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Add DebugLineRender utility #1349

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Jul 1, 2021
Merged

Add DebugLineRender utility #1349

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473bb7f
add DebugLineRender util for thick-line-rendering
eundersander Jun 17, 2021
ce39983
integrate DebugLineRender into Simulator
eundersander Jun 28, 2021
3cb7729
Python bindings for DebugLineRender
eundersander Jun 28, 2021
7e1f726
update replay_tutorial.py: debug line rendering; brighter lights
eundersander Jun 28, 2021
2204df6
fix for logging include
eundersander Jun 28, 2021
8dbd74e
polish
eundersander Jun 28, 2021
8efc781
compile fix for JS build; fix deprecation warning
eundersander Jun 28, 2021
fc3540e
switch to FlatGL; switch to ArrayView for points list; other polish
eundersander Jun 29, 2021
6ba198a
version of drawPathWithEndpointCircles that takes a std::vector, for …
eundersander Jun 29, 2021
2dfbdbb
update comment
eundersander Jun 29, 2021
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102 changes: 78 additions & 24 deletions examples/tutorials/colabs/replay_tutorial.ipynb
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,7 @@
"import numpy as np\n",
"\n",
"import habitat_sim\n",
"from habitat_sim.gfx import LightInfo, LightPositionModel\n",
"from habitat_sim.utils import gfx_replay_utils\n",
"from habitat_sim.utils import viz_utils as vut\n",
"\n",
Expand Down Expand Up @@ -116,7 +117,9 @@
{
"cell_type": "code",
"execution_count": null,
"metadata": {},
"metadata": {
"lines_to_next_cell": 2
},
"outputs": [],
"source": [
"\n",
Expand Down Expand Up @@ -180,6 +183,28 @@
"metadata": {},
"outputs": [],
"source": [
"\n",
"\n",
"def configure_lighting(sim):\n",
" light_setup = [\n",
" LightInfo(\n",
" vector=[1.0, 1.0, 0.0, 1.0],\n",
" color=[18.0, 18.0, 18.0],\n",
" model=LightPositionModel.Global,\n",
" ),\n",
" LightInfo(\n",
" vector=[0.0, -1.0, 0.0, 1.0],\n",
" color=[5.0, 5.0, 5.0],\n",
" model=LightPositionModel.Global,\n",
" ),\n",
" LightInfo(\n",
" vector=[-1.0, 1.0, 1.0, 1.0],\n",
" color=[18.0, 18.0, 18.0],\n",
" model=LightPositionModel.Global,\n",
" ),\n",
" ]\n",
" sim.set_light_setup(light_setup)\n",
"\n",
"\n",
"if __name__ == \"__main__\":\n",
" import argparse\n",
Expand Down Expand Up @@ -207,6 +232,8 @@
"else:\n",
" sim.reconfigure(cfg)\n",
"\n",
"configure_lighting(sim)\n",
"\n",
"agent_state = habitat_sim.AgentState()\n",
"agent = sim.initialize_agent(0, agent_state)"
]
Expand Down Expand Up @@ -403,6 +430,8 @@
"metadata": {},
"outputs": [],
"source": [
"\n",
"sim.close()\n",
"\n",
"# use same agents/sensors from earlier, with different backend config\n",
"playback_cfg = habitat_sim.Configuration(\n",
Expand All @@ -412,13 +441,13 @@
" cfg.agents,\n",
")\n",
"\n",
"sim.close()\n",
"\n",
"if not sim:\n",
" sim = habitat_sim.Simulator(playback_cfg)\n",
"else:\n",
" sim.reconfigure(playback_cfg)\n",
"\n",
"configure_lighting(sim)\n",
"\n",
"agent_state = habitat_sim.AgentState()\n",
"sim.initialize_agent(0, agent_state)\n",
"\n",
Expand Down Expand Up @@ -563,32 +592,59 @@
"sensor_node.translation = [-1.1, -0.9, -0.2]\n",
"sensor_node.rotation = mn.Quaternion.rotation(mn.Deg(-115), mn.Vector3(0.0, 1.0, 0))\n",
"\n",
"prim_attr_mgr = sim.get_asset_template_manager()\n",
"# get the rigid object manager, which provides direct\n",
"# access to objects\n",
"rigid_obj_mgr = sim.get_rigid_object_manager()\n",
"# visualize the recorded agent transform as a cylinder\n",
