Upload 49 files

rendering/data/bathtub.egg

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+version https://git-lfs.github.com/spec/v1
+oid sha256:68f84e9f406273123b83b1b90a9efd45241eebaf6699b13fc97ca11cf14962a3
+size 12700362

rendering/data/bathtub.mtl

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+#
+## Alias OBJ Material File
+# Exported from SketchUp, (c) 2000-2012 Trimble Navigation Limited
+
+newmtl _auto_30
+Ka 0.000000 0.000000 0.000000
+Kd 0.466667 0.466667 0.466667
+Ks 0.330000 0.330000 0.330000
+
+newmtl _auto_31
+Ka 0.000000 0.000000 0.000000
+Kd 0.917647 0.905882 0.854902
+Ks 0.330000 0.330000 0.330000
+
+newmtl _auto_32
+Ka 0.000000 0.000000 0.000000
+Kd 0.352941 0.352941 0.352941
+Ks 0.330000 0.330000 0.330000
+
+newmtl _auto_33
+Ka 0.000000 0.000000 0.000000
+Kd 0.117647 0.117647 0.117647
+Ks 0.330000 0.330000 0.330000
+

rendering/data/cooking_counter.egg

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+version https://git-lfs.github.com/spec/v1
+oid sha256:c0f74198034460e402e5bb28ca9b6f8fbb2c3862a4a599e098128c4e218af6d2
+size 20058669

rendering/data/cooking_counter.mtl

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+#
+## Alias OBJ Material File
+# Exported from SketchUp, (c) 2000-2012 Trimble Navigation Limited
+
+newmtl M_6_White_Marble_Texture_01
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.811765 0.862745
+Ks 0.330000 0.330000 0.330000
+map_Kd cooking_counter/M_6_White_Marble_Texture_01.jpg
+
+newmtl Brushed_Metal_Silver_Texture_by_SweetSoulSister
+Ka 0.000000 0.000000 0.000000
+Kd 0.666667 0.686275 0.701961
+Ks 0.330000 0.330000 0.330000
+map_Kd cooking_counter/Brushed_Metal_Silver_Texture_by_SweetSoulSister.jpg
+
+newmtl Amoora_2
+Ka 0.000000 0.000000 0.000000
+Kd 0.674510 0.439216 0.364706
+Ks 0.330000 0.330000 0.330000
+map_Kd cooking_counter/Amoora_2.jpg
+
+newmtl FrontColor
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.330000 0.330000 0.330000
+
+newmtl dark_sketch_stone
+Ka 0.000000 0.000000 0.000000
+Kd 0.294118 0.294118 0.294118
+Ks 0.330000 0.330000 0.330000
+map_Kd cooking_counter/dark_sketch_stone.jpg
+
+newmtl Amoora
+Ka 0.000000 0.000000 0.000000
+Kd 0.674510 0.439216 0.364706
+Ks 0.330000 0.330000 0.330000
+map_Kd cooking_counter/Amoora.jpg
+
+newmtl patterns_wavy_background_texture_metal_silver_18405_1920x1200
+Ka 0.000000 0.000000 0.000000
+Kd 0.501961 0.494118 0.482353
+Ks 0.330000 0.330000 0.330000
+map_Kd cooking_counter/patterns_wavy_background_texture_metal_silver_18405_1920x1200.jpg
+
+newmtl Translucent_Glass_Block_Dark
+Ka 0.000000 0.000000 0.000000
+Kd 0.478431 0.486275 0.466667
+Ks 0.330000 0.330000 0.330000
+d 0.800000
+map_Kd cooking_counter/Translucent_Glass_Block_Dark.jpg
+
+newmtl _Translucent_Glass_Block_Dark_1
+Ka 0.000000 0.000000 0.000000
+Kd 0.478431 0.486275 0.466667
+Ks 0.330000 0.330000 0.330000
+d 0.800000
+map_Kd cooking_counter/_Translucent_Glass_Block_Dark_1.jpg
+

