# Copyright 2020 John Harwell, All rights reserved.
#
# SPDX-License-Identifier: MIT
"""Classes for specifying ARGoS cameras.
Positions, timeline, and interpolation, for manipulating the frame
capture/rendering perspective.
"""
# Core packages
import typing as tp
import math
# 3rd party packages
# Project packages
from sierra.core.variables.base_variable import IBaseVariable
from sierra.core.utils import ArenaExtent
from sierra.core.experiment import definition
from sierra.core import types
from sierra.core.vector import Vector3D
import sierra.plugins.engine.argos.variables.exp_setup as exp
[docs]
class QTCameraTimeline(IBaseVariable):
"""Defines when/how to switch between camera perspectives within ARGoS.
Attributes:
interpolate: Should we interpolate between camera positions on our
timeline ?
setup: Simulation experiment definitions.
extents: List of (X,Y,Zs) tuple of dimensions of arena areas to generate
camera definitions for.
"""
# If this default changes in ARGoS, it will need to be updated here too.
N_CAMERAS = 12
def __init__(
self, setup: exp.ExpSetup, cmdline: str, extents: list[ArenaExtent]
) -> None:
self.cmdline = cmdline
self.extents = extents
self.setup = setup
self.element_adds = [] # type: tp.List[definition.ElementAddList]
[docs]
def gen_attr_changelist(self) -> list[definition.AttrChangeSet]:
"""
No effect.
All tags/attributes are either deleted or added.
"""
return []
[docs]
def gen_tag_rmlist(self) -> list[definition.ElementRmList]:
"""Remove the ``<camera>`` tag if it exists.
Obviously you *must* call this function BEFORE adding new definitions.
"""
return [
definition.ElementRmList(
definition.ElementRm("./visualization/qt-opengl", "camera")
)
]
[docs]
def gen_element_addlist(self) -> list[definition.ElementAddList]:
if not self.element_adds:
adds = definition.ElementAddList(
definition.ElementAdd("./visualization/qt-opengl", "camera", {}, False),
definition.ElementAdd(
"./visualization/qt-opengl/camera", "placements", {}, False
),
)
in_ticks = self.setup.n_secs_per_run * self.setup.n_ticks_per_sec
adds.append(
definition.ElementAdd(
".//qt-opengl/camera", "timeline", {"loop": str(in_ticks)}, False
)
)
for ext in self.extents:
# generate keyframes for switching between camera perspectives
self._gen_keyframes(adds, self.N_CAMERAS, in_ticks)
info = [
self._gen_camera_config(ext, c, self.N_CAMERAS)
for c in range(0, self.N_CAMERAS)
]
for index, up, look_at, pos in info:
camera = definition.ElementAdd(
".//camera/placements",
"placement",
{
"index": f"{index}",
"up": f"{up.x},{up.y},{up.z}",
"position": f"{pos.x},{pos.y},{pos.z}",
"look_at": f"{look_at.x},{look_at.y},{look_at.z}",
},
True,
)
adds.append(camera)
self.element_adds = [adds]
return self.element_adds
[docs]
def gen_files(self) -> None:
pass
def _gen_keyframes(
self, adds: definition.ElementAddList, n_cameras: int, cycle_length: int
) -> None:
for c in range(0, n_cameras):
index = c % n_cameras
adds.append(
definition.ElementAdd(
".//qt-opengl/camera/timeline",
"keyframe",
{
"placement": str(index),
"step": str(int(cycle_length / n_cameras * c)),
},
True,
)
)
if "interp" in self.cmdline and c < n_cameras:
adds.append(
definition.ElementAdd(
".//qt-opengl/camera/timeline", "interpolate", {}, True
)
)
def _gen_camera_config(self, ext: ArenaExtent, index: int, n_cameras) -> tuple:
angle = (index % n_cameras) * (2.0 * math.pi / n_cameras)
look_at = Vector3D(ext.xsize() / 2.0, ext.ysize() / 2.0, 0.0)
hyp = math.sqrt(2 * max(look_at.x, look_at.y) ** 2)
pos_x = hyp * math.cos(angle) + look_at.x
pos_y = hyp * math.sin(angle) + look_at.y
pos_z = max(ext.xsize(), ext.ysize()) * 0.50
pos = Vector3D(pos_x, pos_y, pos_z)
# This is what the ARGoS source does for the up vector for the default
# camera configuration
up = Vector3D(0, 0, 1)
return index, up, look_at, pos
[docs]
class QTCameraOverhead(IBaseVariable):
"""Defines a single overhead camera perspective within ARGoS.
Attributes:
extents: List of (X,Y,Z) tuple of dimensions of arena areas to generate
camera definitions for.
"""
def __init__(self, extents: list[ArenaExtent]) -> None:
self.extents = extents
self.element_adds = [] # type: tp.List[definition.ElementAddList]
[docs]
def gen_attr_changelist(self) -> list[definition.AttrChangeSet]:
"""No effect.
All tags/attributes are either deleted or added.
"""
return []
[docs]
def gen_tag_rmlist(self) -> list[definition.ElementRmList]:
"""Remove the ``<camera>`` tag if it exists.
Obviously you *must* call this function BEFORE adding new definitions.
"""
return [
definition.ElementRmList(
definition.ElementRm("./visualization/qt-opengl", "camera")
)
]
[docs]
def gen_element_addlist(self) -> list[definition.ElementAddList]:
if not self.element_adds:
adds = definition.ElementAddList(
definition.ElementAdd("./visualization/qt-opengl", "camera", {}, False),
definition.ElementAdd(
"./visualization/qt-opengl/camera", "placements", {}, False
),
)
for ext in self.extents:
height = max(ext.xsize(), ext.ysize()) * 0.75
camera = definition.ElementAdd(
".//camera/placements",
"placement",
{
"index": "0",
"position": "{}, {}, {}".format(
ext.xsize() / 2.0, ext.ysize() / 2.0, height
),
"look_at": "{}, {}, 0".format(
ext.xsize() / 2.0, ext.ysize() / 2.0
),
},
True,
)
adds.append(camera)
self.element_adds = [adds]
return self.element_adds
[docs]
def gen_files(self) -> None:
pass
def factory(cmdopts: types.Cmdopts, extents: list[ArenaExtent]):
"""Create cameras for a list of arena extents."""
if cmdopts["camera_config"] == "overhead":
return QTCameraOverhead(extents)
return QTCameraTimeline(
exp.factory(cmdopts["exp_setup"]), cmdopts["camera_config"], extents
)
__all__ = [
"QTCameraOverhead",
"QTCameraTimeline",
]
