save mini_map minimap_path = os.path.join(pkg_path, "generated_minimap.png") fgen.minimap.savefig(minimap_path, dpi=1000) diff --git a/virtual_maize_field/scripts/row_segments.py b/virtual_maize_field/scripts/row_segments.py index 881f57f..c57c7d9 100644 --- a/virtual_maize_field/scripts/row_segments.py +++ b/virtual_maize_field/scripts/row_segments.py @@ -32,10 +32,7 @@ def placements(self, offset=None): if offset == None: offset = np.full( (len(self.start_p)), - -( - self.plant_params["plant_spacing_max"] - + self.plant_params["plant_spacing_min"] - ) + -(self.plant_params["plant_spacing_max"] + self.plant_params["plant_spacing_min"]) / 2, ) @@ -67,9 +64,7 @@ def racing_lines(self, spacing): @abstractmethod def racing_line(self, row_number, spacing): if row_number > len(self.start_p) - 1: - raise ValueError( - "There is no racing line " + row_number + "/" + len(self.start_p) - 1 - ) + raise ValueError("There is no racing line " + row_number + "/" + len(self.start_p) - 1) # Must be implemented by the child class to render the segment @abstractmethod @@ -139,9 +134,7 @@ def render(self): class CurvedSegment(BaseSegment): - def __init__( - self, start_p, start_dir, plant_params, radius, curve_dir, arc_measure - ): + def __init__(self, start_p, start_dir, plant_params, radius, curve_dir, arc_measure): super(CurvedSegment, self).__init__(start_p, start_dir, plant_params) self.radius = radius self.curve_dir = curve_dir @@ -171,9 +164,9 @@ def get_plant_row(self, row_number, offset): cur_placement = Geometry.rotate(start, self.center, c / r) placements = [cur_placement] - while ( - c < l - self.plant_params["plant_spacing_min"] or not self.curve_dir - ) and (c > l + self.plant_params["plant_spacing_min"] or self.curve_dir): + while (c < l - self.plant_params["plant_spacing_min"] or not self.curve_dir) and ( + c > l + self.plant_params["plant_spacing_min"] or self.curve_dir + ): step = rot * self.bounded_gaussian.get(0.0) cur_placement = Geometry.rotate(cur_placement, self.center, step / r) placements.append(cur_placement) @@ -247,9 +240,7 @@ def __init__( self.radius = radius self.island_model = island_model self.island_model_radius = island_model_radius - self.island_row_radius = ( - island_model_radius if island_model_radius > radius else radius - ) + self.island_row_radius = island_model_radius if island_model_radius > radius else radius self.island_row = island_row # start p vec @@ -272,27 +263,17 @@ def __init__( # check which is bigger and us it if d_l > d_r: self.angle = a_l - self.radius_left = d_l - np.linalg.norm( - self.start_p_left[0] - self.start_p_left[-1] - ) - self.radius_right = d_l - np.linalg.norm( - self.start_p_right[0] - self.start_p_right[-1] - ) + self.radius_left = d_l - np.linalg.norm(self.start_p_left[0] - self.start_p_left[-1]) + self.radius_right = d_l - np.linalg.norm(self.start_p_right[0] - self.start_p_right[-1]) self.length = 2 * d_l * np.tan(self.angle) else: self.angle = a_r - self.radius_left = d_r - np.linalg.norm( - self.start_p_left[0] - self.start_p_left[-1] - ) - self.radius_right = d_r - np.linalg.norm( - self.start_p_right[0] - self.start_p_right[-1] - ) + self.radius_left = d_r - np.linalg.norm(self.start_p_left[0] - self.start_p_left[-1]) + self.radius_right = d_r - np.linalg.norm(self.start_p_right[0] - self.start_p_right[-1]) self.length = 2 * d_r * np.tan(self.angle) # Island - self.center_island = ( - self.start_p[self.island_row] + self.start_dir * 0.5 * self.length - ) + self.center_island = self.start_p[self.island_row] + self.start_dir * 0.5 * self.length # Left self.entrence_left = CurvedSegment( @@ -308,9 +289,7 @@ def __init__( lp1, ld1, plant_params, self.island_row_radius, False, 2 * self.angle ) lp2, ld2 = self.middle_left.end() - self.exit_left = CurvedSegment( - lp2, ld2, plant_params, self.radius_left, True, self.angle - ) + self.exit_left = CurvedSegment(lp2, ld2, plant_params, self.radius_left, True, self.angle) # Right self.entrence_right = CurvedSegment( @@ -345,27 +324,17 @@ def get_plant_row(self, row_number, offset): p3, next_offset = self.exit_left.get_plant_row(row_number, off2) placements = np.vstack([p1, p2, p3]) elif row_number > self.island_row: - p1, off1 = self.entrence_right.get_plant_row( - row_number - self.island_row, offset - ) - p2, off2 = self.middle_right.get_plant_row( - row_number - self.island_row, off1 - ) - p3, next_offset = self.exit_right.get_plant_row( - row_number - self.island_row, off2 - ) + p1, off1 = self.entrence_right.get_plant_row(row_number - self.island_row, offset) + p2, off2 = self.middle_right.get_plant_row(row_number - self.island_row, off1) + p3, next_offset = self.exit_right.get_plant_row(row_number - self.island_row, off2) placements = np.vstack([p1, p2, p3]) else: pel, off1 = self.entrence_left.get_plant_row(row_number, offset) pml, off2 = self.middle_left.get_plant_row(row_number, off1) pxl, nol = self.exit_left.get_plant_row(row_number, off2) - per, off1 = self.entrence_right.get_plant_row( - row_number - self.island_row, offset - ) - pmr, off2 = self.middle_right.get_plant_row( - row_number - self.island_row, off1 - ) + per, off1 = self.entrence_right.get_plant_row(row_number - self.island_row, offset) + pmr, off2 = self.middle_right.get_plant_row(row_number - self.island_row, off1) pxr, nor = self.exit_right.get_plant_row(row_number - self.island_row, off2) placements = np.vstack([pel, per, pml, pmr, pxl, pxr]) @@ -401,4 +370,4 @@ def render(self): self.entrence_right.render() self.middle_right.render() - self.exit_right.render() \ No newline at end of file + self.exit_right.render() diff --git a/virtual_maize_field/scripts/world_description.py b/virtual_maize_field/scripts/world_description.py index 72fd45f..fc261ca 100755 --- a/virtual_maize_field/scripts/world_description.py +++ b/virtual_maize_field/scripts/world_description.py @@ -14,7 +14,6 @@ AVAILABLE_SEGMENTS = ["straight", "curved", "island"] - class WorldDescription: def __init__( self, @@ -42,8 +41,8 @@ def __init__( plant_radius_noise=0.05, plant_placement_error_max=0.02, plant_mass=0.3, - hole_prob = 0.0, - hole_size_max = 7, + hole_prob=0.0, + hole_size_max=7, crop_types=",".join(AVAILABLE_CROP_TYPES[1:]), litters=0, litter_types=",".join(AVAILABLE_LITTER_TYPES), @@ -51,7 +50,7 @@ def __init__( weed_types=",".join(AVAILABLE_WEED_TYPES), ghost_objects=False, load_from_file=None, - seed=-1 + seed=-1, ): row_segments = row_segments.split(",") @@ -86,10 +85,10 @@ def random_description(self): "hole_size_max": self.hole_size_max, "crop_types": self.crop_types, "litter_types": self.litter_types, - "litters":self.litters, + "litters": self.litters, "weed_types": self.weed_types, - "weeds" :self.weeds, - "ghost_objects":self.ghost_objects, + "weeds": self.weeds, + "ghost_objects": self.ghost_objects, "seed": self.seed, } @@ -104,10 +103,7 @@ def random_description(self): if segment_name == "straight": length = ( np.random.rand() - * ( - self.row_segment_straight_length_max - - self.row_segment_straight_length_min - ) + * (self.row_segment_straight_length_max - self.row_segment_straight_length_min) + self.row_segment_straight_length_min ) @@ -118,10 +114,7 @@ def random_description(self): elif segment_name == "curved": radius = ( np.random.rand() - * ( - self.row_segment_curved_radius_max - - self.row_segment_curved_radius_min - ) + * (self.row_segment_curved_radius_max - self.row_segment_curved_radius_min) + self.row_segment_curved_radius_min ) arc_measure = ( @@ -146,19 +139,14 @@ def random_description(self): } current_row_length += ( - arc_measure - * ((self.rows_left + self.rows_right) * self.row_width + radius) - / 2 + arc_measure * ((self.rows_left + self.rows_right) * self.row_width + radius) / 2 ) current_curve = arc_measure if not curve_dir else -arc_measure elif segment_name == "island": radius = ( np.random.rand() - * ( - self.row_segment_island_radius_max - - self.row_segment_island_radius_min - ) + * (self.row_segment_island_radius_max - self.row_segment_island_radius_min) + self.row_segment_island_radius_min ) island_row = np.random.randint(self.rows_left + self.rows_right - 1) + 1 @@ -213,4 +201,4 @@ def save(self, path): args = {k: v for k, v in args.items() if v is not None} pk = WorldDescription(**args) - print(pk) \ No newline at end of file + print(pk) From d26e3fbb579d489f1369c420f49019f5597340bf Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 03:10:12 -0700 Subject: [PATCH 07/12] Apply black format --- .../scripts/field_2d_generator.py | 93 ++++++++++--------- virtual_maize_field/scripts/generate_world.py | 10 +- virtual_maize_field/scripts/row_segments.py | 69 ++++---------- .../scripts/world_description.py | 34 +++---- 4 files changed, 80 insertions(+), 126 deletions(-) diff --git a/virtual_maize_field/scripts/field_2d_generator.py b/virtual_maize_field/scripts/field_2d_generator.py index b5bf52c..970497a 100644 --- a/virtual_maize_field/scripts/field_2d_generator.py +++ b/virtual_maize_field/scripts/field_2d_generator.py @@ -17,7 +17,6 @@ def __init__(self, world_description=WorldDescription()): self.wd = world_description np.random.seed(self.wd.structure["params"]["seed"]) - def render_matplotlib(self): # Segments for segment in self.segments: @@ -26,16 +25,18 @@ def render_matplotlib(self): # Plants plt.scatter(self.crop_placements[:, 0], self.crop_placements[:, 1], color="c", marker=".") - def plot_field(self): plt.plot(*self.field_poly.exterior.xy) plt.scatter(self.crop_placements[:, 0], self.crop_placements[:, 1], color="g", marker=".") if self.weed_placements.ndim == 2: - plt.scatter(self.weed_placements[:, 0], self.weed_placements[:, 1], color="r", marker=".") + plt.scatter( + self.weed_placements[:, 0], self.weed_placements[:, 1], color="r", marker="." + ) if self.litter_placements.ndim == 2: - plt.scatter(self.litter_placements[:, 0], self.litter_placements[:, 1], color="b", marker=".") + plt.scatter( + self.litter_placements[:, 0], self.litter_placements[:, 1], color="b", marker="." + ) self.minimap = plt - def generate(self): self.chain_segments() @@ -46,7 +47,6 @@ def generate(self): self.render_to_template() self.plot_field() return [self.sdf, self.heightmap] - def chain_segments(self): # Generate start points @@ -113,20 +113,20 @@ def chain_segments(self): self.rows = [] for row in self.crop_placements: row = np.vstack(row) - + # generate indexes of the end of the hole probs = np.random.sample(row.shape[0]) probs = probs < self.wd.structure["params"]["hole_prob"] - + # iterate in reverse order, and remove plants in the holes - i = probs.shape[0]-1 - while i > 0 : + i = probs.shape[0] - 1 + while i > 0: if probs[i]: hole_size = np.random.randint(1, self.wd.structure["params"]["hole_size_max"]) - row = np.delete(row, slice(max(0,i-hole_size), i), axis=0) + row = np.delete(row, slice(max(0, i - hole_size), i), axis=0) i = i - hole_size - i = i -1 + i = i - 1 self.rows.append(row) # Add bounden noise to placements @@ -142,15 +142,14 @@ def chain_segments(self): x += bg.get() y += bg.get() new_row.append([x, y]) - - self.rows[i] = np.array(new_row) + self.rows[i] = np.array(new_row) # Because the heightmap must be square and has to have a side length of 2^n + 1 # this means that we could have smaller maps, by centering the placements around 0,0 def center_plants(self): self.crop_placements = np.vstack(self.rows) - + x_min = self.crop_placements[:, 0].min() y_min = self.crop_placements[:, 1].min() @@ -159,51 +158,58 @@ def center_plants(self): for i in range(len(self.rows)): self.rows[i] -= np.array([x_min, y_min]) - self.rows[i] -= np.array([x_max, y_max]) / 2 - + self.rows[i] -= np.array([x_max, y_max]) / 2 # The function calculates the placements of the weed plants and # stores them under self.weeds : np.array([[x,y],[x,y],...]) def place_objects(self): def random_points_within(poly, num_points): min_x, min_y, max_x, max_y = poly.bounds - + points = [] - + while len(points) < num_points: np_point = [np.random.uniform(min_x, max_x), np.random.uniform(min_y, max_y)] random_point = shapely.geometry.Point(np_point) - if (random_point.within(poly)): + if random_point.within(poly): points.append(np_point) - + return np.array(points) - + # Get outher boundary of the of the crops outer_plants = np.concatenate((self.rows[0], np.flipud(self.rows[-1]))) self.field_poly = geometry.Polygon(outer_plants) # place x_nr of weeds within the field area - self.weed_placements = random_points_within(self.field_poly, self.wd.structure["params"]["weeds"]) - weed_types = np.random.choice(self.wd.structure["params"]["weed_types"].split(","), self.wd.structure["params"]["weeds"]) - + self.weed_placements = random_points_within( + self.field_poly, self.wd.structure["params"]["weeds"] + ) + weed_types = np.random.choice( + self.wd.structure["params"]["weed_types"].split(","), + self.wd.structure["params"]["weeds"], + ) + # place y_nr of litter within the field area - self.litter_placements = random_points_within(self.field_poly, self.wd.structure["params"]["litters"]) - litter_types = np.random.choice(self.wd.structure["params"]["litter_types"].split(","), self.wd.structure["params"]["litters"]) - + self.litter_placements = random_points_within( + self.field_poly, self.wd.structure["params"]["litters"] + ) + litter_types = np.random.choice( + self.wd.structure["params"]["litter_types"].split(","), + self.wd.structure["params"]["litters"], + ) + # TODO Thijs # place start marker at the beginning of the field - + # TODO Thijs # place location markers at the desginated locations - self.object_placements = np.concatenate((self.weed_placements, self.litter_placements)) self.object_types = np.concatenate((weed_types, litter_types)) - def generate_ground(self): self.crop_placements = np.vstack(self.rows) - + if self.object_placements.ndim == 2: self.placements = np.concatenate((self.crop_placements, self.object_placements), axis=0) else: @@ -218,9 +224,7 @@ def generate_ground(self): metric_height = metric_y_max - metric_y_min + 4 resolution = self.wd.structure["params"]["ground_resolution"] - min_image_size = int( - np.ceil(max(metric_width / resolution, metric_height / resolution)) - ) + min_image_size = int(np.ceil(max(metric_width / resolution, metric_height / resolution))) image_size = int(2 ** np.ceil(np.log2(min_image_size))) + 1 # Generate noise @@ -264,7 +268,6 @@ def generate_ground(self): metric_y_min - 2 + 0.5 * self.metric_size, ] - def fix_gazebo(self): # move the plants to the center of the flat circles self.crop_placements -= self.wd.structure["params"]["ground_resolution"] / 2 @@ -273,7 +276,6 @@ def fix_gazebo(self): # set heightmap position to origin self.heightmap_position = [0, 0] - def render_to_template(self): def into_dict(xy, ground_height, radius, height, mass, m_type, index): coordinate = dict() @@ -289,8 +291,7 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): coordinate["z"] = ground_height coordinate["radius"] = ( radius - + (2 * np.random.rand() - 1) - * self.wd.structure["params"]["plant_radius_noise"] + + (2 * np.random.rand() - 1) * self.wd.structure["params"]["plant_radius_noise"] ) if coordinate["type"] == "cylinder": coordinate["height"] = height @@ -307,11 +308,11 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): self.wd.structure["params"]["plant_height_min"], self.wd.structure["params"]["plant_mass"], np.random.choice(self.wd.structure["params"]["crop_types"].split(",")), - i + i, ) for i, plant in enumerate(self.crop_placements) ] - + # place objects object_coordinates = [ into_dict( @@ -320,15 +321,16 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): self.wd.structure["params"]["plant_radius"], self.wd.structure["params"]["plant_height_min"], self.wd.structure["params"]["plant_mass"], - "ghost_%s" % self.object_types[i] if self.wd.structure["params"] - ["ghost_objects"] else self.object_types[i], - i + "ghost_%s" % self.object_types[i] + if self.wd.structure["params"]["ghost_objects"] + else self.object_types[i], + i, ) for i, plant in enumerate(self.object_placements) ] coordinates.extend(object_coordinates) - + pkg_path = rospkg.RosPack().get_path("virtual_maize_field") template_path = os.path.join(pkg_path, "scripts/field.world.template") template = open(template_path).read() @@ -345,4 +347,3 @@ def into_dict(xy, ground_height, radius, height, mass, m_type, index): "max_elevation": self.wd.structure["params"]["ground_elevation_max"], }, ) - diff --git a/virtual_maize_field/scripts/generate_world.py b/virtual_maize_field/scripts/generate_world.py index 36a35fa..81a5f38 100755 --- a/virtual_maize_field/scripts/generate_world.py +++ b/virtual_maize_field/scripts/generate_world.py @@ -17,9 +17,7 @@ defaults = argspec.defaults # construct an ArgumentParser that takes these arguments - parser = argparse.ArgumentParser( - description="Generate a virtual maize field world for gazebo" - ) + parser = argparse.ArgumentParser(description="Generate a virtual maize field world for gazebo") for argname, default in zip(possible_kwargs, defaults): # we analyze the default value's type to guess the type for that argument parser.add_argument( @@ -42,11 +40,9 @@ with open(sdf_path, "w") as f: f.write(generated_sdf) # save heightmap - heightmap_path = os.path.join( - pkg_path, "Media/models/virtual_maize_field_heightmap.png" - ) + heightmap_path = os.path.join(pkg_path, "Media/models/virtual_maize_field_heightmap.png") cv2.imwrite(heightmap_path, fgen.heightmap) - + # save mini_map minimap_path = os.path.join(pkg_path, "generated_minimap.png") fgen.minimap.savefig(minimap_path, dpi=1000) diff --git a/virtual_maize_field/scripts/row_segments.py b/virtual_maize_field/scripts/row_segments.py index 881f57f..c57c7d9 100644 --- a/virtual_maize_field/scripts/row_segments.py +++ b/virtual_maize_field/scripts/row_segments.py @@ -32,10 +32,7 @@ def placements(self, offset=None): if offset == None: offset = np.full( (len(self.start_p)), - -( - self.plant_params["plant_spacing_max"] - + self.plant_params["plant_spacing_min"] - ) + -(self.plant_params["plant_spacing_max"] + self.plant_params["plant_spacing_min"]) / 2, ) @@ -67,9 +64,7 @@ def racing_lines(self, spacing): @abstractmethod def racing_line(self, row_number, spacing): if row_number > len(self.start_p) - 1: - raise ValueError( - "There is no racing line " + row_number + "/" + len(self.start_p) - 1 - ) + raise ValueError("There is no racing line " + row_number + "/" + len(self.start_p) - 1) # Must be implemented by the child class to render the segment @abstractmethod @@ -139,9 +134,7 @@ def render(self): class CurvedSegment(BaseSegment): - def __init__( - self, start_p, start_dir, plant_params, radius, curve_dir, arc_measure - ): + def __init__(self, start_p, start_dir, plant_params, radius, curve_dir, arc_measure): super(CurvedSegment, self).__init__(start_p, start_dir, plant_params) self.radius = radius self.curve_dir = curve_dir @@ -171,9 +164,9 @@ def get_plant_row(self, row_number, offset): cur_placement = Geometry.rotate(start, self.center, c / r) placements = [cur_placement] - while ( - c < l - self.plant_params["plant_spacing_min"] or not self.curve_dir - ) and (c > l + self.plant_params["plant_spacing_min"] or self.curve_dir): + while (c < l - self.plant_params["plant_spacing_min"] or not self.curve_dir) and ( + c > l + self.plant_params["plant_spacing_min"] or self.curve_dir + ): step = rot * self.bounded_gaussian.get(0.0) cur_placement = Geometry.rotate(cur_placement, self.center, step / r) placements.append(cur_placement) @@ -247,9 +240,7 @@ def __init__( self.radius = radius self.island_model = island_model self.island_model_radius = island_model_radius - self.island_row_radius = ( - island_model_radius if island_model_radius > radius else radius - ) + self.island_row_radius = island_model_radius if island_model_radius > radius else radius self.island_row = island_row # start p vec @@ -272,27 +263,17 @@ def __init__( # check which is bigger and us it if d_l > d_r: self.angle = a_l - self.radius_left = d_l - np.linalg.norm( - self.start_p_left[0] - self.start_p_left[-1] - ) - self.radius_right = d_l - np.linalg.norm( - self.start_p_right[0] - self.start_p_right[-1] - ) + self.radius_left = d_l - np.linalg.norm(self.start_p_left[0] - self.start_p_left[-1]) + self.radius_right = d_l - np.linalg.norm(self.start_p_right[0] - self.start_p_right[-1]) self.length = 2 * d_l * np.tan(self.angle) else: self.angle = a_r - self.radius_left = d_r - np.linalg.norm( - self.start_p_left[0] - self.start_p_left[-1] - ) - self.radius_right = d_r - np.linalg.norm( - self.start_p_right[0] - self.start_p_right[-1] - ) + self.radius_left = d_r - np.linalg.norm(self.start_p_left[0] - self.start_p_left[-1]) + self.radius_right = d_r - np.linalg.norm(self.start_p_right[0] - self.start_p_right[-1]) self.length = 2 * d_r * np.tan(self.angle) # Island - self.center_island = ( - self.start_p[self.island_row] + self.start_dir * 0.5 * self.length - ) + self.center_island = self.start_p[self.island_row] + self.start_dir * 0.5 * self.length # Left self.entrence_left = CurvedSegment( @@ -308,9 +289,7 @@ def __init__( lp1, ld1, plant_params, self.island_row_radius, False, 2 * self.angle ) lp2, ld2 = self.middle_left.end() - self.exit_left = CurvedSegment( - lp2, ld2, plant_params, self.radius_left, True, self.angle - ) + self.exit_left = CurvedSegment(lp2, ld2, plant_params, self.radius_left, True, self.angle) # Right self.entrence_right = CurvedSegment( @@ -345,27 +324,17 @@ def get_plant_row(self, row_number, offset): p3, next_offset = self.exit_left.get_plant_row(row_number, off2) placements = np.vstack([p1, p2, p3]) elif row_number > self.island_row: - p1, off1 = self.entrence_right.get_plant_row( - row_number - self.island_row, offset - ) - p2, off2 = self.middle_right.get_plant_row( - row_number - self.island_row, off1 - ) - p3, next_offset = self.exit_right.get_plant_row( - row_number - self.island_row, off2 - ) + p1, off1 = self.entrence_right.get_plant_row(row_number - self.island_row, offset) + p2, off2 = self.middle_right.get_plant_row(row_number - self.island_row, off1) + p3, next_offset = self.exit_right.get_plant_row(row_number - self.island_row, off2) placements = np.vstack([p1, p2, p3]) else: pel, off1 = self.entrence_left.get_plant_row(row_number, offset) pml, off2 = self.middle_left.get_plant_row(row_number, off1) pxl, nol = self.exit_left.get_plant_row(row_number, off2) - per, off1 = self.entrence_right.get_plant_row( - row_number - self.island_row, offset - ) - pmr, off2 = self.middle_right.get_plant_row( - row_number - self.island_row, off1 - ) + per, off1 = self.entrence_right.get_plant_row(row_number - self.island_row, offset) + pmr, off2 = self.middle_right.get_plant_row(row_number - self.island_row, off1) pxr, nor = self.exit_right.get_plant_row(row_number - self.island_row, off2) placements = np.vstack([pel, per, pml, pmr, pxl, pxr]) @@ -401,4 +370,4 @@ def render(self): self.entrence_right.render() self.middle_right.render() - self.exit_right.render() \ No newline at end of file + self.exit_right.render() diff --git a/virtual_maize_field/scripts/world_description.py b/virtual_maize_field/scripts/world_description.py index 72fd45f..fc261ca 100755 --- a/virtual_maize_field/scripts/world_description.py +++ b/virtual_maize_field/scripts/world_description.py @@ -14,7 +14,6 @@ AVAILABLE_SEGMENTS = ["straight", "curved", "island"] - class WorldDescription: def __init__( self, @@ -42,8 +41,8 @@ def __init__( plant_radius_noise=0.05, plant_placement_error_max=0.02, plant_mass=0.3, - hole_prob = 0.0, - hole_size_max = 7, + hole_prob=0.0, + hole_size_max=7, crop_types=",".join(AVAILABLE_CROP_TYPES[1:]), litters=0, litter_types=",".join(AVAILABLE_LITTER_TYPES), @@ -51,7 +50,7 @@ def __init__( weed_types=",".join(AVAILABLE_WEED_TYPES), ghost_objects=False, load_from_file=None, - seed=-1 + seed=-1, ): row_segments = row_segments.split(",") @@ -86,10 +85,10 @@ def random_description(self): "hole_size_max": self.hole_size_max, "crop_types": self.crop_types, "litter_types": self.litter_types, - "litters":self.litters, + "litters": self.litters, "weed_types": self.weed_types, - "weeds" :self.weeds, - "ghost_objects":self.ghost_objects, + "weeds": self.weeds, + "ghost_objects": self.ghost_objects, "seed": self.seed, } @@ -104,10 +103,7 @@ def random_description(self): if segment_name == "straight": length = ( np.random.rand() - * ( - self.row_segment_straight_length_max - - self.row_segment_straight_length_min - ) + * (self.row_segment_straight_length_max - self.row_segment_straight_length_min) + self.row_segment_straight_length_min ) @@ -118,10 +114,7 @@ def random_description(self): elif segment_name == "curved": radius = ( np.random.rand() - * ( - self.row_segment_curved_radius_max - - self.row_segment_curved_radius_min - ) + * (self.row_segment_curved_radius_max - self.row_segment_curved_radius_min) + self.row_segment_curved_radius_min ) arc_measure = ( @@ -146,19 +139,14 @@ def random_description(self): } current_row_length += ( - arc_measure - * ((self.rows_left + self.rows_right) * self.row_width + radius) - / 2 + arc_measure * ((self.rows_left + self.rows_right) * self.row_width + radius) / 2 ) current_curve = arc_measure if not curve_dir else -arc_measure elif segment_name == "island": radius = ( np.random.rand() - * ( - self.row_segment_island_radius_max - - self.row_segment_island_radius_min - ) + * (self.row_segment_island_radius_max - self.row_segment_island_radius_min) + self.row_segment_island_radius_min ) island_row = np.random.randint(self.rows_left + self.rows_right - 1) + 1 @@ -213,4 +201,4 @@ def