rendering/data/obj2egg.py

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+#!/usr/bin/python
+"""
+    This Version: $Id: obj2egg.py,v 1.7 2008/05/26 17:42:53 andyp Exp $
+    Info: info >at< pfastergames.com
+
+    Extended from: http://panda3d.org/phpbb2/viewtopic.php?t=3378
+    .___..__ .___.___.___.__..__ .  .
+      |  [__)[__ [__ [__ |  |[__)|\/|
+      |  |  \[___[___|   |__||  \|  |
+    obj2egg.py [n##][b][t][s] filename1.obj ...
+        -n regenerate normals with # degree smoothing
+            exaple -n30  (normals at less 30 degrees will be smoothed)
+        -b make binarmals
+        -t make tangents
+        -s show in pview
+
+    licensed under WTFPL (http://sam.zoy.org/wtfpl/)
+"""
+
+from pandac.PandaModules import *
+import math
+import string
+import getopt
+import sys, os
+
+
+def floats(float_list):
+    """coerce a list of strings that represent floats into a list of floats"""
+    return [ float(number) for number in float_list ]
+
+def ints(int_list):
+    """coerce a list of strings that represent integers into a list of integers"""
+    return [ int(number) for number in int_list ]
+
+
+class ObjMaterial:
+    """a wavefront material"""
+    def __init__(self):
+        self.filename = None
+        self.name = "default"
+        self.eggdiffusetexture = None
+        self.eggmaterial = None
+        self.attrib = {}
+        self.attrib["Ns"] = 100.0
+        self.attrib["d"] = 1.0
+        self.attrib["illum"] = 2
+        # "magenta"
+        self.attrib["Kd"] = [1.0, 0.0, 1.0]
+        self.attrib["Ka"] = [0.0, 0.0, 0.0]
+        self.attrib["Ks"] = [0.0, 0.0, 0.0]
+        self.attrib["Ke"] = [0.0, 0.0, 0.0]
+
+    def put(self, key, value):
+        self.attrib[key] = value
+        return self
+
+    def get(self, key):
+        if self.attrib.has_key(key):
+            return self.attrib[key]
+        return None
+
+    def has_key(self, key):
+        return self.attrib.has_key(key)
+
+    def isTextured(self):
+        # for k in ("map_Kd", "map_Bump", "map_Ks"):    <-- NOT YET
+        if self.attrib.has_key("map_Kd"):
+            return True;
+        return False;
+
+    def getEggTexture(self):
+        if self.eggdiffusetexture:
+            return self.eggdiffusetexture
+        if not self.isTextured():
+            return None
+        m = EggTexture(self.name + "_diffuse", self.get("map_Kd"))
+        m.setFormat(EggTexture.FRgb)
+        m.setMagfilter(EggTexture.FTLinearMipmapLinear)
+        m.setMinfilter(EggTexture.FTLinearMipmapLinear)
+        m.setWrapU(EggTexture.WMRepeat)
+        m.setWrapV(EggTexture.WMRepeat)
+        self.eggdiffusetexture = m
+        return self.eggdiffusetexture
+
+    def getEggMaterial(self):
+        if self.eggmaterial:
+            return self.eggmaterial
+        m = EggMaterial(self.name + "_mat")
+        # XXX TODO: add support for specular, and obey illum setting
+        # XXX as best as we can
+        rgb = self.get("Kd")
+        if rgb is not None:
+            m.setDiff(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        rgb = self.get("Ka")
+        if rgb is not None:
+            m.setAmb(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        rgb = self.get("Ks")
+        if rgb is not None:
+            m.setSpec(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        ns = self.get("Ns")
+        if ns is not None:
+            m.setShininess(ns)
+        self.eggmaterial = m
+        return self.eggmaterial
+
+class MtlFile:
+    """an object representing all Wavefront materials in a .mtl file"""
+    def __init__(self, filename=None):
+        self.filename = None
+        self.materials = {}
+        self.comments = {}
+        if filename is not None:
+            self.read(filename)
+
+    def read(self, filename, verbose=False):
+        self.filename = filename
+        self.materials = {}
+        self.comments = {}
+        try:
+            file = open(filename)
+        except:
+            return self
+        linenumber = 0
+        mat = None
+        for line in file.readlines():
+            line = line.strip()
+            linenumber = linenumber + 1
+            if not line:
+                continue
+            if line[0] == '#':
+                self.comments[linenumber] = line
+                print line
+                continue
+            tokens = line.split()
+            if not tokens:
+                continue
+            if verbose: print "tokens[0]:", tokens
+            if tokens[0] == "newmtl":
+                mat = ObjMaterial()
+                mat.filename = filename
+                mat.name = tokens[1]
+                self.materials[mat.name] = mat
+                if verbose: print "newmtl:", mat.name
+                continue
+            if tokens[0] in ("Ns", "d", "Tr"):
+                # "d factor" - specifies the dissovle for the current material,
+                #              1.0 is full opaque
+                # "Ns exponent" - specifies the specular exponent.  A high exponent
+                #               results in a tight, concentrated highlight.
+                mat.put(tokens[0], float(tokens[1]))
+                continue
+            if tokens[0] in ("illum"):
+                # according to http://www.fileformat.info/format/material/
+                # 0 = Color on and Ambient off
+                # 1 = Color on and Ambient on
+                # 2 = Highlight on
+                # 3 = Reflection on and Ray trace on
+                # 4 = Transparency: Glass on, Reflection: Ray trace on
+                # 5 = Reflection: Fesnel on and Ray trace on
+                # 6 = Transparency: Refraction on, Reflection: Fresnel off and Ray trace on
+                # 7 = Transparency: Refraction on, Refelction: Fresnel on and Ray Trace on
+                # 8 = Reflection on and Ray trace off
+                # 9 = Transparency: Glass on, Reflection: Ray trace off
+                # 10 = Casts shadows onto invisible surfaces
+                mat.put(tokens[0], int(tokens[1]))
+                continue
+            if tokens[0] in ("Kd", "Ka", "Ks", "Ke"):
+                mat.put(tokens[0], floats(tokens[1:]))
+                continue
+            if tokens[0] in ("map_Kd", "map_Bump", "map_Ks", "map_bump", "bump"):
+                # Ultimate Unwrap 3D Pro emits these:
+                # map_Kd == diffuse
+                # map_Bump == bump
+                # map_Ks == specular
+                mat.put(tokens[0], pathify(tokens[1]))
+                if verbose: print "map:", mat.name, tokens[0], mat.get(tokens[0])
+                continue
+            if tokens[0] in ("Ni"):
+                # blender's .obj exporter can emit this "Ni 1.000000"
+                mat.put(tokens[0], float(tokens[1]))
+                continue
+            print "file \"%s\": line %d: unrecognized:" % (filename, linenumber), tokens
+        file.close()
+        if verbose: print "%d materials" % len(self.materials), "loaded from", filename
+        return self
+
+class ObjFile:
+    """a representation of a wavefront .obj file"""
+    def __init__(self, filename=None):
+        self.filename = None
+        self.objects = ["defaultobject"]
+        self.groups = ["defaultgroup"]
+        self.points = []
+        self.uvs = []
+        self.normals = []
+        self.faces = []
+        self.polylines = []
+        self.matlibs = []
+        self.materialsbyname = {}
+        self.comments = {}
+        self.currentobject = self.objects[0]
+        self.currentgroup = self.groups[0]
+        self.currentmaterial = None
+        if filename is not None:
+            self.read(filename)
+
+    def read(self, filename, verbose=False):
+        if verbose: print "ObjFile.read:", "filename:", filename
+        self.filename = filename
+        self.objects = ["defaultobject"]
+        self.groups = ["defaultgroup"]
+        self.points = []
+        self.uvs = []
+        self.normals = []
+        self.faces = []
+        self.polylines = []
+        self.matlibs = []
+        self.materialsbyname = {}
+        self.comments = {}
+        self.currentobject = self.objects[0]
+        self.currentgroup = self.groups[0]
+        self.currentmaterial = None
+        try:
+            file = open(filename)
+        except:
+            return self
+        linenumber = 0
+        for line in file.readlines():
+            line = line.strip()
+            linenumber = linenumber + 1
+            if not line:
+                continue
+            if line[0] == '#':
+                self.comments[linenumber] = line
+                print line
+                continue
+            tokens = line.split()
+            if not tokens:
+                continue
+            if tokens[0] == "mtllib":
+                if verbose: print "mtllib:", tokens[1:]
+                mtllib = MtlFile(tokens[1])
+                # if verbose: print mtllib
+                self.matlibs.append(mtllib)
+                self.indexmaterials(mtllib)
+                continue
+            if tokens[0] == "g":
+                if verbose: print "g:", tokens[1:]
+                self.__newgroup("".join(tokens[1:]))
+                continue
+            if tokens[0] == "o":
+                if verbose: print "o:", tokens[1:]
+                self.__newobject("".join(tokens[1:]))
+                continue
+            if tokens[0] == "usemtl":
+                if verbose: print "usemtl:", tokens[1:]
+                self.__usematerial(tokens[1])
+                continue
+            if tokens[0] == "v":
+                if verbose: print "v:", tokens[1:]
+                self.__newv(tokens[1:])
+                continue
+            if tokens[0] == "vn":
+                if verbose: print "vn:", tokens[1:]
+                self.__newnormal(tokens[1:])
+                continue
+            if tokens[0] == "vt":
+                if verbose: print "vt:", tokens[1:]
+                self.__newuv(tokens[1:])
+                continue
+            if tokens[0] == "f":
+                if verbose: print "f:", tokens[1:]
+                self.__newface(tokens[1:])
+                continue
+            if tokens[0] == "s":
+                # apparently, this enables/disables smoothing
+                print "%s:%d:" % (filename, linenumber), "ignoring:", tokens
+                continue
+            if tokens[0] == "l":
+                if verbose: print "l:", tokens[1:]
+                self.__newpolyline(tokens[1:])
+                continue
+            print "%s:%d:" % (filename, linenumber), "unknown:", tokens
+        file.close()
+        return self
+
+    def __vertlist(self, lst):
+        res = []
+        for vert in lst:
+            vinfo = vert.split("/")
+            vlen = len(vinfo)
+            vertex = {'v':None, 'vt':None, 'vn':None}
+            if vlen == 1:
+                vertex['v'] = int(vinfo[0])
+            elif vlen == 2:
+                if vinfo[0] != '':
+                    vertex['v'] = int(vinfo[0])
+                if vinfo[1] != '':
+                    vertex['vt'] = int(vinfo[1])
+            elif vlen == 3:
+                if vinfo[0] != '':
+                    vertex['v'] = int(vinfo[0])
+                if vinfo[1] != '':
+                    vertex['vt'] = int(vinfo[1])
+                if vinfo[2] != '':
+                    vertex['vn'] = int(vinfo[2])
+            else:
+                print "aborting..."
+                raise UNKNOWN, res
+            res.append(vertex)
+        if False: print res
+        return res
+
+    def __enclose(self, lst):
+        mdata = (self.currentobject, self.currentgroup, self.currentmaterial)
+        return (lst, mdata)
+
+    def __newpolyline(self, l):
+        polyline = self.__vertlist(l)
+        if False: print "__newline:", polyline
+        self.polylines.append(self.__enclose(polyline))
+        return self
+
+    def __newface(self, f):
+        face = self.__vertlist(f)
+        if False: print face
+        self.faces.append(self.__enclose(face))
+        return self
+
+    def __newuv(self, uv):
+        self.uvs.append(floats(uv))
+        return self
+
+    def __newnormal(self, normal):
+        self.normals.append(floats(normal))
+        return self
+
+    def __newv(self, v):
+        # capture the current metadata with vertices
+        vdata = floats(v)
+        mdata = (self.currentobject, self.currentgroup, self.currentmaterial)
+        vinfo = (vdata, mdata)
+        self.points.append(vinfo)
+        return self
+
+    def indexmaterials(self, mtllib, verbose=False):
+        # traverse the materials defined in mtllib, indexing
+        # them by name.
+        for mname in mtllib.materials:
+            mobj = mtllib.materials[mname]
+            self.materialsbyname[mobj.name] = mobj
+        if verbose: 
+            print "indexmaterials:", mtllib.filename, "materials:", self.materialsbyname.keys()
+        return self
+
+    def __closeobject(self):
+        self.currentobject = "defaultobject"
+        return self
+
+    def __newobject(self, object):
+        self.__closeobject()
+        if False: print "__newobject:", "object:", object
+        self.currentobject = object
+        self.objects.append(object)
+        return self
+
+    def __closegroup(self):
+        self.currentgroup = "defaultgroup"
+        return self
+
+    def __newgroup(self, group):
+        self.__closegroup()
+        if False: print "__newgroup:", "group:", group
+        self.currentgroup = group
+        self.groups.append(group)
+        return self
+
+    def __usematerial(self, material):
+        if False: print "__usematerial:", "material:", material
+        if self.materialsbyname.has_key(material):
+            self.currentmaterial = material
+        else:
+            print "warning:", "__usematerial:", "unknown material:", material
+        return self
+
+    def __itemsby(self, itemlist, objname, groupname):
+        res = []
+        for item in itemlist:
+            vlist, mdata = item
+            wobj, wgrp, wmat = mdata
+            if (wobj == objname) and (wgrp == groupname):
+                res.append(item)
+        return res
+
+    def __facesby(self, objname, groupname):
+        return self.__itemsby(self.faces, objname, groupname)
+
+    def __linesby(self, objname, groupname):
+        return self.__itemsby(self.polylines, objname, groupname)
+
+    def __eggifyverts(self, eprim, evpool, vlist):
+        for vertex in vlist:
+            ixyz = vertex['v']
+            vinfo = self.points[ixyz-1]
+            vxyz, vmeta = vinfo
+            ev = EggVertex()
+            ev.setPos(Point3D(vxyz[0], vxyz[1], vxyz[2]))
+            iuv = vertex['vt']
+            if iuv is not None:
+                vuv = self.uvs[iuv-1]
+                ev.setUv(Point2D(vuv[0], vuv[1]))
+            inormal = vertex['vn']
+            if inormal is not None:
+                vn = self.normals[inormal-1]
+                ev.setNormal(Vec3D(vn[0], vn[1], vn[2]))
+            evpool.addVertex(ev)
+            eprim.addVertex(ev)
+        return self
+
+    def __eggifymats(self, eprim, wmat):
+        if self.materialsbyname.has_key(wmat):
+            mtl = self.materialsbyname[wmat]
+            if mtl.isTextured():
+                eprim.setTexture(mtl.getEggTexture())
+                # NOTE: it looks like you almost always want to setMaterial()
+                #       for textured polys.... [continued below...]
+                eprim.setMaterial(mtl.getEggMaterial())
+            rgb = mtl.get("Kd")
+            if rgb is not None:
+                # ... and some untextured .obj's store the color of the
+                # material # in the Kd settings...
+                eprim.setColor(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+            # [continued...] but you may *not* always want to assign
+            # materials to untextured polys...  hmmmm.
+            if False:
+                eprim.setMaterial(mtl.getEggMaterial())
+        return self
+
+    def __facestoegg(self, egg, objname, groupname):
+        selectedfaces = self.__facesby(objname, groupname)
+        if len(selectedfaces) == 0:
+            return self
+        eobj = EggGroup(objname)
+        egg.addChild(eobj)
+        egrp = EggGroup(groupname)
+        eobj.addChild(egrp)
+        evpool = EggVertexPool(groupname)
+        egrp.addChild(evpool)
+        for face in selectedfaces:
+            vlist, mdata = face
+            wobj, wgrp, wmat = mdata
+            epoly = EggPolygon()
+            egrp.addChild(epoly)
+            self.__eggifymats(epoly, wmat)
+            self.__eggifyverts(epoly, evpool, vlist)
+        #; each matching face
+        return self
+
+    def __polylinestoegg(self, egg, objname, groupname):
+        selectedlines = self.__linesby(objname, groupname)
+        if len(selectedlines) == 0:
+            return self
+        eobj = EggGroup(objname)
+        egg.addChild(eobj)
+        egrp = EggGroup(groupname)
+        eobj.addChild(egrp)
+        evpool = EggVertexPool(groupname)
+        egrp.addChild(evpool)
+        for line in selectedlines:
+            vlist, mdata = line
+            wobj, wgrp, wmat = mdata
+            eline = EggLine()
+            egrp.addChild(eline)
+            self.__eggifymats(eline, wmat)
+            self.__eggifyverts(eline, evpool, vlist)
+        #; each matching line
+        return self
+
+    def toEgg(self, verbose=True):
+        if verbose: print "converting..."
+        # make a new egg
+        egg = EggData()
+        # convert polygon faces
+        if len(self.faces) > 0:
+            for objname in self.objects:
+                for groupname in self.groups:
+                    self.__facestoegg(egg, objname, groupname)
+        # convert polylines
+        if len(self.polylines) > 0:
+            for objname in self.objects:
+                for groupname in self.groups:
+                    self.__polylinestoegg(egg, objname, groupname)
+        return egg
+
+def pathify(path):
+    if os.path.isfile(path):
+        return path
+    # if it was written on win32, it may have \'s in it, and
+    # also a full rather than relative pathname (Hexagon does this... ick)
+    orig = path
+    path = path.lower()
+    path = path.replace("\\", "/")
+    h, t = os.path.split(path)
+    if os.path.isfile(t):
+        return t
+    print "warning: can't make sense of this map file name:", orig
+    return t
+    
+def main(argv=None):
+    if argv is None:
+        argv = sys.argv
+    try:
+        opts, args = getopt.getopt(argv[1:], "hn:bs", ["help", "normals", "binormals", "show"])
+    except getopt.error, msg:
+        print msg
+        print __doc__
+        return 2
+    show = False
+    for o, a in opts:
+        if o in ("-h", "--help"):
+            print __doc__
+            return 0
+        elif o in ("-s", "--show"):
+            show = True
+    for infile in args:
+        try:
+            if ".obj" not in infile:
+                print "WARNING", finfile, "does not look like a valid obj file"
+                continue
+            obj = ObjFile(infile)
+            egg = obj.toEgg()
+            f, e = os.path.splitext(infile)
+            outfile = f + ".egg"
+            for o, a in opts:
+                if o in ("-n", "--normals"):
+                    egg.recomputeVertexNormals(float(a))
+                elif o in ("-b", "--binormals"):
+                    egg.recomputeTangentBinormal(GlobPattern(""))
+            egg.removeUnusedVertices(GlobPattern(""))
+            if True:
+                egg.triangulatePolygons(EggData.TConvex & EggData.TPolygon)
+            if True:
+                egg.recomputePolygonNormals()
+            egg.writeEgg(Filename(outfile))
+            if show:
+                os.system("pview " + outfile)
+        except Exception,e:
+            print e
+    return 0
+
+if __name__ == "__main__":
+    sys.exit(main())
+
+

