LIDAR_Data_Generator.ipynb

{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 96,
   "id": "491481be",
   "metadata": {
    "id": "491481be"
   },
   "outputs": [],
   "source": [
    "# !git clone https://github.com/stepjam/PyRep.git\n",
    "# import PyRep"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "146289d0",
   "metadata": {
    "id": "146289d0"
   },
   "outputs": [],
   "source": [
    "# pip install pyautogui"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "6e26c32c",
   "metadata": {
    "id": "6e26c32c"
   },
   "outputs": [],
   "source": [
    "import time\n",
    "import pyautogui\n",
    "import os\n",
    "import csv"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 99,
   "id": "9f35fbe4",
   "metadata": {
    "id": "9f35fbe4"
   },
   "outputs": [],
   "source": [
    "# pyautogui.doubleClick()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 100,
   "id": "eaa51de8",
   "metadata": {
    "id": "eaa51de8"
   },
   "outputs": [],
   "source": [
    "# time.sleep(4)\n",
    "# file_pLocation = pyautogui.position()\n",
    "# print(file_pLocation)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 101,
   "id": "2feae7ee",
   "metadata": {},
   "outputs": [],
   "source": [
    "def resetCoppeliaSim():\n",
    "    '''\n",
    "    Script to reset coppeliasim simulator\n",
    "    Process:\n",
    "    1) Click on terminator\n",
    "    2) Click on specific terminal to ctrl+c coppeliasim application\n",
    "    3) Wait for it to close (~5s)\n",
    "    4) Type command to run coppeliasim (note: directory must be where shell file is to load coppeliasim)\n",
    "    5) Hit enter to run coppeliasim\n",
    "    \n",
    "    Return:\n",
    "    -------\n",
    "    None\n",
    "    '''\n",
    "    print(\"Resetting Coppelia Sim\")\n",
    "    coppelDir = \"~/CoppeliaSim_Edu_V4_3_0_rev10_Ubuntu18_04/\"\n",
    "    launchCoppelStr =  coppelDir + \"coppeliaSim.sh ~/Downloads/Sarang/sae_wcx_conference/Coppeliasim_Matlab_Communication/sae_wcx.ttt\"\n",
    "    terminal_icon_Location=(27, 313)\n",
    "    pyautogui.click(terminal_icon_Location)\n",
    "    time.sleep(1.0)\n",
    "    terminal_Location=(428, 792)\n",
    "    pyautogui.click(terminal_Location)\n",
    "    time.sleep(1.0)\n",
    "    pyautogui.hotkey('ctrl', 'c', interval=0.2)\n",
    "    time.sleep(5.0)\n",
    "    #pyautogui.press('up')\n",
    "    pyautogui.typewrite(launchCoppelStr)\n",
    "    time.sleep(2.0)\n",
    "    pyautogui.press('enter')\n",
    "    print(\"Resetted Coppelia Sim\")\n",
    "    time.sleep(10)\n",
    "    \n",
    "# ############################################################################################################\n",
    "    \n",
    "def importHeightmap(i):\n",
    "    '''\n",
    "    Python macro to import heightmap. General process runs:\n",
    "    1) Importing heightmap\n",
    "        - Ensure time delay to load gui to import images\n",
    "    2) Type the full path to random heightmap image\n",
    "        - Time delay between typing, selecting image, and modifying scale of terrain with heightmap image\n",
    "    3) Write the image name for matlab to create a mask and label for corresponding lidar scan when running\n",
    "        simulation\n",
    "    \n",
    "    Parameters:\n",
    "    -----------\n",
    "    i: int\n",
    "        Current index in img_list to load heightmap image\n",
    "    \n",
    "    Return:\n",
    "    -----------\n",
    "    None\n",
    "    '''\n",
    "    \n",
    "    # import heightmap\n",
    "    file_pLocation=(90, 66)\n",
    "    pyautogui.click(file_pLocation)\n",
    "    time.sleep(0.2)\n",
    "    for j in range(3):\n",
    "        pyautogui.press('up')\n",
    "        time.sleep(0.2)\n",
    "\n",
    "    pyautogui.press('right')\n",
    "    time.sleep(0.1)\n",
    "    pyautogui.press('up')\n",
    "    time.sleep(0.1)\n",
    "    pyautogui.press('enter')\n",
    "    time.sleep(7)\n",
    "\n",
    "    #     pathFinder_pLocation=(1656, 373)\n",
    "    #     pyautogui.click(pathFinder_pLocation)\n",
    "    #     time.sleep(2)\n",
    "    #     pyautogui.typewrite(heightmap_path)\n",
    "    #     time.sleep(5)\n",
    "    #     pyautogui.press('enter')\n",
    "    #     time.sleep(2)\n",
    "\n",
    "    #     file_name_pLocation=(1645, 706)\n",
    "    #     time.sleep(2)\n",
    "    #     pyautogui.click(file_name_pLocation)\n",
    "    #     time.sleep(2)\n",
    "\n",
    "    pyautogui.typewrite(heightmap_path + \"/\" + file_name)\n",
    "    time.sleep(1.5)\n",
    "    pyautogui.press('enter')\n",
    "    time.sleep(0.25)\n",
    "    for j in range(10):\n",
    "        pyautogui.press('backspace')\n",
    "        time.sleep(0.1)\n",
    "    pyautogui.typewrite('25')\n",
    "    time.sleep(0.1)\n",