save(self, path): args = {k: v for k, v in args.items() if v is not None} pk = WorldDescription(**args) - print(pk) \ No newline at end of file + print(pk) From 8804f7f51faca9d739e61e1116d665f06c7f27ed Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 03:35:34 -0700 Subject: [PATCH 08/12] Fix param names in Readme and sample generators --- virtual_maize_field/README.md | 12 ++++++------ virtual_maize_field/scripts/create_task_2.sh | 2 +- virtual_maize_field/scripts/create_task_2_mini.sh | 2 +- virtual_maize_field/scripts/create_task_3.sh | 2 +- virtual_maize_field/scripts/create_task_3_mini.sh | 2 +- virtual_maize_field/scripts/create_task_4.sh | 2 +- virtual_maize_field/scripts/create_task_4_mini.sh | 2 +- 7 files changed, 12 insertions(+), 12 deletions(-) diff --git a/virtual_maize_field/README.md b/virtual_maize_field/README.md index b9af188..e4365ff 100644 --- a/virtual_maize_field/README.md +++ b/virtual_maize_field/README.md @@ -138,12 +138,12 @@ In the script folder, bash files to generate sample worlds are located. The para |:---- |:--------- |:----------- | | *create_task_1.sh* | `--row_length 10 --rows_left 0 --rows_right 11 --rows_curve_budget 0.78539816339 --row_segments straight,curved --row_segment_curved_radius_min 4.0 --row_segment_curved_radius_max 5.0` | Task 1, curved rows without holes | | *create_task_1_mini.sh* | `--row_length 5 --rows_left 0 --rows_right 5 --rows_curve_budget 0.78539816339 --row_segments straight,curved --row_segment_curved_radius_min 4.0 --row_segment_curved_radius_max 5.0` | A smaller version of task 1, requiring less computer power | -| *create_task_2.sh* | `--row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --max_hole_size 7` | Task 2, straight rows with holes | -| *create_task_2_mini.sh* | `--row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --max_hole_size 7` | A smaller version of task 2, requiring less computer power | -| *create_task_3.sh* | `--row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --max_hole_size 7 --litters 5 --weeds 5 --ghost_objects true` | Task 3, similar crop rows as in task_2 but with cans, bottles and weeds spread throughout the field. The cans, bottles and weeds have no collision box and are static. | -| *create_task_3_mini.sh* | `--row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --max_hole_size 7 --litters 5 --weeds 5 --ghost_objects true` | A smaller version of task 3, requiring less computer power | -| *create_task_4.sh* | `--row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --max_hole_size 7 --litters 5 --weeds 5` | Task 4, similar crop rows as in task_2 but with cans, bottles and weeds spread throughout the field. The cans, bottles and weeds have a collision box and can be picked up. | -| *create_task_4_mini.sh* | `--row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --max_hole_size 7 --litters 5 --weeds 5` | A smaller version of task 4, requiring less computer power | +| *create_task_2.sh* | `--row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --hole_size_max 7` | Task 2, straight rows with holes | +| *create_task_2_mini.sh* | `--row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --hole_size_max 7` | A smaller version of task 2, requiring less computer power | +| *create_task_3.sh* | `--row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5 --ghost_objects true` | Task 3, similar crop rows as in task_2 but with cans, bottles and weeds spread throughout the field. The cans, bottles and weeds have no collision box and are static. | +| *create_task_3_mini.sh* | `--row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5 --ghost_objects true` | A smaller version of task 3, requiring less computer power | +| *create_task_4.sh* | `--row_length 7 --rows_left 0 --rows_right 11 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5` | Task 4, similar crop rows as in task_2 but with cans, bottles and weeds spread throughout the field. The cans, bottles and weeds have a collision box and can be picked up. | +| *create_task_4_mini.sh* | `--row_length 3.5 --rows_left 0 --rows_right 7 --row_segments straight --hole_prob 0.04 --hole_size_max 7 --litters 5 --weeds 5` | A smaller version of task 4, requiring less computer power | ## Launching worlds The launch file to launch the worlds is called `simulation.launch`. You can launch the launch file by running `roslaunch virtual_maize_field simulation.launch`. By default the launch file will launch `generated_world.world`. You can launch any world by using the `world_name` arg. e.g. `roslaunch virtual_maize_field simulation.launch world_name:=simple_row_level_1.world`. diff --git a/virtual_maize_field/scripts/create_task_2.sh b/virtual_maize_field/scripts/create_task_2.sh index f23e8e2..feba9d4 100644 --- a/virtual_maize_field/scripts/create_task_2.sh +++ b/virtual_maize_field/scripts/create_task_2.sh @@ -7,4 +7,4 @@ rosrun virtual_maize_field generate_world.py \ --rows_right 11 \ --row_segments straight \ --hole_prob 0.04 \ ---max_hole_size 7 +--hole_size_max 7 diff --git a/virtual_maize_field/scripts/create_task_2_mini.sh b/virtual_maize_field/scripts/create_task_2_mini.sh