rendering/data/obj2egg.py~

@@ -0,0 +1,554 @@
+#!/usr/bin/python
+"""
+    This Version: $Id: obj2egg.py,v 1.7 2008/05/26 17:42:53 andyp Exp $
+    Info: info >at< pfastergames.com
+
+    Extended from: http://panda3d.org/phpbb2/viewtopic.php?t=3378
+    .___..__ .___.___.___.__..__ .  .
+      |  [__)[__ [__ [__ |  |[__)|\/|
+      |  |  \[___[___|   |__||  \|  |
+    obj2egg.py [n##][b][t][s] filename1.obj ...
+        -n regenerate normals with # degree smoothing
+            exaple -n30  (normals at less 30 degrees will be smoothed)
+        -b make binarmals
+        -t make tangents
+        -s show in pview
+
+    licensed under WTFPL (http://sam.zoy.org/wtfpl/)
+"""
+
+from pandac.PandaModules import *
+import math
+import string
+import getopt
+import sys, os
+
+
+def floats(float_list):
+    """coerce a list of strings that represent floats into a list of floats"""
+    return [ float(number) for number in float_list ]
+
+def ints(int_list):
+    """coerce a list of strings that represent integers into a list of integers"""
+    return [ int(number) for number in int_list ]
+
+
+class ObjMaterial:
+    """a wavefront material"""
+    def __init__(self):
+        self.filename = None
+        self.name = "default"
+        self.eggdiffusetexture = None
+        self.eggmaterial = None
+        self.attrib = {}
+        self.attrib["Ns"] = 100.0
+        self.attrib["d"] = 1.0
+        self.attrib["illum"] = 2
+        # "magenta"
+        self.attrib["Kd"] = [1.0, 0.0, 1.0]
+        self.attrib["Ka"] = [0.0, 0.0, 0.0]
+        self.attrib["Ks"] = [0.0, 0.0, 0.0]
+        self.attrib["Ke"] = [0.0, 0.0, 0.0]
+
+    def put(self, key, value):
+        self.attrib[key] = value
+        return self
+
+    def get(self, key):
+        if self.attrib.has_key(key):
+            return self.attrib[key]
+        return None
+
+    def has_key(self, key):
+        return self.attrib.has_key(key)
+
+    def isTextured(self):
+        # for k in ("map_Kd", "map_Bump", "map_Ks"):    <-- NOT YET
+        if self.attrib.has_key("map_Kd"):
+            return True;
+        return False;
+
+    def getEggTexture(self):
+        if self.eggdiffusetexture:
+            return self.eggdiffusetexture
+        if not self.isTextured():
+            return None
+        m = EggTexture(self.name + "_diffuse", self.get("map_Kd"))
+        m.setFormat(EggTexture.FRgb)
+        m.setMagfilter(EggTexture.FTLinearMipmapLinear)
+        m.setMinfilter(EggTexture.FTLinearMipmapLinear)
+        m.setWrapU(EggTexture.WMRepeat)
+        m.setWrapV(EggTexture.WMRepeat)
+        self.eggdiffusetexture = m
+        return self.eggdiffusetexture
+
+    def getEggMaterial(self):
+        if self.eggmaterial:
+            return self.eggmaterial
+        m = EggMaterial(self.name + "_mat")
+        # XXX TODO: add support for specular, and obey illum setting
+        # XXX as best as we can
+        rgb = self.get("Kd")
+        if rgb is not None:
+            m.setDiff(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        rgb = self.get("Ka")
+        if rgb is not None:
+            m.setAmb(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        rgb = self.get("Ks")
+        if rgb is not None:
+            m.setSpec(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        ns = self.get("Ns")
+        if ns is not None:
+            m.setShininess(ns)
+        self.eggmaterial = m
+        return self.eggmaterial
+
+class MtlFile:
+    """an object representing all Wavefront materials in a .mtl file"""
+    def __init__(self, filename=None):
+        self.filename = None
+        self.materials = {}
+        self.comments = {}
+        if filename is not None:
+            self.read(filename)
+
+    def read(self, filename, verbose=False):
+        self.filename = filename
+        self.materials = {}
+        self.comments = {}
+        try:
+            file = open(filename)
+        except:
+            return self
+        linenumber = 0
+        mat = None
+        for line in file.readlines():
+            line = line.strip()
+            linenumber = linenumber + 1
+            if not line:
+                continue
+            if line[0] == '#':
+                self.comments[linenumber] = line
+                print line
+                continue
+            tokens = line.split()
+            if not tokens:
+                continue
+            if verbose: print "tokens[0]:", tokens
+            if tokens[0] == "newmtl":
+                mat = ObjMaterial()
+                mat.filename = filename
+                mat.name = tokens[1]
+                self.materials[mat.name] = mat
+                if verbose: print "newmtl:", mat.name
+                continue
+            if tokens[0] in ("Ns", "d", "Tr"):
+                # "d factor" - specifies the dissovle for the current material,
+                #              1.0 is full opaque
+                # "Ns exponent" - specifies the specular exponent.  A high exponent
+                #               results in a tight, concentrated highlight.
+                mat.put(tokens[0], float(tokens[1]))
+                continue
+            if tokens[0] in ("illum"):
+                # according to http://www.fileformat.info/format/material/
+                # 0 = Color on and Ambient off
+                # 1 = Color on and Ambient on
+                # 2 = Highlight on
+                # 3 = Reflection on and Ray trace on
+                # 4 = Transparency: Glass on, Reflection: Ray trace on
+                # 5 = Reflection: Fesnel on and Ray trace on
+                # 6 = Transparency: Refraction on, Reflection: Fresnel off and Ray trace on
+                # 7 = Transparency: Refraction on, Refelction: Fresnel on and Ray Trace on
+                # 8 = Reflection on and Ray trace off
+                # 9 = Transparency: Glass on, Reflection: Ray trace off
+                # 10 = Casts shadows onto invisible surfaces
+                mat.put(tokens[0], int(tokens[1]))
+                continue
+            if tokens[0] in ("Kd", "Ka", "Ks", "Ke"):
+                mat.put(tokens[0], floats(tokens[1:]))
+                continue
+            if tokens[0] in ("map_Kd", "map_Bump", "map_Ks", "map_bump", "bump"):
+                # Ultimate Unwrap 3D Pro emits these:
+                # map_Kd == diffuse
+                # map_Bump == bump
+                # map_Ks == specular
+                mat.put(tokens[0], pathify(tokens[1]))
+                if verbose: print "map:", mat.name, tokens[0], mat.get(tokens[0])
+                continue
+            if tokens[0] in ("Ni"):
+                # blender's .obj exporter can emit this "Ni 1.000000"
+                mat.put(tokens[0], float(tokens[1]))
+                continue
+            print "file \"%s\": line %d: unrecognized:" % (filename, linenumber), tokens
+        file.close()
+        if verbose: print "%d materials" % len(self.materials), "loaded from", filename
+        return self
+
+class ObjFile:
+    """a representation of a wavefront .obj file"""
+    def __init__(self, filename=None):
+        self.filename = None
+        self.objects = ["defaultobject"]
+        self.groups = ["defaultgroup"]
+        self.points = []
+        self.uvs = []
+        self.normals = []
+        self.faces = []
+        self.polylines = []
+        self.matlibs = []
+        self.materialsbyname = {}
+        self.comments = {}
+        self.currentobject = self.objects[0]
+        self.currentgroup = self.groups[0]
+        self.currentmaterial = None
+        if filename is not None:
+            self.read(filename)
+
+    def read(self, filename, verbose=False):
+        if verbose: print "ObjFile.read:", "filename:", filename
+        self.filename = filename
+        self.objects = ["defaultobject"]
+        self.groups = ["defaultgroup"]
+        self.points = []
+        self.uvs = []
+        self.normals = []
+        self.faces = []
+        self.polylines = []
+        self.matlibs = []
+        self.materialsbyname = {}
+        self.comments = {}
+        self.currentobject = self.objects[0]
+        self.currentgroup = self.groups[0]
+        self.currentmaterial = None
+        try:
+            file = open(filename)
+        except:
+            return self
+        linenumber = 0
+        for line in file.readlines():
+            line = line.strip()
+            linenumber = linenumber + 1
+            if not line:
+                continue
+            if line[0] == '#':
+                self.comments[linenumber] = line
+                print line
+                continue
+            tokens = line.split()
+            if not tokens:
+                continue
+            if tokens[0] == "mtllib":
+                if verbose: print "mtllib:", tokens[1:]
+                mtllib = MtlFile(tokens[1])
+                # if verbose: print mtllib
+                self.matlibs.append(mtllib)
+                self.indexmaterials(mtllib)
+                continue
+            if tokens[0] == "g":
+                if verbose: print "g:", tokens[1:]
+                self.__newgroup("".join(tokens[1:]))
+                continue
+            if tokens[0] == "o":
+                if verbose: print "o:", tokens[1:]
+                self.__newobject("".join(tokens[1:]))
+                continue
+            if tokens[0] == "usemtl":
+                if verbose: print "usemtl:", tokens[1:]
+                self.__usematerial(tokens[1])
+                continue
+            if tokens[0] == "v":
+                if verbose: print "v:", tokens[1:]
+                self.__newv(tokens[1:])
+                continue
+            if tokens[0] == "vn":
+                if verbose: print "vn:", tokens[1:]
+                self.__newnormal(tokens[1:])
+                continue
+            if tokens[0] == "vt":
+                if verbose: print "vt:", tokens[1:]
+                self.__newuv(tokens[1:])
+                continue
+            if tokens[0] == "f":
+                if verbose: print "f:", tokens[1:]
+                self.__newface(tokens[1:])
+                continue
+            if tokens[0] == "s":
+                # apparently, this enables/disables smoothing
+                print "%s:%d:" % (filename, linenumber), "ignoring:", tokens
+                continue
+            if tokens[0] == "l":
+                if verbose: print "l:", tokens[1:]
+                self.__newpolyline(tokens[1:])
+                continue
+            print "%s:%d:" % (filename, linenumber), "unknown:", tokens
+        file.close()
+        return self
+
+    def __vertlist(self, lst):
+        res = []
+        for vert in lst:
+            vinfo = vert.split("/")
+            vlen = len(vinfo)
+            vertex = {'v':None, 'vt':None, 'vn':None}
+            if vlen == 1:
+                vertex['v'] = int(vinfo[0])
+            elif vlen == 2:
+                if vinfo[0] != '':
+                    vertex['v'] = int(vinfo[0])
+                if vinfo[1] != '':
+                    vertex['vt'] = int(vinfo[1])
+            elif vlen == 3:
+                if vinfo[0] != '':
+                    vertex['v'] = int(vinfo[0])
+                if vinfo[1] != '':
+                    vertex['vt'] = int(vinfo[1])
+                if vinfo[2] != '':
+                    vertex['vn'] = int(vinfo[2])
+            else:
+                print "aborting..."
+                raise UNKNOWN, res
+            res.append(vertex)
+        if False: print res
+        return res
+
+    def __enclose(self, lst):
+        mdata = (self.currentobject, self.currentgroup, self.currentmaterial)
+        return (lst, mdata)
+
+    def __newpolyline(self, l):
+        polyline = self.__vertlist(l)
+        if False: print "__newline:", polyline
+        self.polylines.append(self.__enclose(polyline))
+        return self
+
+    def __newface(self, f):
+        face = self.__vertlist(f)
+        if False: print face
+        self.faces.append(self.__enclose(face))
+        return self
+
+    def __newuv(self, uv):
+        self.uvs.append(floats(uv))
+        return self
+
+    def __newnormal(self, normal):
+        self.normals.append(floats(normal))
+        return self
+
+    def __newv(self, v):
+        # capture the current metadata with vertices
+        vdata = floats(v)
+        mdata = (self.currentobject, self.currentgroup, self.currentmaterial)
+        vinfo = (vdata, mdata)
+        self.points.append(vinfo)
+        return self
+
+    def indexmaterials(self, mtllib, verbose=False):
+        # traverse the materials defined in mtllib, indexing
+        # them by name.
+        for mname in mtllib.materials:
+            mobj = mtllib.materials[mname]
+            self.materialsbyname[mobj.name] = mobj
+        if verbose: 
+            print "indexmaterials:", mtllib.filename, "materials:", self.materialsbyname.keys()
+        return self
+
+    def __closeobject(self):
+        self.currentobject = "defaultobject"
+        return self
+
+    def __newobject(self, object):
+        self.__closeobject()
+        if False: print "__newobject:", "object:", object
+        self.currentobject = object
+        self.objects.append(object)
+        return self
+
+    def __closegroup(self):
+        self.currentgroup = "defaultgroup"
+        return self
+
+    def __newgroup(self, group):
+        self.__closegroup()
+        if False: print "__newgroup:", "group:", group
+        self.currentgroup = group
+        self.groups.append(group)
+        return self
+
+    def __usematerial(self, material):
+        if False: print "__usematerial:", "material:", material
+        if self.materialsbyname.has_key(material):
+            self.currentmaterial = material
+        else:
+            print "warning:", "__usematerial:", "unknown material:", material
+        return self
+
+    def __itemsby(self, itemlist, objname, groupname):
+        res = []
+        for item in itemlist:
+            vlist, mdata = item
+            wobj, wgrp, wmat = mdata
+            if (wobj == objname) and (wgrp == groupname):
+                res.append(item)
+        return res
+
+    def __facesby(self, objname, groupname):
+        return self.__itemsby(self.faces, objname, groupname)
+
+    def __linesby(self, objname, groupname):
+        return self.__itemsby(self.polylines, objname, groupname)
+
+    def __eggifyverts(self, eprim, evpool, vlist):
+        for vertex in vlist:
+            ixyz = vertex['v']
+            vinfo = self.points[ixyz-1]
+            vxyz, vmeta = vinfo
+            ev = EggVertex()
+            ev.setPos(Point3D(vxyz[0], vxyz[1], vxyz[2]))
+            iuv = vertex['vt']
+            if iuv is not None:
+                vuv = self.uvs[iuv-1]
+                ev.setUv(Point2D(vuv[0], vuv[1]))
+            inormal = vertex['vn']
+            if inormal is not None:
+                vn = self.normals[inormal-1]
+                ev.setNormal(Vec3D(vn[0], vn[1], vn[2]))
+            evpool.addVertex(ev)
+            eprim.addVertex(ev)
+        return self
+
+    def __eggifymats(self, eprim, wmat):
+        if self.materialsbyname.has_key(wmat):
+            mtl = self.materialsbyname[wmat]
+            if mtl.isTextured():
+                eprim.setTexture(mtl.getEggTexture())
+                # NOTE: it looks like you almost always want to setMaterial()
+                #       for textured polys.... [continued below...]
+                eprim.setMaterial(mtl.getEggMaterial())
+            rgb = mtl.get("Kd")
+            if rgb is not None:
+                # ... and some untextured .obj's store the color of the
+                # material # in the Kd settings...
+                eprim.setColor(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+            # [continued...] but you may *not* always want to assign
+            # materials to untextured polys...  hmmmm.
+            if False:
+                eprim.setMaterial(mtl.getEggMaterial())
+        return self
+
+    def __facestoegg(self, egg, objname, groupname):
+        selectedfaces = self.__facesby(objname, groupname)
+        if len(selectedfaces) == 0:
+            return self
+        eobj = EggGroup(objname)
+        egg.addChild(eobj)
+        egrp = EggGroup(groupname)
+        eobj.addChild(egrp)
+        evpool = EggVertexPool(groupname)
+        egrp.addChild(evpool)
+        for face in selectedfaces:
+            vlist, mdata = face
+            wobj, wgrp, wmat = mdata
+            epoly = EggPolygon()
+            egrp.addChild(epoly)
+            self.__eggifymats(epoly, wmat)
+            self.__eggifyverts(epoly, evpool, vlist)
+        #; each matching face
+        return self
+
+    def __polylinestoegg(self, egg, objname, groupname):
+        selectedlines = self.__linesby(objname, groupname)
+        if len(selectedlines) == 0:
+            return self
+        eobj = EggGroup(objname)
+        egg.addChild(eobj)
+        egrp = EggGroup(groupname)
+        eobj.addChild(egrp)
+        evpool = EggVertexPool(groupname)
+        egrp.addChild(evpool)
+        for line in selectedlines:
+            vlist, mdata = line
+            wobj, wgrp, wmat = mdata
+            eline = EggLine()
+            egrp.addChild(eline)
+            self.__eggifymats(eline, wmat)
+            self.__eggifyverts(eline, evpool, vlist)
+        #; each matching line
+        return self
+
+    def toEgg(self, verbose=True):
+        if verbose: print "converting..."
+        # make a new egg
+        egg = EggData()
+        # convert polygon faces
+        if len(self.faces) > 0:
+            for objname in self.objects:
+                for groupname in self.groups:
+                    self.__facestoegg(egg, objname, groupname)
+        # convert polylines
+        if len(self.polylines) > 0:
+            for objname in self.objects:
+                for groupname in self.groups:
+                    self.__polylinestoegg(egg, objname, groupname)
+        return egg
+
+def pathify(path):
+    if os.path.isfile(path):
+        return path
+    # if it was written on win32, it may have \'s in it, and
+    # also a full rather than relative pathname (Hexagon does this... ick)
+    orig = path
+    path = path.lower()
+    path = path.replace("\\", "/")
+    h, t = os.path.split(path)
+    if os.path.isfile(t):
+        return t
+    print "warning: can't make sense of this map file name:", orig
+    return t
+    
+def main(argv=None):
+    if argv is None:
+        argv = sys.argv
+    try:
+        opts, args = getopt.getopt(argv[1:], "hn:bs", ["help", "normals", "binormals", "show"])
+    except getopt.error, msg:
+        print msg
+        print __doc__
+        return 2
+    show = False
+    for o, a in opts:
+        if o in ("-h", "--help"):
+            print __doc__
+            return 0
+        elif o in ("-s", "--show"):
+            show = True
+    for infile in args:
+        try:
+            if ".obj" not in infile:
+                print "WARNING", finfile, "does not look like a valid obj file"
+                continue
+            obj = ObjFile(infile)
+            egg = obj.toEgg()
+            f, e = os.path.splitext(infile)
+            outfile = f + ".egg"
+            for o, a in opts:
+                if o in ("-n", "--normals"):
+                    egg.recomputeVertexNormals(float(a))
+                elif o in ("-b", "--binormals"):
+                    egg.recomputeTangentBinormal(GlobPattern(""))
+            egg.removeUnusedVertices(GlobPattern(""))
+            if True:
+                egg.triangulatePolygons(EggData.TConvex & EggData.TPolygon)
+            if True:
+                egg.recomputePolygonNormals()
+            egg.writeEgg(Filename(outfile))
+            if show:
+                os.system("pview " + outfile)
+        except Exception,e:
+            print e
+    return 0
+
+if __name__ == "__main__":
+    sys.exit(main())
+
+

