test_heat_map

1 Basic Functionality

  • Display interactive heatmap

2 Implementation Process

2.1 Initialize Environment

env = RFUniverseBaseEnv()

camera = env.InstanceObject(name="Camera", attr_type=attr.CameraAttr)
camera.SetTransform(position=[-0.1, 0.033, 0.014], rotation=[0, 90, 0])
target = env.InstanceObject(name="Rigidbody_Sphere", attr_type=attr.RigidbodyAttr)
target.SetDrag(2)
target.EnabledMouseDrag(True)
target.SetUseGravity(False)
target.SetTransform(position=[0, 0.05, 0.015], scale=[0.01, 0.01, 0.01])
env.step()
env.AlignCamera(camera.id)

  • First, initialize the camera and object

  • SetDrag sets the drag force with the given drag parameter

  • EnabledMouseDrag(True) enables the function to drag the object with the left mouse button

  • SetUseGravity(False) turns off the gravity effect on the object

  • AlignCamera aligns the GUI’s view with the given camera

2.2 Display Interactive Heatmap

env.SendLog("Click the End Pend button to start heat map record")
env.Pend()
camera.StartHeatMapRecord([target.id])
env.SendLog("Drag the sphere to generate heat map")
env.SendLog("Click the End Pend button to end heat map record")
env.Pend()
camera.EndHeatMapRecord()
camera.GetHeatMap()
env.step()
print(camera.data["heat_map"])
image_np = np.frombuffer(camera.data["heat_map"], dtype=np.uint8)
image_np = cv2.imdecode(image_np, cv2.IMREAD_COLOR)
print(image_np.shape)
env.close()
cv2.imshow("heatmap", image_np)
cv2.waitKey(0)

  • Click the End Pend button to start recording the heatmap, during which you can freely drag the sphere

  • Click the End Pend button again to stop the heatmap recording, after which the program will display the generated heatmap on the screen using cv2