from library_qlabs import CommModularContainer
from library_qlabs_actor import QLabsActor
import math
import struct
import cv2
import numpy as np
######################### MODULAR CONTAINER CLASS #########################
[docs]class QLabsFreeCamera(QLabsActor):
""" This class supports the spawning and control of free movement cameras in QLabs open worlds."""
ID_FREE_CAMERA = 170
"""Class ID"""
FCN_FREE_CAMERA_POSSESS = 10
FCN_FREE_CAMERA_POSSESS_ACK = 11
FCN_FREE_CAMERA_SET_CAMERA_PROPERTIES = 12
FCN_FREE_CAMERA_SET_CAMERA_PROPERTIES_ACK = 13
FCN_FREE_CAMERA_SET_TRANSFORM = 14
FCN_FREE_CAMERA_SET_TRANSFORM_ACK = 15
FCN_FREE_CAMERA_SET_IMAGE_RESOLUTION = 90
FCN_FREE_CAMERA_SET_IMAGE_RESOLUTION_RESPONSE = 91
FCN_FREE_CAMERA_REQUEST_IMAGE = 100
FCN_FREE_CAMERA_RESPONSE_IMAGE = 101
""" The current actor number of this class to be addressed. This can be modified at any time. """
[docs] def __init__(self, qlabs, verbose=False):
""" Constructor Method
:param qlabs: A QuanserInteractiveLabs object
:param verbose: (Optional) Print error information to the console.
:type qlabs: object
:type verbose: boolean
"""
self._qlabs = qlabs
self._verbose = verbose
self.classID = self.ID_FREE_CAMERA
return
[docs] def possess(self):
"""
Possess (take control of) a camera in QLabs.
:return: `True` if possessing the camera was successful, `False` otherwise
:rtype: boolean
"""
if (not self._is_actor_number_valid()):
return False
c = CommModularContainer()
c.classID = self.ID_FREE_CAMERA
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_FREE_CAMERA_POSSESS
c.payload = bytearray()
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
c = self._qlabs.wait_for_container(self.ID_FREE_CAMERA, self.actorNumber, self.FCN_FREE_CAMERA_POSSESS_ACK)
if (c == None):
return False
else:
return True
else:
return False
[docs] def set_camera_properties(self, fieldOfView, depthOfField, aperature, focusDistance):
"""
Sets the camera properties. When depthOfField is enabled, the camera will produce more realistic (and cinematic) results by adding some blur to the view at distances closer and further away from a given focal distance. For more blur, use a large aperture (small value) and a narrow field of view.
:param fieldOfView: The field of view that the camera can see (range:5-150 degrees). When depthOfField is True, smaller values will increase focal blur at distances relative to the focusDistance.
:param depthOfField: Enable or disable the depth of field visual effect
:param aperture: The amount of light allowed into the camera sensor (range:2.0-22.0). Smaller values (larger apertures) increase the light and decrease the depth of field. This parameter is only active when depthOfField is True.
:param focusDistance: The distance to the focal plane of the camera. (range:0.1-50.0 meters). This parameter is only active when depthOfField is True.
:type fieldOfView: int
:type depthOfField: boolean
:type aperture: float
:type focusDistance: float
:return: `True` if setting the camera properties was successful, `False` otherwise
:rtype: boolean
"""
if (not self._is_actor_number_valid()):
return False
c = CommModularContainer()
c.classID = self.ID_FREE_CAMERA
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_FREE_CAMERA_SET_CAMERA_PROPERTIES
c.payload = bytearray(struct.pack(">fBff", fieldOfView, depthOfField, aperature, focusDistance))
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
c = self._qlabs.wait_for_container(self.ID_FREE_CAMERA, self.actorNumber, self.FCN_FREE_CAMERA_SET_CAMERA_PROPERTIES_ACK)
if (c == None):
return False
else:
return True
else:
return False
[docs] def set_image_capture_resolution(self, width=640, height=480):
"""Change the default width and height of image resolution for capture
:param width: Must be an even number. Default 640
:param height: Must be an even number. Default 480
:type width: uint32
:type height: uint32
:return: `True` if spawn was successful, `False` otherwise
:rtype: boolean
"""
if (not self._is_actor_number_valid()):
return False
c = CommModularContainer()
c.classID = self.ID_FREE_CAMERA
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_FREE_CAMERA_SET_IMAGE_RESOLUTION
c.payload = bytearray(struct.pack(">II", width, height))
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
c = self._qlabs.wait_for_container(self.ID_FREE_CAMERA, self.actorNumber, self.FCN_FREE_CAMERA_SET_IMAGE_RESOLUTION_RESPONSE)
if (c == None):
return False
else:
return True
else:
return False
[docs] def get_image(self):
"""Request an image from the camera actor. Note, set_image_capture_resolution must be set once per camera otherwise this method will fail.
:return: Success, RGB image data
:rtype: boolean, byte array[variable]
"""
if (not self._is_actor_number_valid()):
return False, None
c = CommModularContainer()
c.classID = self.ID_FREE_CAMERA
c.actorNumber = self.actorNumber
c.actorFunction = self.FCN_FREE_CAMERA_REQUEST_IMAGE
c.payload = bytearray()
c.containerSize = c.BASE_CONTAINER_SIZE + len(c.payload)
self._qlabs.flush_receive()
if (self._qlabs.send_container(c)):
c = self._qlabs.wait_for_container(self.ID_FREE_CAMERA, self.actorNumber, self.FCN_FREE_CAMERA_RESPONSE_IMAGE)
if (c == None):
return False, None
data_size, = struct.unpack(">I", c.payload[0:4])
jpg_buffer = cv2.imdecode(np.frombuffer(bytearray(c.payload[4:len(c.payload)]), dtype=np.uint8, count=-1, offset=0), 1)
return True, jpg_buffer
else:
return False, None