rendering/data/stairs.mtl

@@ -0,0 +1,10 @@
+#
+## Alias OBJ Material File
+# Exported from SketchUp, (c) 2000-2012 Trimble Navigation Limited
+
+newmtl _auto_38
+Ka 0.000000 0.000000 0.000000
+Kd 0.721569 0.709804 0.686275
+Ks 0.330000 0.330000 0.330000
+map_Kd stairs/_auto_38.jpg
+

rendering/data/stairs.obj

@@ -0,0 +1,411 @@
+# Alias OBJ Model File
+# Exported from SketchUp, (c) 2000-2012 Trimble Navigation Limited
+# File units = meters
+
+mtllib stairs.mtl
+
+g Mesh1 Model
+
+usemtl _auto_38
+v 3.97303 0.777476 0.599186
+vt 2.45833 2
+vn -1 7.82076e-14 -2.07782e-15
+v 3.97303 0.510776 0.564515
+vt 3.33333 1.875
+v 3.97303 0.510776 0.599186
+vt 3.33333 2
+f 1/1/1 2/2/1 3/3/1
+
+v 3.97303 0.523476 0.564515
+vt 3.29167 1.875
+f 2/2/1 1/1/1 4/4/1
+
+v 3.97303 0.523476 0.414274
+vt 3.29167 1.33333
+f 4/4/1 1/1/1 5/5/1
+
+v 3.97303 1.52678 -1.778e-09
+vt 1.06581e-14 -0.160256
+vn -1 7.82094e-14 -1.28658e-16
+f 6/6/2 5/5/2 1/1/2
+
+v 3.97303 0.269476 0.229362
+vt 4.125 0.666667
+f 6/6/2 7/7/2 5/5/2
+
+v 3.97303 0.0154759 -1.778e-09
+vt 4.95833 -0.160257
+f 8/8/2 7/7/2 6/6/2
+
+v 3.97303 0.0154759 0.194691
+vt 4.95833 0.541667
+f 9/9/2 7/7/2 8/8/2
+
+v 3.97303 0.00277587 0.194691
+vt 5 0.541667
+f 10/10/2 7/7/2 9/9/2
+
+v 3.97303 0.00277587 0.229362
+vt 5 0.666667
+f 7/7/2 10/10/2 11/11/2
+
+vt 0.5 0.541667
+vn -7.81597e-14 -1 -1.05893e-42
+v 5.19223 0.00277587 0.229362
+vt 4.5 0.666667
+vt 0.5 0.666667
+f 10/12/3 12/13/3 11/14/3
+
+v 5.19223 0.00277587 0.194691
+vt 4.5 0.541667
+f 12/13/3 10/12/3 13/15/3
+
+vt -4.95833 0.5
+vn 0 0 -1
+vt -5 4.5
+vt -5 0.5
+f 9/16/4 13/17/4 10/18/4
+
+v 5.19223 0.0154759 0.194691
+vt -4.95833 4.5
+f 13/17/4 9/16/4 14/19/4
+
+vt 0.5 -0.160256
+vn -7.81597e-14 -1 -1.67911e-44
+f 8/20/5 14/15/5 9/12/5
+
+v 5.19223 0.0154759 -1.778e-09
+vt 4.5 -0.160256
+f 14/15/5 8/20/5 15/21/5
+
+vt -1.24345e-14 0.5
+f 6/22/4 15/19/4 8/16/4
+
+v 5.19223 1.52678 -1.778e-09
+vt -8.88178e-16 4.5
+f 15/19/4 6/22/4 16/23/4
+
+v 3.97303 1.52678 1.15392
+vt -0.5 4
+vn 7.51991e-14 1 0
+vt -4.5 -0.160256
+vt -0.5 -0.160256
+f 17/24/6 16/25/6 6/26/6
+
+v 5.19223 1.52678 1.15392
+vt -4.5 4
+f 16/25/6 17/24/6 18/27/6
+
+vt 1.06581e-14 0.5
+vn 0 0 1
+v 5.19223 1.27278 1.15392
+vt 0.833333 4.5
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+

rendering/data/washing_basin2.mtl

@@ -0,0 +1,14 @@
+#
+## Alias OBJ Material File
+# Exported from SketchUp, (c) 2000-2012 Trimble Navigation Limited
+
+newmtl _auto_46
+Ka 0.000000 0.000000 0.000000
+Kd 0.819608 0.705882 0.545098
+Ks 0.330000 0.330000 0.330000
+
+newmtl _auto_48
+Ka 0.000000 0.000000 0.000000
+Kd 0.627451 0.317647 0.176471
+Ks 0.330000 0.330000 0.330000
+