    "    pyautogui.press('tab')\n",
    "    time.sleep(0.1)\n",
    "    pyautogui.press('tab')\n",
    "    time.sleep(0.1)\n",
    "    pyautogui.typewrite('1.5')\n",
    "    time.sleep(0.1)\n",
    "    pyautogui.press('enter')\n",
    "    time.sleep(1)\n",
    "\n",
    "    f = open(forMatlab_path, 'w')\n",
    "    f.write(file_name)\n",
    "    f.close()\n",
    "\n",
    "    #         lines.append(file_name+ \"\\n\")\n",
    "    \n",
    "# ############################################################################################################\n",
    "\n",
    "def deleteHeightmap():\n",
    "    '''\n",
    "    Python macro to delete heightmap\n",
    "    Note: Click on three different locations for heightmap and try to attempt 3 times for reassurance\n",
    "    \n",
    "    Return:\n",
    "    -------\n",
    "    None\n",
    "    '''\n",
    "    # delete heightmap\n",
    "    heightfield_pLocation=(415, 483)\n",
    "    pyautogui.click(heightfield_pLocation)\n",
    "    time.sleep(1)\n",
    "    pyautogui.press('delete')\n",
    "    time.sleep(1)\n",
    "    \n",
    "    #Reassurance\n",
    "    heightfield_pLocation=(350, 482)\n",
    "    pyautogui.click(heightfield_pLocation)\n",
    "    time.sleep(1)\n",
    "    pyautogui.press('delete')\n",
    "    time.sleep(1)\n",
    "    \n",
    "    #Reassurance 2\n",
    "    heightfield_pLocation=(486, 478)\n",
    "    pyautogui.click(heightfield_pLocation)\n",
    "    time.sleep(1)\n",
    "    pyautogui.press('delete')\n",
    "    time.sleep(1)\n",
    "    \n",
    "# ############################################################################################################\n",
    "\n",
    "def runCoppeliaSimulation():\n",
    "    '''\n",
    "    Python macro to click on the run button in coppeliasim\n",
    "    \n",
    "    Return:\n",
    "    -------\n",
    "    None\n",
    "    '''\n",
    "    \n",
    "    # run simulation in coppeliasim\n",
    "    coppeliaSim_run_button_pLocation=(955, 97)\n",
    "    pyautogui.click(coppeliaSim_run_button_pLocation)\n",
    "    \n",
    "# ############################################################################################################\n",
    "\n",
    "def stopCoppeliaSimulation():\n",
    "    '''\n",
    "    Python macro to click on the stop button in coppeliasim\n",
    "    \n",
    "    Return:\n",
    "    -------\n",
    "    None\n",
    "    '''\n",
    "    # run simulation in coppeliasim\n",
    "    coppeliaSim_stop_button_pLocation=(1027, 99)\n",
    "    pyautogui.click(coppeliaSim_stop_button_pLocation)\n",
    "    \n",
    "# ############################################################################################################\n",
    "\n",
    "# def switchToMatlab():\n",
    "    \n",
    "#     # switch to matlab window\n",
    "#     matlabWindow_pLocation=(2093,1002)\n",
    "#     pyautogui.click(matlabWindow_pLocation)\n",
    "\n",
    "# ############################################################################################################\n",
    "\n",
    "def runMatlabCode():\n",
    "    '''\n",
    "    Runs matlab code through python macro...\n",
    "    Note: Currently, have time delay between clicking on screen and running matlab script\n",
    "    \n",
    "    Return:\n",
    "    -------\n",
    "    None\n",
    "    '''\n",
    "    \n",
    "    # run the matlab code\n",
    "    matlabEditorButton_pLocation=(2171, 46)\n",
    "    pyautogui.click(matlabEditorButton_pLocation)\n",
    "    time.sleep(1)\n",
    "    matlabRunButton_pLocation=(2647, 82)\n",
    "    pyautogui.click(matlabRunButton_pLocation)\n",
    "    time.sleep(4)\n",
    "    \n",
    "# ############################################################################################################\n",
    "\n",
    "# def switchToCoppeliaSim():\n",
    "    \n",
    "#     # switch to coppeliasim window\n",
    "#     coppeliasimWindow_pLocation=(2043,1001)\n",
    "#     pyautogui.click(coppeliasimWindow_pLocation)\n",
    "#     time.sleep(1)\n",
    "\n",
    "# ############################################################################################################\n",
    "\n",
    "def isDoneProperly(i):\n",
    "    '''\n",
    "    Checks if process is done cleanly. More specifically, checks if available images in mask (therefore all processes\n",
    "    ran) was created and comparing with img_list[i]\n",
    "    \n",
    "    Parameters:\n",
    "    -----------\n",
    "    i: int\n",
    "        Current index where a mask and label should have been created\n",
    "    \n",
    "    Return:\n",
    "    -----------\n",
    "    None\n",
    "    '''\n",
    "    masks_list=os.listdir(masks_path) # Gives list of images in masks directory\n",
