How to use

PlanarRegionFileTools

in

us.ihmc.robotics

  public static PlanarRegionsList importPlanarRegionData(File dataFolder)
  {
   return PlanarRegionFileTools.importPlanarRegionData(dataFolder);
  }
}

  private void executeOnThread(PlanarRegionsListMessage planarRegionData)
  {
   Path folderPath = Paths.get(dataDirectoryPath.get() + File.separator + PlanarRegionFileTools.createDefaultTimeStampedFolderName());
   PlanarRegionFileTools.exportPlanarRegionData(folderPath, PlanarRegionMessageConverter.convertToPlanarRegionsList(planarRegionData));
  }
}

public static List<String> listResourceDirectoryContents(Class<?> loadingClass, String relativePath)
{
 try
 {
   return IOUtils.readLines(loadingClass.getClassLoader().getResourceAsStream(relativePath), StandardCharsets.UTF_8.name());
 }
 catch (IOException e)
 {
   throw new RuntimeException(e.getMessage());
 }
}

/**
* Generates a default timestamped name that can be used to generate automated and unique
* folders.
*
* @return a {@code String} of the form: "20171201_163422_PlanarRegion".
*/
public static String createDefaultTimeStampedFolderName()
{
 return getDate() + "_PlanarRegion";
}

/**
* Load from the given data folder planar region data that has been previously exported via
* {@link #exportPlanarRegionData(Path, PlanarRegionsList)}.
*
* @param dataFolder the data folder containing the files with the planar region data.
* @return the planar regions if succeeded, {@code null} otherwise.
*/
public static PlanarRegionsList importPlanarRegionData(Class<?> loadingClass, Path dataFolderRelativePath)
{
 try
 {
   PlanarRegionsList loadedRegions = importPlanarRegionDataInternal(filename -> fileFromClassPath(loadingClass, Paths.get(dataFolderRelativePath.toString(), filename)));
   if (loadedRegions == null)
    PrintTools.error(PlanarRegionFileTools.class, "Could not load the file: " + dataFolderRelativePath.toString());
   return loadedRegions;
 }
 catch (IOException e)
 {
   e.printStackTrace();
   return null;
 }
}

private void requestNewData(ListView<String> listViewOwner, String datasetResourceName, MouseEvent event)
{
 if (datasetResourceName == null)
   return;
 if (!hasListViewCellBeenDoubleClicked(event))
   return;
 String filename = listViewOwner.getSelectionModel().getSelectedItem();
 String selectedDatasetResource = datasetResourceName + "/" + filename;
 File file = PlanarRegionFileTools.getResourceFile(selectedDatasetResource);
 if (VisibilityGraphsIOTools.isVisibilityGraphsDataset(file))
 {
   VisibilityGraphsUnitTestDataset dataset = VisibilityGraphsIOTools.loadDataset(getClass(), selectedDatasetResource);
   messager.submitMessage(UIVisibilityGraphsTopics.GlobalReset, true);
   messager.submitMessage(UIVisibilityGraphsTopics.PlanarRegionData, dataset.getPlanarRegionsList());
   messager.submitMessage(UIVisibilityGraphsTopics.StartPosition, dataset.getStart());
   messager.submitMessage(UIVisibilityGraphsTopics.GoalPosition, dataset.getGoal());
 }
 else
 {
   PlanarRegionsList loadedPlanarRegions = VisibilityGraphsIOTools.importPlanarRegionData(file);
   messager.submitMessage(UIVisibilityGraphsTopics.GlobalReset, true);
   messager.submitMessage(UIVisibilityGraphsTopics.PlanarRegionData, loadedPlanarRegions);
   messager.submitMessage(UIVisibilityGraphsTopics.StartPosition, new Point3D());
   messager.submitMessage(UIVisibilityGraphsTopics.GoalPosition, new Point3D());
 }
}

/**
* Generates a default timestamped name that can be used to generate automated and unique
* folders.
*
* @return a {@code String} of the form: "20171201_163422_VizGraphs".
*/
public static String createDefaultTimeStampedDatasetFolderName()
{
 return PlanarRegionFileTools.getDate() + "_" + VIZ_GRAPHS_DATA_FOLDER_SUFFIX;
}

/**
* Loads either directly the planar regions from the given file, or from the first child
* directory if the file is a visibility graphs dataset.
*
* @param inputFile the file to load the planar regions from. Can be an actual planar regions
*           data file or a visibility graphs dataset file.
* @return the loaded planar regions or {@code null} if not able to load them.
*/
public static PlanarRegionsList importPlanarRegionData(File inputFile)
{
 return PlanarRegionFileTools.importPlanarRegionData(adjustPlanarRegionsDataFile(inputFile));
}

public static boolean exportDataset(Path containingFolder, String datasetName, PlanarRegionsList planarRegionsList, Point3DReadOnly start,
                  Point3DReadOnly goal)
{
 File datasetFolder = new File(containingFolder + File.separator + datasetName);
 if (datasetFolder.exists())
   return false;
 boolean success = datasetFolder.mkdir();
 if (!success)
   return false;
 Path planarRegionsFolder = Paths.get(datasetFolder.getPath() + File.separator + PlanarRegionFileTools.createDefaultTimeStampedFolderName());
 success = PlanarRegionFileTools.exportPlanarRegionData(planarRegionsFolder, planarRegionsList);
 if (!success)
   return false;
 success = exportParameters(datasetFolder, start, goal);
 if (!success)
   return false;
 return true;
}