"agent_viz_handle = prim_attr_mgr.get_template_handles(\"cylinderSolid\")[0]\n",
"agent_viz_obj = rigid_obj_mgr.add_object_by_template_handle(agent_viz_handle)\n",
"agent_viz_obj.motion_type = habitat_sim.physics.MotionType.KINEMATIC\n",
"agent_viz_obj.collidable = False\n",
"\n",
"# visualize the recorded sensor transform as a cube\n",
"sensor_viz_handle = prim_attr_mgr.get_template_handles(\"cubeSolid\")[0]\n",
"sensor_viz_obj = rigid_obj_mgr.add_object_by_template_handle(sensor_viz_handle)\n",
"sensor_viz_obj.motion_type = habitat_sim.physics.MotionType.KINEMATIC\n",
"sensor_viz_obj.collidable = False\n",
"# gather the agent trajectory for later visualization\n",
"agent_trajectory_points = []\n",
"for frame in range(player.get_num_keyframes()):\n",
" player.set_keyframe_index(frame)\n",
" (agent_translation, _) = player.get_user_transform(\"agent\")\n",
" agent_trajectory_points.append(agent_translation)\n",
"\n",
"debug_line_render = sim.get_debug_line_render()\n",
"debug_line_render.set_line_width(2.0)\n",
"agent_viz_box = mn.Range3D(mn.Vector3(-0.1, 0.0, -0.1), mn.Vector3(0.1, 0.4, 0.1))\n",
"sensor_viz_box = mn.Range3D(mn.Vector3(-0.1, -0.1, -0.1), mn.Vector3(0.1, 0.1, 0.1))\n",
"\n",
"for frame in range(player.get_num_keyframes()):\n",
" player.set_keyframe_index(frame)\n",
"\n",
" (agent_translation, agent_rotation) = player.get_user_transform(\"agent\")\n",
" agent_viz_obj.translation = agent_translation\n",
" agent_viz_obj.rotation = agent_rotation\n",
"\n",
" rot_mat = agent_rotation.to_matrix()\n",
" full_mat = mn.Matrix4.from_(rot_mat, agent_translation)\n",
"\n",
" # draw a box in the agent body's local space\n",
" debug_line_render.push_transform(full_mat)\n",
" debug_line_render.draw_box(\n",
" agent_viz_box.min, agent_viz_box.max, mn.Color4(1.0, 0.0, 0.0, 1.0)\n",
" )\n",
" debug_line_render.pop_transform()\n",
"\n",
" for (radius, opacity) in [(0.2, 0.6), (0.25, 0.4), (0.3, 0.2)]:\n",
" debug_line_render.draw_circle(\n",
" agent_translation, radius, mn.Color4(0.0, 1.0, 1.0, opacity)\n",
" )\n",
"\n",
" # draw a box in the sensor's local space\n",
" (sensor_translation, sensor_rotation) = player.get_user_transform(\"sensor\")\n",
" sensor_viz_obj.translation = sensor_translation\n",
" sensor_viz_obj.rotation = sensor_rotation\n",
" debug_line_render.push_transform(\n",
" mn.Matrix4.from_(sensor_rotation.to_matrix(), sensor_translation)\n",
" )\n",
" debug_line_render.draw_box(\n",
" sensor_viz_box.min, sensor_viz_box.max, mn.Color4(1.0, 0.0, 0.0, 1.0)\n",
" )\n",
" # draw a line in the sensor look direction (-z in local space)\n",
" debug_line_render.draw_transformed_line(\n",
" mn.Vector3.zero_init(),\n",
" mn.Vector3(0.0, 0.0, -0.5),\n",
" mn.Color4(1.0, 0.0, 0.0, 1.0),\n",
" mn.Color4(1.0, 1.0, 1.0, 1.0),\n",
" )\n",
" debug_line_render.pop_transform()\n",
"\n",
" # draw the agent trajectory\n",
" debug_line_render.draw_path_with_endpoint_circles(\n",
" agent_trajectory_points, 0.07, mn.Color4(1.0, 1.0, 1.0, 1.0)\n",
" )\n",
"\n",
" observations.append(sim.get_sensor_observations())\n",
"\n",
Expand All @@ -601,8 +657,6 @@
" open_vid=show_video,\n",
" )\n",
"\n",
"rigid_obj_mgr.remove_object_by_id(agent_viz_obj.object_id)\n",
"rigid_obj_mgr.remove_object_by_id(sensor_viz_obj.object_id)\n",
"\n",
"# clean up the player\n",
"player.close()"
Expand Down
98 changes: 75 additions & 23 deletions examples/tutorials/nb_python/replay_tutorial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,7 @@
import numpy as np