    "    # Checks if image i in mask directory corresponds to image in img_list\n",
    "    if (\"M_\"+img_list[i]) in masks_list:\n",
    "        lines.append(img_list[i]+ \"\\n\")\n",
    "        f = open(filePath, 'w')\n",
    "        for img_name in lines:\n",
    "            f.write(img_name)\n",
    "        f.close()\n",
    "    else:\n",
    "        print(\"Warning! Mask not found %s\" % (\"M_\"+img_list[i]))\n",
    "        print(\"Matlab failed to run or complete (most likely)...\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 110,
   "id": "a408af0b",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Mask directory already exists...\n"
     ]
    }
   ],
   "source": [
    "# Parameters\n",
    "environment = \"/obstacles_only/\" # Note: all has obstacles + octaves\n",
    "subEnvironment = \"circle/\"\n",
    "subSubEnvironment = \"\"\n",
    "trainOrTest = \"train data/\"\n",
    "commonPath = os.getcwd() + environment + \"heightmaps/\" + subEnvironment + subSubEnvironment + trainOrTest\n",
    "heightmap_path = commonPath + \"inputs\"\n",
    "masks_path = commonPath + \"masks\"\n",
    "labels_path = commonPath + \"labels\"\n",
    "\n",
    "# Create directories\n",
    "try:\n",
    "    os.makedirs(masks_path)\n",
    "except:\n",
    "    print(\"Mask directory already exists...\")\n",
    "\n",
    "try:\n",
    "    os.makedirs(labels_path)\n",
    "except:\n",
    "    print(\"Label directory already exists...\")\n",
    "\n",
    "img_list=os.listdir(heightmap_path)\n",
    "filePath = commonPath + \"completed_imgs.txt\"\n",
    "forMatlab_path = commonPath + \"forMatlab.txt\"\n",
    "\n",
    "\n",
    "\n",
    "try:\n",
    "    f = open(filePath, 'r')\n",
    "except:\n",
    "    f = open(filePath, 'w')\n",
    "lines = f.readlines()\n",
    "f.close()\n"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 111,
   "id": "9ce73e5c",
   "metadata": {
    "id": "9ce73e5c"
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Done\n"
     ]
    }
   ],
   "source": [
    "\n",
    "'''\n",
    "Overview: \n",
    "Run through the img_list and starts a python macro script to run coppeliasim and generate lidar scans through\n",
    "matlab. Note, matlab creates a label and mask that will be used for training with a GAN\n",
    "\n",
    "Notes:\n",
    "1) Time delays added at some critical parts to ensure that script runs smoothly\n",
    "\n",
    "Bugs:\n",
    "1) After running 2+ days, somehow matlab code indexing got very slightly rearranged, causing matlab to not run\n",
    "    - Have not been able to reproduce bug\n",
    "    - Current working soln: Drag matlab terminal up such that code is not visible\n",
    "'''\n",
    "prevTime = time.time()\n",
    "for i in range(len(img_list)):\n",
    "    file_name = img_list[i]\n",
    "    if file_name+ \"\\n\" not in lines:\n",
    "        importHeightmap(i)\n",
    "        time.sleep(1)\n",
    "\n",
    "        runCoppeliaSimulation()\n",
    "        time.sleep(10)\n",
    "\n",
    "    #     switchToMatlab()\n",
    "    #     time.sleep(2)\n",
    "\n",
    "        runMatlabCode()\n",
    "        time.sleep(2)\n",
    "\n",
    "    #     switchToCoppeliaSim()\n",
    "    #     time.sleep(2)\n",
    "\n",
    "        stopCoppeliaSimulation()\n",
    "        time.sleep(2)\n",
    "\n",
    "        deleteHeightmap()\n",
    "        time.sleep(1)\n",
    "\n",
    "        isDoneProperly(i)\n",
    "        if ((i+1) % 250) == 0:\n",
    "            print(\"Current terrain: %d/%d\" % (i+1, len(img_list)))\n",
    "            resetCoppeliaSim()\n",
    "            currentTime = time.time()\n",
    "            print(\"Duration: %0.3fs\" % (currentTime-prevTime))\n",
    "            prevTime = currentTime\n",
    "\n",
    "print(\"Done\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 112,
   "id": "6c19940c",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
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     },
     "execution_count": 112,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "'''\n",
    "Making space s.t. I can see output as code runs\n",
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    "'''"
   ]
  }
 ],
 "metadata": {
  "colab": {
   "name": "LIDAR_Data_Generator.ipynb",
   "provenance": []
  },
  "kernelspec": {
   "display_name": "Python 3 (ipykernel)",
   "language": "python",
   "name": "python3"
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  "language_info": {
   "codemirror_mode": {
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   "file_extension": ".py",
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   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython3",
   "version": "3.9.7"
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  "vscode": {
   "interpreter": {
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}