rendering/floorplan.py

@@ -0,0 +1,987 @@
+from panda3d.egg import *
+from panda3d.core import *
+from obj2egg import ObjMaterial
+from copy import deepcopy
+import numpy as np
+import cv2
+import copy
+
+def calcDistance(point_1, point_2):
+  return pow(pow(point_1[0] - point_2[0], 2) + pow(point_1[1] - point_2[1], 2), 0.5)
+
+def calcLineDim(line, lineWidth = -1):
+  if abs(line[0][0] - line[1][0]) > abs(line[0][1] - line[1][1]):
+    if lineWidth < 0 or abs(line[0][1] - line[1][1]) <= lineWidth:
+      return 0
+    pass
+  elif abs(line[0][0] - line[1][0]) < abs(line[0][1] - line[1][1]):
+    if lineWidth < 0 or abs(line[0][0] - line[1][0]) <= lineWidth:
+      return 1
+  else:
+    return -1
+  
+class Floorplan():
+  def __init__(self, filename):
+    self.wallWidth = 0.005
+    self.wallHeight = 0.3
+    self.doorWidth = self.wallWidth
+    self.doorHeight = self.wallHeight * 0.8
+    self.windowWidth = self.wallWidth + 0.0001
+    self.windowHeight = self.wallHeight * 0.5
+    self.windowOffset = self.wallHeight * 0.4
+    self.filename = filename
+    
+    self.floorMat = ObjMaterial()
+    #self.floorMat.filename = self.filename + '.png'
+    self.floorMat.name = 'floor'
+    self.floorMat.put('map_Kd', self.filename + '.png')
+
+    self.ceilingMat = ObjMaterial()
+    self.ceilingMat.name = 'ceiling'
+    self.ceilingMat.put('map_Kd', 'data/ceiling.jpg')
+
+    self.wallMats = []
+    wallMat_1 = ObjMaterial()
+    wallMat_1.name = 'wall_1'
+    wallMat_1.put('map_Kd', 'data/bedroom_wall.jpg')
+    wallMat_2 = ObjMaterial()
+    wallMat_2.name = 'wall_2'
+    wallMat_2.put('map_Kd', 'data/kitchen_wall.jpg')
+    wallMat_3 = ObjMaterial()
+    wallMat_3.name = 'wall_3'
+    wallMat_3.put('map_Kd', 'data/dining_wall.jpg')
+    wallMat_4 = ObjMaterial()
+    wallMat_4.name = 'wall_4'
+    wallMat_4.put('map_Kd', 'data/bathroom_wall.jpg')
+    wallMat_5 = ObjMaterial()
+    wallMat_5.name = 'wall_5'
+    wallMat_5.put('map_Kd', 'data/wall.jpg')
+
+    self.wallMats.append(wallMat_3)
+    self.wallMats.append(wallMat_2)
+    self.wallMats.append(wallMat_1)
+    self.wallMats.append(wallMat_4)
+    self.wallMats.append(wallMat_4)
+    self.wallMats.append(wallMat_1)
+    self.wallMats.append(wallMat_5)
+    self.wallMats.append(wallMat_2)
+    self.wallMats.append(wallMat_4)
+    self.wallMats.append(wallMat_5)
+    self.wallMats.append(wallMat_5)
+
+
+    self.doorMat = ObjMaterial()
+    self.doorMat.name = 'door'
+    self.doorMat.put('map_Kd', 'data/door.jpg')
+
+    self.windowMat = ObjMaterial()
+    self.windowMat.name = 'window'
+    self.windowMat.put('map_Kd', 'data/window.jpg')
+
+    self.iconNodes = {}
+    self.iconNodes['cooking_counter'] = base.loader.loadModel('data/cooking_counter.egg')
+    self.iconNodes['bathtub'] = base.loader.loadModel('data/bathtub.egg')
+    self.iconNodes['toilet'] = base.loader.loadModel('data/toilet.egg')
+    self.iconNodes['washing_basin'] = base.loader.loadModel('data/washing_basin.egg')
+    return
+
+
+  def read(self):
+    floorplanFile = open(self.filename + '.txt', 'r')
+    self.walls = []
+    self.doors = []
+    self.icons = []
+    self.wallsInt = []
+    for line in floorplanFile.readlines():
+      line = line.strip()
+      values = line.split('\t')
+      if len(values) == 2:
+        self.width = float(values[0])
+        self.height = float(values[1])
+        self.maxDim = max(self.width, self.height)
+      elif len(values) == 6:
+        wall = []
+        for i in xrange(4):
+          wall.append(float(values[i]))
+          continue
+        lineDim = calcLineDim(((wall[0], wall[1]), (wall[2], wall[3])))
+        wall[lineDim], wall[2 + lineDim] = min(wall[lineDim], wall[2 + lineDim]), max(wall[lineDim], wall[2 + lineDim])
+        wall[1 - lineDim] = wall[3 - lineDim] = (wall[1 - lineDim] + wall[3 - lineDim]) / 2
+        wall.append(int(values[4]) - 1)
+        wall.append(int(values[5]) - 1)
+        for pointIndex in xrange(2):
+          wall[pointIndex * 2 + 0] /= self.maxDim
+          wall[pointIndex * 2 + 1] /= self.maxDim
+          continue
+        self.walls.append(wall)
+
+        wallInt = []
+        for i in xrange(4):
+          wallInt.append(int(values[i]))
+          continue
+        wallInt[lineDim], wallInt[2 + lineDim] = min(wallInt[lineDim], wallInt[2 + lineDim]), max(wallInt[lineDim], wallInt[2 + lineDim])
+        self.wallsInt.append(wallInt)
+      elif len(values) == 7:
+        item = []
+        for i in xrange(4):
+          item.append(float(values[i]))
+
+        for pointIndex in xrange(2):
+          item[pointIndex * 2 + 0] /= self.maxDim
+          item[pointIndex * 2 + 1] /= self.maxDim
+          continue
+
+        if values[4] == 'door':
+          self.doors.append(item)
+        else:
+          item.append(values[4])
+          self.icons.append(item)
+          pass
+        pass
+      continue
+    return
+  
+  def generateFloor(self, data):
+    floorGroup = EggGroup('floor')
+    data.addChild(floorGroup)
+    
+    vp = EggVertexPool('floor_vertex')
+    floorGroup.addChild(vp)
+
+
+    exteriorWalls = []
+    for wall in self.walls:
+      if wall[4] == 10 or wall[5] == 10:
+        exteriorWalls.append(copy.deepcopy(wall))
+        pass
+      continue    
+
+
+    exteriorOpenings = []
+    for wall in exteriorWalls:
+      lineDim = calcLineDim((wall[:2], wall[2:4]))
+      for doorIndex, door in enumerate(self.doors):
+        if calcLineDim((door[:2], door[2:4])) != lineDim:
+          continue
+        if door[lineDim] >= wall[lineDim] and door[2 + lineDim] <= wall[2 + lineDim] and abs(door[1 - lineDim] - wall[1 - lineDim]) <= self.wallWidth:
+          exteriorOpenings.append(doorIndex)
+          pass
+        continue
+      continue
+
+    minDistance = 10000
+    mainDoorIndex = -1
+    for icon in self.icons:
+      if icon[4] == 'entrance':
+        for doorIndex in exteriorOpenings:
+          door = self.doors[doorIndex]
+          distance = pow(pow((door[0] + door[2]) / 2 - (icon[0] + icon[2]) / 2, 2) + pow((door[1] + door[3]) / 2 - (icon[1] + icon[3]) / 2, 2), 0.5)
+          if distance < minDistance:
+            minDistance = distance
+            mainDoorIndex = doorIndex
+            pass
+          continue
+        break
+      continue
+
+    self.startCameraPos = [0.5, -0.5, self.wallHeight * 0.5]
+    self.startTarget = [0.5, 0.5, self.wallHeight * 0.5]
+    if mainDoorIndex >= 0:
+      mainDoor = self.doors[mainDoorIndex]
+      lineDim = calcLineDim((mainDoor[:2], mainDoor[2:4]))
+      fixedValue = (mainDoor[1 - lineDim] + mainDoor[3 - lineDim]) / 2
+      imageSize = [self.width / self.maxDim, self.height / self.maxDim]
+      side = int(fixedValue < imageSize[1 - lineDim] * 0.5) * 2 - 1
+      self.startCameraPos[lineDim] = (mainDoor[lineDim] + mainDoor[2 + lineDim]) / 2
+      self.startTarget[lineDim] = (mainDoor[lineDim] + mainDoor[2 + lineDim]) / 2
+      self.startCameraPos[1 - lineDim] = fixedValue - 0.5 * side
+      self.startTarget[1 - lineDim] = fixedValue + 0.5 * side
+      
+      self.startCameraPos[0] = 1 - self.startCameraPos[0]
+      self.startTarget[0] = 1 - self.startTarget[0]
+      pass
+    
+    newDoors = []
+    self.windows = []
+    for doorIndex, door in enumerate(self.doors):
+      if doorIndex == mainDoorIndex or doorIndex not in exteriorOpenings:
+        newDoors.append(door)
+      else:
+        self.windows.append(door)
+        pass
+      continue
+    self.doors = newDoors
+
+
+    exteriorWallLoops = []
+    visitedMask = {}
+    gap = 5.0 / self.maxDim
+    for wallIndex, wall in enumerate(exteriorWalls):
+      if wallIndex in visitedMask:
+        continue
+      visitedMask[wallIndex] = True
+      exteriorWallLoop = []
+      exteriorWallLoop.append(wall)
+      for loopWall in exteriorWallLoop:
+        for neighborWallIndex, neighborWall in enumerate(exteriorWalls):
+          if neighborWallIndex in visitedMask:
+            continue
+          #if calcDistance(neighborWall[:2], loopWall[:2]) < gap or calcDistance(neighborWall[2:4], loopWall[:2]) < gap or calcDistance(neighborWall[:2], loopWall[2:4]) < gap or calcDistance(neighborWall[2:4], loopWall[2:4]) < gap:
+          if calcDistance(neighborWall[:2], loopWall[2:4]) < gap:
+            exteriorWallLoop.append(neighborWall)
+            visitedMask[neighborWallIndex] = True
+            break
+          elif calcDistance(neighborWall[2:4], loopWall[2:4]) < gap:
+            neighborWall[0], neighborWall[2] = neighborWall[2], neighborWall[0]
+            neighborWall[1], neighborWall[3] = neighborWall[3], neighborWall[1]
+            exteriorWallLoop.append(neighborWall)
+            visitedMask[neighborWallIndex] = True
+            break
+          continue
+        continue
+      exteriorWallLoops.append(exteriorWallLoop)
+      continue
+
+
+    for exteriorWallLoop in exteriorWallLoops:
+      poly = EggPolygon()
+      floorGroup.addChild(poly)
+      
+      poly.setTexture(self.floorMat.getEggTexture())
+      poly.setMaterial(self.floorMat.getEggMaterial())
+
+      for wallIndex, wall in enumerate(exteriorWallLoop):
+        if wallIndex == 0:
+          v = EggVertex()
+          v.setPos(Point3D(1 - wall[0], wall[1], 0))
+          v.setUv(Point2D(wall[0] * self.maxDim / self.width, 1 - wall[1] * self.maxDim / self.height))
+          poly.addVertex(vp.addVertex(v))
+        else:
+          v = EggVertex()
+          v.setPos(Point3D(1 - (wall[0] + exteriorWallLoop[wallIndex - 1][2]) / 2, (wall[1] + exteriorWallLoop[wallIndex - 1][3]) / 2, 0))
+          v.setUv(Point2D((wall[0] + exteriorWallLoop[wallIndex - 1][2]) / 2 * self.maxDim / self.width, 1 - (wall[1] + exteriorWallLoop[wallIndex - 1][3]) / 2 * self.maxDim / self.height))
+          poly.addVertex(vp.addVertex(v))
+          pass
+        if wallIndex == len(exteriorWallLoop) - 1:
+          v = EggVertex()
+          v.setPos(Point3D(1 - wall[2], wall[3], 0))
+          v.setUv(Point2D(wall[2] * self.maxDim / self.width, 1 - wall[3] * self.maxDim / self.height))
+          poly.addVertex(vp.addVertex(v))
+          pass
+        continue
+      continue
+
+
+    ceilingGroup = EggGroup('ceiling')
+    data.addChild(ceilingGroup)
+    
+    vp = EggVertexPool('ceiling_vertex')
+    ceilingGroup.addChild(vp)
+
+    for exteriorWallLoop in exteriorWallLoops:
+      poly = EggPolygon()
+      ceilingGroup.addChild(poly)
+      
+      poly.setTexture(self.ceilingMat.getEggTexture())
+      poly.setMaterial(self.ceilingMat.getEggMaterial())
+
+      for wallIndex, wall in enumerate(exteriorWallLoop):
+        if wallIndex == 0:
+          v = EggVertex()
+          v.setPos(Point3D(1 - wall[0], wall[1], self.wallHeight))
+          v.setUv(Point2D(wall[0], 1 - wall[1]))
+          poly.addVertex(vp.addVertex(v))
+        else:
+          v = EggVertex()
+          v.setPos(Point3D(1 - (wall[0] + exteriorWallLoop[wallIndex - 1][2]) / 2, (wall[1] + exteriorWallLoop[wallIndex - 1][3]) / 2, self.wallHeight))
+          v.setUv(Point2D((wall[0] + exteriorWallLoop[wallIndex - 1][2]) / 2, 1 - (wall[1] + exteriorWallLoop[wallIndex - 1][3]) / 2))
+          poly.addVertex(vp.addVertex(v))
+          pass