import habitat_sim
from habitat_sim.gfx import LightInfo, LightPositionModel
from habitat_sim.utils import gfx_replay_utils
from habitat_sim.utils import viz_utils as vut

Expand Down Expand Up @@ -144,6 +145,28 @@ def simulate_with_moving_agent(
# ## More tutorial setup
# %%


def configure_lighting(sim):
light_setup = [
LightInfo(
vector=[1.0, 1.0, 0.0, 1.0],
color=[18.0, 18.0, 18.0],
model=LightPositionModel.Global,
),
LightInfo(
vector=[0.0, -1.0, 0.0, 1.0],
color=[5.0, 5.0, 5.0],
model=LightPositionModel.Global,
),
LightInfo(
vector=[-1.0, 1.0, 1.0, 1.0],
color=[18.0, 18.0, 18.0],
model=LightPositionModel.Global,
),
]
sim.set_light_setup(light_setup)


if __name__ == "__main__":
import argparse

Expand All @@ -170,6 +193,8 @@ def simulate_with_moving_agent(
else:
sim.reconfigure(cfg)

configure_lighting(sim)

agent_state = habitat_sim.AgentState()
agent = sim.initialize_agent(0, agent_state)

Expand Down Expand Up @@ -276,6 +301,8 @@ def simulate_with_moving_agent(
# Note call to gfx_replay_utils.make_backend_configuration_for_playback. Note that we don't specify a scene or stage when reconfiguring for replay playback. need_separate_semantic_scene_graph is generally set to False. If you're using a semantic sensor and replaying a scene that uses a separate semantic mesh (like an MP3D scene), set this to True. If in doubt, be aware there's a Habitat runtime warning that will always catch incorrect usage of this flag.
# %%

sim.close()

# use same agents/sensors from earlier, with different backend config
playback_cfg = habitat_sim.Configuration(
gfx_replay_utils.make_backend_configuration_for_playback(
Expand All @@ -284,13 +311,13 @@ def simulate_with_moving_agent(
cfg.agents,
)

sim.close()

if not sim:
sim = habitat_sim.Simulator(playback_cfg)
else:
sim.reconfigure(playback_cfg)

configure_lighting(sim)

agent_state = habitat_sim.AgentState()
sim.initialize_agent(0, agent_state)

Expand Down Expand Up @@ -370,32 +397,59 @@ def simulate_with_moving_agent(
sensor_node.translation = [-1.1, -0.9, -0.2]
sensor_node.rotation = mn.Quaternion.rotation(mn.Deg(-115), mn.Vector3(0.0, 1.0, 0))

prim_attr_mgr = sim.get_asset_template_manager()
# get the rigid object manager, which provides direct
# access to objects
rigid_obj_mgr = sim.get_rigid_object_manager()
# visualize the recorded agent transform as a cylinder
agent_viz_handle = prim_attr_mgr.get_template_handles("cylinderSolid")[0]
agent_viz_obj = rigid_obj_mgr.add_object_by_template_handle(agent_viz_handle)
agent_viz_obj.motion_type = habitat_sim.physics.MotionType.KINEMATIC
agent_viz_obj.collidable = False