public static List<VisibilityGraphsUnitTestDataset> loadAllDatasets(Class<?> loadingClass)
{
 List<String> childDirectories = PlanarRegionFileTools.listResourceDirectoryContents(loadingClass, TEST_DATA_URL);
 List<VisibilityGraphsUnitTestDataset> datasets = new ArrayList<>();
 for (int i = 0; i < childDirectories.size(); i++)
 {
   PrintTools.info("trying to load:");
   PrintTools.info(TEST_DATA_URL + "/" + childDirectories.get(i));
   datasets.add(loadDataset(loadingClass, TEST_DATA_URL + "/" + childDirectories.get(i)));
 }
 return datasets;
}

  public static void main(String[] args)
  {
   JFileChooser fileChooser = new JFileChooser(new File("."));
   int returnVal = fileChooser.showOpenDialog(new JFrame());

   if (returnVal == JFileChooser.APPROVE_OPTION)
   {
     File file = fileChooser.getSelectedFile().getParentFile();
     PlanarRegionsList planarRegionsList = PlanarRegionFileTools.importPlanarRegionData(file);
     new ConstantPlanarRegionsPublisher(planarRegionsList).start();
   }
  }
}

public static boolean exportDataset(Path containingFolder, String datasetName, PlanarRegionsList planarRegionsList, Point3DReadOnly startPosition,
                  QuaternionReadOnly startOrientation, Point3DReadOnly goalPosition, QuaternionReadOnly goalOrientation, FootstepPlannerType type, double timeout)
{
 File datasetFolder = new File(containingFolder + File.separator + datasetName);
 if (datasetFolder.exists())
   return false;
 boolean success = datasetFolder.mkdir();
 if (!success)
   return false;
 Path planarRegionsFolder = Paths.get(datasetFolder.getPath() + File.separator + PlanarRegionFileTools.createDefaultTimeStampedFolderName());
 success = PlanarRegionFileTools.exportPlanarRegionData(planarRegionsFolder, planarRegionsList);
 if (!success)
   return false;
 success = exportParameters(datasetFolder, startPosition, startOrientation, goalPosition, goalOrientation, type, timeout);
 if (!success)
   return false;
 return true;
}

public static List<FootstepPlannerUnitTestDataset> loadAllFootstepPlannerDatasets(Class<?> loadingClass, String dataURL)
{
 List<String> childDirectories = PlanarRegionFileTools.listResourceDirectoryContents(loadingClass, dataURL);
 List<FootstepPlannerUnitTestDataset> datasets = new ArrayList<>();
 if (DEBUG && childDirectories.size() < 1)
   Assert.fail("Unable to find the directory contents.");
 for (int i = 0; i < childDirectories.size(); i++)
 {
   PrintTools.info("trying to load:");
   PrintTools.info(dataURL + "/" + childDirectories.get(i));
   datasets.add(loadDataset(loadingClass, dataURL + "/" + childDirectories.get(i)));
 }
 if (DEBUG && datasets.size() < 1)
   Assert.fail("Could not find any datasets.");
 return datasets;
}

public static PlanarRegionsList importUsingFileChooser(Window ownerWindow)
{
 DirectoryChooser directoryChooser = new DirectoryChooser();
 File initialDirectory = new File("../../Data/PlanarRegion");
 if (!initialDirectory.exists() || !initialDirectory.isDirectory())
   initialDirectory = new File(".");
 directoryChooser.setInitialDirectory(initialDirectory);
 File result = directoryChooser.showDialog(ownerWindow);
 if (result == null)
   return null;
 else
   return PlanarRegionFileTools.importPlanarRegionData(result);
}

planarRegionsList = PlanarRegionFileTools.importPlanarRegionData(clazz, expectedPlanarRegionsResourceName);

@ContinuousIntegrationTest(estimatedDuration = 0.1)
@Test(timeout = 300000)
@Ignore // Resource file does not seem to exist.
public void testOcclusionsFromData()
{
 FramePose3D startPose = new FramePose3D(worldFrame);
 startPose.setPosition(0.25, -0.25, 0.0);
 FramePose3D goalPose = new FramePose3D(worldFrame);
 goalPose.setPosition(2.75, 0.95, 0.0);
 BestEffortPlannerParameters parameters = new BestEffortPlannerParameters();
 Path path = Paths.get(getClass().getClassLoader().getResource("PlanarRegions_20171114_090937").getPath());
 PlanarRegionsList regions = PlanarRegionFileTools.importPlanarRegionData(path.toFile());
 runTest(startPose, goalPose, regions, parameters, new DefaultVisibilityGraphParameters(), 2.0);
}

  private void loadAndSubmitPlanarRegions()
  {
   PlanarRegionsList loadedPlanarRegions = PlanarRegionFileTools.importPlanarRegionData(loadedFile);
   directoryChooser.setInitialDirectory(loadedFile.getParentFile());

   if (loadedPlanarRegions != null)
   {
     if (VERBOSE)
      PrintTools.info(this, "Loaded planar regions, broadcasting data.");
     messager.submitMessage(UIVisibilityGraphsTopics.GlobalReset, true);
     messager.submitMessage(UIVisibilityGraphsTopics.PlanarRegionData, loadedPlanarRegions);
     messager.submitMessage(UIVisibilityGraphsTopics.StartPosition, new Point3D());
     messager.submitMessage(UIVisibilityGraphsTopics.GoalPosition, new Point3D());
     reloadMenuItem.setDisable(false);
   }
   else
   {
     if (VERBOSE)
      PrintTools.info(this, "Failed to load planar regions.");
     reloadMenuItem.setDisable(true);
     loadedFile = null;
   }
  }
}