+        if wallIndex == len(exteriorWallLoop) - 1:
+          v = EggVertex()
+          v.setPos(Point3D(1 - wall[2], wall[3], self.wallHeight))
+          v.setUv(Point2D(wall[2], 1 - wall[3]))
+          poly.addVertex(vp.addVertex(v))
+          pass
+        continue
+      continue
+
+    return
+
+
+  def generateWalls(self, data):
+
+    wallsGroup = EggGroup('walls')
+    data.addChild(wallsGroup)
+    
+    vp = EggVertexPool('wall_vertex')
+    data.addChild(vp)
+
+    for wallIndex, wall in enumerate(self.walls):
+      wallGroup = EggGroup('wall')
+      wallsGroup.addChild(wallGroup)
+      lineDim = calcLineDim((wall[:2], wall[2:4]))
+      # if lineDim == 0:
+      #   if wall[lineDim] < wall[2 + lineDim]:
+      #     deltas = (-self.wallWidth, self.wallWidth, self.wallWidth, self.wallWidth)
+      #   else:
+      #     deltas = (self.wallWidth, self.wallWidth, -self.wallWidth, self.wallWidth)
+      #     pass
+      # else:
+      #   if wall[lineDim] < wall[2 + lineDim]:
+      #     deltas = (self.wallWidth, -self.wallWidth, self.wallWidth, self.wallWidth)
+      #   else:
+      #     deltas = (self.wallWidth, self.wallWidth, self.wallWidth, -self.wallWidth)
+      #     pass
+      #   pass
+
+      #print(self.wallsInt[wallIndex])
+      #print(wall)
+      if lineDim == 0:
+        deltas = (0, self.wallWidth)
+      else:
+        deltas = (self.wallWidth, 0)
+        pass
+
+      poly = EggPolygon()
+      wallGroup.addChild(poly)
+
+      if lineDim == 0:
+        poly.setTexture(self.wallMats[wall[4]].getEggTexture())
+        poly.setMaterial(self.wallMats[wall[4]].getEggMaterial())
+      else:
+        poly.setTexture(self.wallMats[wall[5]].getEggTexture())
+        poly.setMaterial(self.wallMats[wall[5]].getEggMaterial())
+        pass
+
+
+      values = [wall[lineDim] - self.wallWidth + 0.0001, wall[2 + lineDim] + self.wallWidth - 0.0001]
+      for door in self.doors:
+        if calcLineDim((door[:2], door[2:4])) != lineDim:
+          continue
+        if door[lineDim] >= wall[lineDim] and door[2 + lineDim] <= wall[2 + lineDim] and abs(door[1 - lineDim] - wall[1 - lineDim]) <= self.wallWidth:
+          values.append(door[lineDim])
+          values.append(door[2 + lineDim])
+          #doors.append(door)
+          pass
+        continue
+
+      values.sort()
+
+      fixedValue = (wall[1 - lineDim] + wall[3 - lineDim]) / 2
+      for valueIndex, value in enumerate(values):
+        if valueIndex % 2 == 0 and valueIndex > 0:
+          v = EggVertex()
+          if lineDim == 0:
+            v.setPos(Point3D(1 - (value - deltas[0]), fixedValue - deltas[1], self.doorHeight))
+          else:
+            v.setPos(Point3D(1 - (fixedValue - deltas[0]), value - deltas[1], self.doorHeight))
+            pass
+          v.setUv(Point2D(self.doorHeight / self.wallHeight, (value - wall[lineDim]) / (wall[2 + lineDim] - wall[lineDim])))
+          poly.addVertex(vp.addVertex(v))
+          pass
+
+        v = EggVertex()
+        if lineDim == 0:
+          v.setPos(Point3D(1 - (value - deltas[0]), fixedValue - deltas[1], 0))
+        else:
+          v.setPos(Point3D(1 - (fixedValue - deltas[0]), value - deltas[1], 0))
+          pass
+        v.setUv(Point2D(0, (value - wall[lineDim]) / (wall[2 + lineDim] - wall[lineDim])))
+        poly.addVertex(vp.addVertex(v))
+        
+        if valueIndex % 2 == 1 and valueIndex + 1 < len(values):
+          v = EggVertex()
+          if lineDim == 0:
+            v.setPos(Point3D(1 - (value - deltas[0]), fixedValue - deltas[1], self.doorHeight))
+          else:
+            v.setPos(Point3D(1 - (fixedValue - deltas[0]), value - deltas[1], self.doorHeight))
+            pass
+          v.setUv(Point2D(self.doorHeight / self.wallHeight, (value - wall[lineDim]) / (wall[2 + lineDim] - wall[lineDim])))
+          poly.addVertex(vp.addVertex(v))
+          pass
+        continue
+      # v = EggVertex()
+      # v.setPos(Point3D(wall[0] - deltas[0], wall[1] - deltas[1], 0))
+      # v.setUv(Point2D(0, 0))
+      # poly.addVertex(vp.addVertex(v))
+
+      # v = EggVertex()
+      # v.setPos(Point3D(wall[2] - deltas[0], wall[3] - deltas[1], 0))
+      # v.setUv(Point2D(0, 1))
+      # poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      if lineDim == 0:
+        v.setPos(Point3D(1 - (values[len(values) - 1] - deltas[0]), fixedValue - deltas[1], self.wallHeight))
+      else:
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[len(values) - 1] - deltas[1], self.wallHeight))
+        pass
+      v.setUv(Point2D(1, 1))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      if lineDim == 0:
+        v.setPos(Point3D(1 - (values[0] - deltas[0]), fixedValue - deltas[1], self.wallHeight))
+      else:
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[0] - deltas[1], self.wallHeight))
+        pass
+      v.setUv(Point2D(1, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      # for v in poly.getVertices():
+      #   print(v)
+      #   continue
+
+      poly = EggPolygon()
+      wallGroup.addChild(poly)
+      if lineDim == 0:
+        poly.setTexture(self.wallMats[wall[5]].getEggTexture())
+        poly.setMaterial(self.wallMats[wall[5]].getEggMaterial())
+      else:
+        poly.setTexture(self.wallMats[wall[4]].getEggTexture())
+        poly.setMaterial(self.wallMats[wall[4]].getEggMaterial())
+        pass
+
+      #deltas = (0.1, 0.1)
+
+      for valueIndex, value in enumerate(values):
+        if valueIndex % 2 == 0 and valueIndex > 0:
+          v = EggVertex()
+          if lineDim == 0:
+            v.setPos(Point3D(1 - (value + deltas[0]), fixedValue + deltas[1], self.doorHeight))
+          else:
+            v.setPos(Point3D(1 - (fixedValue + deltas[0]), value + deltas[1], self.doorHeight))
+            pass
+          v.setUv(Point2D(self.doorHeight / self.wallHeight, (value - wall[lineDim]) / (wall[2 + lineDim] - wall[lineDim])))
+          poly.addVertex(vp.addVertex(v))
+          pass
+
+        v = EggVertex()
+        if lineDim == 0:
+          v.setPos(Point3D(1 - (value + deltas[0]), fixedValue + deltas[1], 0))
+        else:
+          v.setPos(Point3D(1 - (fixedValue + deltas[0]), value + deltas[1], 0))
+          pass
+        v.setUv(Point2D(0, (value - wall[lineDim]) / (wall[2 + lineDim] - wall[lineDim])))
+        poly.addVertex(vp.addVertex(v))
+        
+        if valueIndex % 2 == 1 and valueIndex + 1 < len(values):
+          v = EggVertex()
+          if lineDim == 0:
+            v.setPos(Point3D(1 - (value + deltas[0]), fixedValue + deltas[1], self.doorHeight))
+          else:
+            v.setPos(Point3D(1 - (fixedValue + deltas[0]), value + deltas[1], self.doorHeight))
+            pass
+          v.setUv(Point2D(self.doorHeight / self.wallHeight, (value - wall[lineDim]) / (wall[2 + lineDim] - wall[lineDim])))
+          poly.addVertex(vp.addVertex(v))
+          pass
+        continue
+      # v = EggVertex()
+      # v.setPos(Point3D(wall[0] + deltas[0], wall[1] + deltas[1], 0))
+      # v.setUv(Point2D(0, 0))
+      # poly.addVertex(vp.addVertex(v))
+
+      # v = EggVertex()
+      # v.setPos(Point3D(wall[2] + deltas[0], wall[3] + deltas[1], 0))
+      # v.setUv(Point2D(0, 1))
+      # poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      if lineDim == 0:
+        v.setPos(Point3D(1 - (values[len(values) - 1] + deltas[0]), fixedValue + deltas[1], self.wallHeight))
+      else:
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[len(values) - 1] + deltas[1], self.wallHeight))
+        pass
+      v.setUv(Point2D(1, 1))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      if lineDim == 0:
+        v.setPos(Point3D(1 - (values[0] + deltas[0]), fixedValue + deltas[1], self.wallHeight))
+      else:
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[0] + deltas[1], self.wallHeight))
+        pass
+      v.setUv(Point2D(1, 0))
+      poly.addVertex(vp.addVertex(v))
+
+
+
+
+      if lineDim == 0:
+        poly = EggPolygon()
+        wallGroup.addChild(poly)
+        poly.setTexture(self.wallMats[10].getEggTexture())
+        poly.setMaterial(self.wallMats[10].getEggMaterial())
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[0], fixedValue - deltas[1], 0))
+        v.setUv(Point2D(0, 0))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[0], fixedValue - deltas[1], self.wallHeight))
+        v.setUv(Point2D(0, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[0], fixedValue + deltas[1], self.wallHeight))
+        v.setUv(Point2D(1, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[0], fixedValue + deltas[1], 0))
+        v.setUv(Point2D(1, 0))
+        poly.addVertex(vp.addVertex(v))
+
+
+        poly = EggPolygon()
+        wallGroup.addChild(poly)
+        poly.setTexture(self.wallMats[10].getEggTexture())
+        poly.setMaterial(self.wallMats[10].getEggMaterial())
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[0], fixedValue - deltas[1], self.wallHeight))
+        v.setUv(Point2D(0, 0))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[len(values) - 1], fixedValue - deltas[1], self.wallHeight))
+        v.setUv(Point2D(0, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[len(values) - 1], fixedValue + deltas[1], self.wallHeight))
+        v.setUv(Point2D(1, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[0], fixedValue + deltas[1], self.wallHeight))
+        v.setUv(Point2D(1, 0))
+        poly.addVertex(vp.addVertex(v))
+
+
+        poly = EggPolygon()
+        wallGroup.addChild(poly)
+        poly.setTexture(self.wallMats[10].getEggTexture())
+        poly.setMaterial(self.wallMats[10].getEggMaterial())
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[len(values) - 1], fixedValue - deltas[1], self.wallHeight))
+        v.setUv(Point2D(0, 0))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[len(values) - 1], fixedValue - deltas[1], 0))
+        v.setUv(Point2D(0, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[len(values) - 1], fixedValue + deltas[1], 0))
+        v.setUv(Point2D(1, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - values[len(values) - 1], fixedValue + deltas[1], self.wallHeight))
+        v.setUv(Point2D(1, 0))
+        poly.addVertex(vp.addVertex(v))
+        
+      else:
+        poly = EggPolygon()
+        wallGroup.addChild(poly)
+        poly.setTexture(self.wallMats[10].getEggTexture())
+        poly.setMaterial(self.wallMats[10].getEggMaterial())
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[0], 0))
+        v.setUv(Point2D(0, 0))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[0], self.wallHeight))
+        v.setUv(Point2D(0, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[0], self.wallHeight))
+        v.setUv(Point2D(1, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[0], 0))
+        v.setUv(Point2D(1, 0))
+        poly.addVertex(vp.addVertex(v))
+
+
+        poly = EggPolygon()
+        wallGroup.addChild(poly)
+        poly.setTexture(self.wallMats[10].getEggTexture())
+        poly.setMaterial(self.wallMats[10].getEggMaterial())
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[0], self.wallHeight))
+        v.setUv(Point2D(0, 0))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[len(values) - 1], self.wallHeight))