# visualize the recorded sensor transform as a cube
sensor_viz_handle = prim_attr_mgr.get_template_handles("cubeSolid")[0]
sensor_viz_obj = rigid_obj_mgr.add_object_by_template_handle(sensor_viz_handle)
sensor_viz_obj.motion_type = habitat_sim.physics.MotionType.KINEMATIC
sensor_viz_obj.collidable = False
# gather the agent trajectory for later visualization
agent_trajectory_points = []
for frame in range(player.get_num_keyframes()):
player.set_keyframe_index(frame)
(agent_translation, _) = player.get_user_transform("agent")
agent_trajectory_points.append(agent_translation)

debug_line_render = sim.get_debug_line_render()
debug_line_render.set_line_width(2.0)
agent_viz_box = mn.Range3D(mn.Vector3(-0.1, 0.0, -0.1), mn.Vector3(0.1, 0.4, 0.1))
sensor_viz_box = mn.Range3D(mn.Vector3(-0.1, -0.1, -0.1), mn.Vector3(0.1, 0.1, 0.1))

for frame in range(player.get_num_keyframes()):
player.set_keyframe_index(frame)

(agent_translation, agent_rotation) = player.get_user_transform("agent")
agent_viz_obj.translation = agent_translation
agent_viz_obj.rotation = agent_rotation

rot_mat = agent_rotation.to_matrix()
full_mat = mn.Matrix4.from_(rot_mat, agent_translation)

# draw a box in the agent body's local space
debug_line_render.push_transform(full_mat)
debug_line_render.draw_box(
agent_viz_box.min, agent_viz_box.max, mn.Color4(1.0, 0.0, 0.0, 1.0)
)
debug_line_render.pop_transform()

for (radius, opacity) in [(0.2, 0.6), (0.25, 0.4), (0.3, 0.2)]:
debug_line_render.draw_circle(
agent_translation, radius, mn.Color4(0.0, 1.0, 1.0, opacity)
)

# draw a box in the sensor's local space
(sensor_translation, sensor_rotation) = player.get_user_transform("sensor")
sensor_viz_obj.translation = sensor_translation
sensor_viz_obj.rotation = sensor_rotation
debug_line_render.push_transform(
mn.Matrix4.from_(sensor_rotation.to_matrix(), sensor_translation)
)
debug_line_render.draw_box(
sensor_viz_box.min, sensor_viz_box.max, mn.Color4(1.0, 0.0, 0.0, 1.0)
)
# draw a line in the sensor look direction (-z in local space)
debug_line_render.draw_transformed_line(
mn.Vector3.zero_init(),
mn.Vector3(0.0, 0.0, -0.5),
mn.Color4(1.0, 0.0, 0.0, 1.0),
mn.Color4(1.0, 1.0, 1.0, 1.0),
)
debug_line_render.pop_transform()

# draw the agent trajectory
debug_line_render.draw_path_with_endpoint_circles(
agent_trajectory_points, 0.07, mn.Color4(1.0, 1.0, 1.0, 1.0)
)

observations.append(sim.get_sensor_observations())

Expand All @@ -408,8 +462,6 @@ def simulate_with_moving_agent(
open_vid=show_video,
)

rigid_obj_mgr.remove_object_by_id(agent_viz_obj.object_id)
rigid_obj_mgr.remove_object_by_id(sensor_viz_obj.object_id)

# clean up the player
player.close()
Expand Down
38 changes: 38 additions & 0 deletions src/esp/bindings/GfxBindings.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#include "python/corrade/EnumOperators.h"