index 2c9c210..8b934f2 100644 --- a/virtual_maize_field/scripts/create_task_2_mini.sh +++ b/virtual_maize_field/scripts/create_task_2_mini.sh @@ -7,4 +7,4 @@ rosrun virtual_maize_field generate_world.py \ --rows_right 7 \ --row_segments straight \ --hole_prob 0.04 \ ---max_hole_size 7 +--hole_size_max 7 diff --git a/virtual_maize_field/scripts/create_task_3.sh b/virtual_maize_field/scripts/create_task_3.sh index 2532b66..76aa07d 100644 --- a/virtual_maize_field/scripts/create_task_3.sh +++ b/virtual_maize_field/scripts/create_task_3.sh @@ -7,7 +7,7 @@ rosrun virtual_maize_field generate_world.py \ --rows_right 11 \ --row_segments straight \ --hole_prob 0.04 \ ---max_hole_size 7 \ +--hole_size_max 7 \ --litters 5 \ --weeds 5 \ --ghost_objects true diff --git a/virtual_maize_field/scripts/create_task_3_mini.sh b/virtual_maize_field/scripts/create_task_3_mini.sh index f1c29e8..e11d58a 100644 --- a/virtual_maize_field/scripts/create_task_3_mini.sh +++ b/virtual_maize_field/scripts/create_task_3_mini.sh @@ -7,7 +7,7 @@ rosrun virtual_maize_field generate_world.py \ --rows_right 7 \ --row_segments straight \ --hole_prob 0.04 \ ---max_hole_size 7 \ +--hole_size_max 7 \ --litters 5 \ --weeds 5 \ --ghost_objects true diff --git a/virtual_maize_field/scripts/create_task_4.sh b/virtual_maize_field/scripts/create_task_4.sh index 4769ffa..9217487 100644 --- a/virtual_maize_field/scripts/create_task_4.sh +++ b/virtual_maize_field/scripts/create_task_4.sh @@ -7,6 +7,6 @@ rosrun virtual_maize_field generate_world.py \ --rows_right 11 \ --row_segments straight \ --hole_prob 0.04 \ ---max_hole_size 7 \ +--hole_size_max 7 \ --litters 5 \ --weeds 5 diff --git a/virtual_maize_field/scripts/create_task_4_mini.sh b/virtual_maize_field/scripts/create_task_4_mini.sh index 84f78c3..7941a2a 100644 --- a/virtual_maize_field/scripts/create_task_4_mini.sh +++ b/virtual_maize_field/scripts/create_task_4_mini.sh @@ -7,6 +7,6 @@ rosrun virtual_maize_field generate_world.py \ --rows_right 7 \ --row_segments straight \ --hole_prob 0.04 \ ---max_hole_size 7 \ +--hole_size_max 7 \ --litters 5 \ --weeds 5 From cbd887aa7b08873912094c9057bb43dfdac3b66a Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 04:05:04 -0700 Subject: [PATCH 09/12] Add gazebo cache removal to generator --- virtual_maize_field/scripts/create_task_1.sh | 4 ---- virtual_maize_field/scripts/create_task_1_mini.sh | 4 ---- virtual_maize_field/scripts/create_task_2.sh | 2 -- virtual_maize_field/scripts/create_task_2_mini.sh | 2 -- virtual_maize_field/scripts/create_task_3.sh | 2 -- virtual_maize_field/scripts/create_task_3_mini.sh | 2 -- virtual_maize_field/scripts/create_task_4.sh | 2 -- virtual_maize_field/scripts/create_task_4_mini.sh | 2 -- virtual_maize_field/scripts/generate_world.py | 8 ++++++++ 9 files changed, 8 insertions(+), 20 deletions(-) diff --git a/virtual_maize_field/scripts/create_task_1.sh b/virtual_maize_field/scripts/create_task_1.sh index da35296..98a6e3b 100644 --- a/virtual_maize_field/scripts/create_task_1.sh +++ b/virtual_maize_field/scripts/create_task_1.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 10 \ --rows_left 0 \ @@ -9,5 +7,3 @@ rosrun virtual_maize_field generate_world.py \ --row_segments straight,curved \ --row_segment_curved_radius_min 4.0 \ --row_segment_curved_radius_max 5.0 - - diff --git a/virtual_maize_field/scripts/create_task_1_mini.sh b/virtual_maize_field/scripts/create_task_1_mini.sh index f931cfe..e2f542c 100644 --- a/virtual_maize_field/scripts/create_task_1_mini.sh +++ b/virtual_maize_field/scripts/create_task_1_mini.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 5 \ --rows_left 0 \ @@ -9,5 +7,3 @@ rosrun virtual_maize_field generate_world.py \ --row_segments straight,curved \ --row_segment_curved_radius_min 4.0 \ --row_segment_curved_radius_max 5.0 - - diff --git a/virtual_maize_field/scripts/create_task_2.sh b/virtual_maize_field/scripts/create_task_2.sh index feba9d4..defcc02 100644 --- a/virtual_maize_field/scripts/create_task_2.sh +++ b/virtual_maize_field/scripts/create_task_2.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 7 \ --rows_left 0 \ diff --git a/virtual_maize_field/scripts/create_task_2_mini.sh b/virtual_maize_field/scripts/create_task_2_mini.sh index 8b934f2..032d088 100644 --- a/virtual_maize_field/scripts/create_task_2_mini.sh +++ b/virtual_maize_field/scripts/create_task_2_mini.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 3.5 \ --rows_left 0 \ diff --git a/virtual_maize_field/scripts/create_task_3.sh b/virtual_maize_field/scripts/create_task_3.sh index 76aa07d..9c238c9 100644 --- a/virtual_maize_field/scripts/create_task_3.sh +++ b/virtual_maize_field/scripts/create_task_3.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 7 \ --rows_left 0 \ diff --git a/virtual_maize_field/scripts/create_task_3_mini.sh b/virtual_maize_field/scripts/create_task_3_mini.sh index e11d58a..b0db29b 100644 --- a/virtual_maize_field/scripts/create_task_3_mini.sh +++ b/virtual_maize_field/scripts/create_task_3_mini.