+        v.setUv(Point2D(0, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[len(values) - 1], self.wallHeight))
+        v.setUv(Point2D(1, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[0], self.wallHeight))
+        v.setUv(Point2D(1, 0))
+        poly.addVertex(vp.addVertex(v))
+
+
+        poly = EggPolygon()
+        wallGroup.addChild(poly)
+        poly.setTexture(self.wallMats[10].getEggTexture())
+        poly.setMaterial(self.wallMats[10].getEggMaterial())
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[len(values) - 1], self.wallHeight))
+        v.setUv(Point2D(0, 0))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue - deltas[0]), values[len(values) - 1], 0))
+        v.setUv(Point2D(0, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[len(values) - 1], 0))
+        v.setUv(Point2D(1, 1))
+        poly.addVertex(vp.addVertex(v))
+
+        v = EggVertex()
+        v.setPos(Point3D(1 - (fixedValue + deltas[0]), values[len(values) - 1], self.wallHeight))
+        v.setUv(Point2D(1, 0))
+        poly.addVertex(vp.addVertex(v))
+
+      continue
+    return
+
+
+  def generateDoors(self, data):
+    doorsGroup = EggGroup('doors')
+    data.addChild(doorsGroup)
+    
+    vp = EggVertexPool('door_vertex')
+    doorsGroup.addChild(vp)
+
+    for doorIndex, door in enumerate(self.doors):
+      doorGroup = EggGroup('door_' + str(doorIndex))
+      doorsGroup.addChild(doorGroup)
+      
+      lineDim = calcLineDim((door[:2], door[2:4]))
+      
+      if lineDim == 0:
+        deltas = (0, self.doorWidth)
+      else:
+        deltas = (self.doorWidth, 0)
+        pass
+
+      poly = EggPolygon()
+      doorGroup.addChild(poly)
+      poly.setTexture(self.doorMat.getEggTexture())
+      poly.setMaterial(self.doorMat.getEggMaterial())
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[0] - deltas[0]), door[1] - deltas[1], 0))
+      v.setUv(Point2D(0, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[2] - deltas[0]), door[3] - deltas[1], 0))
+      v.setUv(Point2D(1, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[2] - deltas[0]), door[3] - deltas[1], self.doorHeight))
+      v.setUv(Point2D(1, 1))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[0] - deltas[0]), door[1] - deltas[1], self.doorHeight))
+      v.setUv(Point2D(0, 1))
+      poly.addVertex(vp.addVertex(v))
+
+
+      poly = EggPolygon()
+      doorGroup.addChild(poly)
+      poly.setTexture(self.doorMat.getEggTexture())
+      poly.setMaterial(self.doorMat.getEggMaterial())
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[0] + deltas[0]), door[1] + deltas[1], 0))
+      v.setUv(Point2D(0, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[2] + deltas[0]), door[3] + deltas[1], 0))
+      v.setUv(Point2D(1, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[2] + deltas[0]), door[3] + deltas[1], self.doorHeight))
+      v.setUv(Point2D(1, 1))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (door[0] + deltas[0]), door[1] + deltas[1], self.doorHeight))
+      v.setUv(Point2D(0, 1))
+      poly.addVertex(vp.addVertex(v))
+      
+      continue
+    return
+
+
+  def generateWindows(self, data):
+    windowsGroup = EggGroup('windows')
+    data.addChild(windowsGroup)
+    
+    vp = EggVertexPool('window_vertex')
+    windowsGroup.addChild(vp)
+
+    for windowIndex, window in enumerate(self.windows):
+      windowGroup = EggGroup('window_' + str(windowIndex))
+      windowsGroup.addChild(windowGroup)
+      
+      lineDim = calcLineDim((window[:2], window[2:4]))
+      
+      if lineDim == 0:
+        deltas = (0, self.windowWidth)
+      else:
+        deltas = (self.windowWidth, 0)
+        pass
+
+      poly = EggPolygon()
+      windowGroup.addChild(poly)
+      poly.setTexture(self.windowMat.getEggTexture())
+      poly.setMaterial(self.windowMat.getEggMaterial())
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[0] - deltas[0]), window[1] - deltas[1], self.windowOffset))
+      v.setUv(Point2D(0, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[2] - deltas[0]), window[3] - deltas[1], self.windowOffset))
+      v.setUv(Point2D(1, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[2] - deltas[0]), window[3] - deltas[1], self.windowOffset + self.windowHeight))
+      v.setUv(Point2D(1, 1))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[0] - deltas[0]), window[1] - deltas[1], self.windowOffset + self.windowHeight))
+      v.setUv(Point2D(0, 1))
+      poly.addVertex(vp.addVertex(v))
+
+
+      poly = EggPolygon()
+      windowGroup.addChild(poly)
+      poly.setTexture(self.windowMat.getEggTexture())
+      poly.setMaterial(self.windowMat.getEggMaterial())
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[0] + deltas[0]), window[1] + deltas[1], self.windowOffset))
+      v.setUv(Point2D(0, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[2] + deltas[0]), window[3] + deltas[1], self.windowOffset))
+      v.setUv(Point2D(1, 0))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[2] + deltas[0]), window[3] + deltas[1], self.windowOffset + self.windowHeight))
+      v.setUv(Point2D(1, 1))
+      poly.addVertex(vp.addVertex(v))
+
+      v = EggVertex()
+      v.setPos(Point3D(1 - (window[0] + deltas[0]), window[1] + deltas[1], self.windowOffset + self.windowHeight))
+      v.setUv(Point2D(0, 1))
+      poly.addVertex(vp.addVertex(v))
+      
+      continue
+    return
+
+
+  def generateIcons(self, scene):
+    for icon in self.icons:
+      if icon[4] not in self.iconNodes:
+        continue
+      #self.iconNodes[icon[4]].reparentTo(scene)
+      node = deepcopy(self.iconNodes[icon[4]])
+      node.setHpr(0, -90, 0)
+      mins, maxs = node.getTightBounds()
+      dimensions = Point3(maxs - mins)
+      
+      minDistances = [self.maxDim, self.maxDim, self.maxDim, self.maxDim]
+      for wall in self.walls:
+        lineDim = calcLineDim(((wall[0], wall[1]), (wall[2], wall[3])))
+        if lineDim == -1:
+          continue
+        if ((icon[lineDim] + icon[2 + lineDim]) / 2 - wall[lineDim]) * ((icon[lineDim] + icon[2 + lineDim]) / 2 - wall[2 + lineDim]) > 0:
+          continue
+        side = int(wall[1 - lineDim] > (icon[1 - lineDim] + icon[3 - lineDim]) / 2)
+        index = lineDim * 2 + side
+        distance = abs(wall[1 - lineDim] - icon[1 - lineDim + side * 2])
+        if distance < minDistances[index]:
+          minDistances[index] = distance
+          pass
+        continue
+
+
+      orientation = 0
+      if icon[4] in ['cooking_counter']:
+        if icon[2] - icon[0] > icon[3] - icon[1]:
+          if minDistances[0] < minDistances[1]:
+            orientation = 0
+          else:
+            orientation = 1
+        else:
+          if minDistances[2] < minDistances[3]:
+            orientation = 2
+          else:
+            orientation = 3
+            pass
+          pass
+      elif icon[4] in ['toilet']:
+        if icon[2] - icon[0] < icon[3] - icon[1]:
+          if minDistances[0] < minDistances[1]:
+            orientation = 0
+          else:
+            orientation = 1
+        else:
+          if minDistances[2] < minDistances[3]:
+            orientation = 2
+          else:
+            orientation = 3
+            pass
+          pass          
+      elif icon[4] in ['washing_basin']:
+        orientation = np.argmin(minDistances)
+        pass
+
+ 
+      if orientation == 1:
+        node.setH(180)
+      elif orientation == 2:
+        node.setH(90)
+      elif orientation == 3:
+        node.setH(270)
+        pass
+      if icon[4] == 'washing_basin':
+        node.setH(90 + node.getH())
+      mins, maxs = node.getTightBounds()
+      dimensions = Point3(maxs - mins)
+
+      # if ((maxs.getX() - mins.getX()) - (maxs.getY() - mins.getY())) * ((icon[2] - icon[0]) - (icon[3] - icon[1])) > 0:
+      #   scaleX = (icon[2] - icon[0]) / dimensions.getX()
+      #   scaleZ = (icon[3] - icon[1]) / dimensions.getZ()
+      #   scaleY = max(scaleX, scaleZ)
+      #   node.setScale(scaleX, scaleY, scaleZ)
+      #   node.setHpr(0, -90, 0)
+      #   node.setPos(icon[0] - mins.getX() * scaleX, icon[1] - mins.getZ() * scaleZ, maxs.getY() * scaleY)
+      #   orientation
+      # else:
+      #   scaleX = (icon[3] - icon[1]) / dimensions.getX()
+      #   scaleZ = (icon[2] - icon[0]) / dimensions.getZ()
+      #   scaleY = max(scaleX, scaleZ)
+      #   node.setScale(scaleX, scaleY, scaleZ)
+      #   node.setHpr(90, -90, 0)
+      #   node.setPos(icon[0] + maxs.getZ() * scaleZ, icon[1] - mins.getX() * scaleX, maxs.getY() * scaleY)
+      #   #pivotNode = scene.attachNewNode("pivot")
+      #   #pivotNode.setPos(icon[0] - mins.getX() * scaleX, icon[1] - mins.getZ() * scaleZ, maxs.getY() * scaleY)
+      #   #node.wrtReparentTo(pivotNode)
+      #   #pivotNode.setHpr(90, 0, 0)
+      #   pass
+
+
+      scaleX = (icon[2] - icon[0]) / dimensions.getX()
+      scaleY = (icon[3] - icon[1]) / dimensions.getY()
+      scaleZ = max(scaleX, scaleY)
+      node.setScale(scaleX, scaleY, scaleZ)
+      node.setPos(1 - icon[0] - maxs.getX() * scaleX, icon[1] - mins.getY() * scaleY, -mins.getZ() * scaleZ)
+      
+      node.setTwoSided(True)
+      node.reparentTo(scene)
+      #data.addChild(node.node())
+      #node.setPos(icon[0], icon[1], 0)
+      #node.reparentTo(data)
+      continue
+    return
+    
+  def generateEggModel(self):
+    data = EggData()
+    model = EggGroup('model')
+    data.addChild(model)
+    self.generateFloor(model)
+    self.generateWalls(model)
+    self.generateDoors(model)
+    self.generateWindows(model)
+    data.writeEgg(Filename("test/floorplan.egg"))
+    scene = NodePath(loadEggData(data))
+    self.generateIcons(scene)
+    return scene
+    
+    poly = EggPolygon()
+    data.addChild(poly)
+
+
+    v = EggVertex()
+    v.setPos(Point3D(0, 0, 0))
+    v.setUv(Point2D(0, 0))
+    poly.addVertex(vp.addVertex(v))    
+    
+    v = EggVertex()
+    v.setPos(Point3D(1, 0, 0))
+    v.setUv(Point2D(1, 0))
+    poly.addVertex(vp.addVertex(v))
+
+    v = EggVertex()
+    v.setPos(Point3D(1, 0, 1))
+    v.setUv(Point2D(1, 1))
+    poly.addVertex(vp.addVertex(v))
+
+    v = EggVertex()
+    v.setPos(Point3D(0, 0, 1))
+    v.setUv(Point2D(0, 1))
+    poly.addVertex(vp.addVertex(v))
+
+    # To write the egg file to disk, use this:
+    data.writeEgg(Filename("floorplan.egg"))
+    
+    # To load the egg file and render it immediately, use this:
+    node = loadEggData(data)
+    scene = NodePath(node)
+    return scene
+
+  def segmentRooms(self):
+    wallMask = np.ones((self.height, self.width), np.uint8) * 255
+    for wall in self.wallsInt:
+      lineDim = calcLineDim(((wall[0], wall[1]), (wall[2], wall[3])))
+      if lineDim == 0:
+        wallMask[wall[1], wall[0]:wall[2] + 1] = 0
+      else:
+        wallMask[wall[1]:wall[3] + 1, wall[0]] = 0
+        pass
+      continue
+    cv2.imwrite('test/walls.png', wallMask)
+    
+    numLabels, labels, stats, centroids = cv2.connectedComponentsWithStats(wallMask, 4)
+    print(numLabels.shape)
+    print(labels.shape)
+    print(stats.shape)
+    print(centroids.shape)    
+    cv2.imwrite('test/rooms.png', labels)