#include "esp/assets/ResourceManager.h"
#include "esp/gfx/DebugLineRender.h"
#include "esp/gfx/LightSetup.h"
#include "esp/gfx/RenderCamera.h"
#include "esp/gfx/RenderTarget.h"
Expand Down Expand Up @@ -205,6 +206,43 @@ void initGfxBindings(py::module& m) {
.def(py::self == py::self)
.def(py::self != py::self);

py::class_<DebugLineRender, std::shared_ptr<DebugLineRender>>(
m, "DebugLineRender")
.def("set_line_width", &DebugLineRender::setLineWidth,
R"(See push_transform.)")
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Update this doc? I assume it applied to lines following the command?

.def(
"push_transform", &DebugLineRender::pushTransform,
R"(Push (multiply) a transform onto the transform stack, affecting all line-drawing until popped. Must be paired with popTransform().)")
.def("pop_transform", &DebugLineRender::popTransform,
R"(See push_transform.)")
.def("draw_box", &DebugLineRender::drawBox,
R"(Draw a box in world-space or local-space (see pushTransform).)")
Comment on lines +219 to +220
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No color for box bindings?

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draw_box takes two Vector3 and a color. This binding here just takes all the C++ function parameters as-is without explicitly declaring them all here.

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I guess this just makes it harder for python only user seeing the doc-string API reference to know the parameters. Also, does implicit conversion allow keyword (named) arguments?

.def(
"draw_circle", &DebugLineRender::drawCircle, "translation"_a,
"radius"_a, "color"_a, "num_segments"_a = 24,
"normal"_a = Magnum::Vector3{0.0, 1.0, 0.0},
R"(Draw a circle in world-space or local-space (see pushTransform). The circle is an approximation; see numSegments.)")
.def(
"draw_transformed_line",
py::overload_cast<const Magnum::Vector3&, const Magnum::Vector3&,
const Magnum::Color4&, const Magnum::Color4&>(
&DebugLineRender::drawTransformedLine),
"from"_a, "to"_a, "from_color"_a, "to_color"_a,
R"(Draw a line segment in world-space or local-space (see pushTransform).)")
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Suggested change
R"(Draw a line segment in world-space or local-space (see pushTransform).)")
R"(Draw a line segment in world-space or local-space (see pushTransform) with interpolated color.)")

.def(
"draw_transformed_line",
py::overload_cast<const Magnum::Vector3&, const Magnum::Vector3&,
const Magnum::Color4&>(
&DebugLineRender::drawTransformedLine),
"from"_a, "to"_a, "color"_a,
R"(Draw a line segment in world-space or local-space (see pushTransform).)")
.def(
"draw_path_with_endpoint_circles",
&DebugLineRender::drawPathWithEndpointCircles, "points"_a, "radius"_a,
"color"_a, "num_segments"_a = 24,
"normal"_a = Magnum::Vector3{0.0, 1.0, 0.0},
R"(Draw a sequence of line segments with circles at the two endpoints. In world-space or local-space (see pushTransform).)");

m.attr("DEFAULT_LIGHTING_KEY") = DEFAULT_LIGHTING_KEY;
m.attr("NO_LIGHT_KEY") = NO_LIGHT_KEY;
}
Expand Down
5 changes: 4 additions & 1 deletion src/esp/bindings/SimBindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -453,7 +453,10 @@ void initSimBindings(py::module& m) {
&Simulator::getRigidConstraintSettings, "constraint_id"_a,
R"(Get a copy of the settings for an existing rigid constraint.)")
.def("remove_rigid_constraint", &Simulator::removeRigidConstraint,
"constraint_id"_a, R"(Remove a rigid constraint by id.)");
"constraint_id"_a, R"(Remove a rigid constraint by id.)")
.def("get_debug_line_render", &Simulator::getDebugLineRender,
pybind11::return_value_policy::reference,
R"(Get visualization helper for rendering lines.)");
}

} // namespace sim
Expand Down
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