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 3.5 \ --rows_left 0 \ diff --git a/virtual_maize_field/scripts/create_task_4.sh b/virtual_maize_field/scripts/create_task_4.sh index 9217487..bb2a463 100644 --- a/virtual_maize_field/scripts/create_task_4.sh +++ b/virtual_maize_field/scripts/create_task_4.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 7 \ --rows_left 0 \ diff --git a/virtual_maize_field/scripts/create_task_4_mini.sh b/virtual_maize_field/scripts/create_task_4_mini.sh index 7941a2a..f521f4d 100644 --- a/virtual_maize_field/scripts/create_task_4_mini.sh +++ b/virtual_maize_field/scripts/create_task_4_mini.sh @@ -1,6 +1,4 @@ # remove old gazebo cache file, so gazebo is forced to use the new height map. -rm -r ~/.gazebo/paging/virtual_maize_field_heightmap - rosrun virtual_maize_field generate_world.py \ --row_length 3.5 \ --rows_left 0 \ diff --git a/virtual_maize_field/scripts/generate_world.py b/virtual_maize_field/scripts/generate_world.py index 81a5f38..3d41c87 100755 --- a/virtual_maize_field/scripts/generate_world.py +++ b/virtual_maize_field/scripts/generate_world.py @@ -3,7 +3,10 @@ import rospkg import argparse import inspect + import os +import shutil + import cv2 from matplotlib import pyplot as plt @@ -43,6 +46,11 @@ heightmap_path = os.path.join(pkg_path, "Media/models/virtual_maize_field_heightmap.png") cv2.imwrite(heightmap_path, fgen.heightmap) + # clear the gazbeo cache for old heightmap + home_dir = os.path.expanduser("~") + gazebo_cache_pkg = os.path.join(home_dir, ".gazebo/paging/virtual_maize_field_heightmap") + shutil.rmtree(gazebo_cache_pkg) + # save mini_map minimap_path = os.path.join(pkg_path, "generated_minimap.png") fgen.minimap.savefig(minimap_path, dpi=1000) From 11922d040a82a57ea315687f300583d95417223b Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 04:17:36 -0700 Subject: [PATCH 10/12] Fix codestyle --- virtual_maize_field/scripts/generate_world.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/virtual_maize_field/scripts/generate_world.py b/virtual_maize_field/scripts/generate_world.py index 3d41c87..6be8520 100755 --- a/virtual_maize_field/scripts/generate_world.py +++ b/virtual_maize_field/scripts/generate_world.py @@ -46,7 +46,7 @@ heightmap_path = os.path.join(pkg_path, "Media/models/virtual_maize_field_heightmap.png") cv2.imwrite(heightmap_path, fgen.heightmap) - # clear the gazbeo cache for old heightmap + # clear the gazbeo cache for old heightmap home_dir = os.path.expanduser("~") gazebo_cache_pkg = os.path.join(home_dir, ".gazebo/paging/virtual_maize_field_heightmap") shutil.rmtree(gazebo_cache_pkg) From 19772be90b62fa1883d1e5711e82bfc039ddd1d6 Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 04:33:49 -0700 Subject: [PATCH 11/12] Update melodic deps --- virtual_maize_field/README.md | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/virtual_maize_field/README.md b/virtual_maize_field/README.md index e4365ff..4568cec 100644 --- a/virtual_maize_field/README.md +++ b/virtual_maize_field/README.md @@ -27,10 +27,7 @@ Additional you'll need the following packages: # melodic rosdep install virtual_maize_field sudo apt install python3-pip -sudo pip3 install -U jinja2 rospkg -sudo pip3 install opencv-python -sudo pip3 install matplotlib -sudo pip3 install shapely +sudo pip3 install -U jinja2 rospkg opencv-python matplotlib shapely # noetic rosdep install virtual_maize_field From b14a28747491fba3cc25c51d8fd08f223f057b1f Mon Sep 17 00:00:00 2001 From: Johannes Bier Date: Thu, 13 May 2021 05:12:25 -0700 Subject: [PATCH 12/12] Fix error when deleting non existand gazebo cache --- virtual_maize_field/scripts/generate_world.py | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) diff --git a/virtual_maize_field/scripts/generate_world.py b/virtual_maize_field/scripts/generate_world.py index 6be8520..e3050de 100755 --- a/virtual_maize_field/scripts/generate_world.py +++ b/virtual_maize_field/scripts/generate_world.py @@ -20,7 +20,9 @@ defaults = argspec.defaults # construct an ArgumentParser that takes these arguments - parser = argparse.ArgumentParser(description="Generate a virtual maize field world for gazebo") + parser = argparse.ArgumentParser( + description="Generate a virtual maize field world for gazebo" + ) for argname, default in zip(possible_kwargs, defaults): # we analyze the default value's type to guess the type for that argument parser.add_argument( @@ -43,13 +45,18 @@ with open(sdf_path, "w") as f: f.write(generated_sdf) # save heightmap - heightmap_path = os.path.join(pkg_path, "Media/models/virtual_maize_field_heightmap.png") + heightmap_path = os.path.join( + pkg_path, "Media/models/virtual_maize_field_heightmap.png" + ) cv2.imwrite(heightmap_path, fgen.heightmap) # clear the gazbeo cache for old heightmap home_dir = os.path.expanduser("~") - gazebo_cache_pkg = os.path.join(home_dir, ".gazebo/paging/virtual_maize_field_heightmap") - shutil.rmtree(gazebo_cache_pkg) + gazebo_cache_pkg = os.path.join( + home_dir, ".gazebo/paging/virtual_maize_field_heightmap" + ) + if os.path.isdir(gazebo_cache_pkg): + shutil.rmtree(gazebo_cache_pkg) # save mini_map minimap_path = os.path.join(pkg_path, "generated_minimap.png")