rendering/obj2egg.py

@@ -0,0 +1,554 @@
+#!/usr/bin/python
+"""
+    This Version: $Id: obj2egg.py,v 1.7 2008/05/26 17:42:53 andyp Exp $
+    Info: info >at< pfastergames.com
+
+    Extended from: http://panda3d.org/phpbb2/viewtopic.php?t=3378
+    .___..__ .___.___.___.__..__ .  .
+      |  [__)[__ [__ [__ |  |[__)|\/|
+      |  |  \[___[___|   |__||  \|  |
+    obj2egg.py [n##][b][t][s] filename1.obj ...
+        -n regenerate normals with # degree smoothing
+            exaple -n30  (normals at less 30 degrees will be smoothed)
+        -b make binarmals
+        -t make tangents
+        -s show in pview
+
+    licensed under WTFPL (http://sam.zoy.org/wtfpl/)
+"""
+
+from pandac.PandaModules import *
+import math
+import string
+import getopt
+import sys, os
+
+
+def floats(float_list):
+    """coerce a list of strings that represent floats into a list of floats"""
+    return [ float(number) for number in float_list ]
+
+def ints(int_list):
+    """coerce a list of strings that represent integers into a list of integers"""
+    return [ int(number) for number in int_list ]
+
+
+class ObjMaterial:
+    """a wavefront material"""
+    def __init__(self):
+        self.filename = None
+        self.name = "default"
+        self.eggdiffusetexture = None
+        self.eggmaterial = None
+        self.attrib = {}
+        self.attrib["Ns"] = 100.0
+        self.attrib["d"] = 1.0
+        self.attrib["illum"] = 2
+        # "magenta"
+        self.attrib["Kd"] = [1.0, 1.0, 1.0]
+        self.attrib["Ka"] = [0.0, 0.0, 0.0]
+        self.attrib["Ks"] = [0.0, 0.0, 0.0]
+        self.attrib["Ke"] = [0.0, 0.0, 0.0]
+
+    def put(self, key, value):
+        self.attrib[key] = value
+        return self
+
+    def get(self, key):
+        if self.attrib.has_key(key):
+            return self.attrib[key]
+        return None
+
+    def has_key(self, key):
+        return self.attrib.has_key(key)
+
+    def isTextured(self):
+        # for k in ("map_Kd", "map_Bump", "map_Ks"):    <-- NOT YET
+        if self.attrib.has_key("map_Kd"):
+            return True;
+        return False;
+
+    def getEggTexture(self):
+        if self.eggdiffusetexture:
+            return self.eggdiffusetexture
+        if not self.isTextured():
+            return None
+        m = EggTexture(self.name + "_diffuse", self.get("map_Kd"))
+        m.setFormat(EggTexture.FRgb)
+        m.setMagfilter(EggTexture.FTLinearMipmapLinear)
+        m.setMinfilter(EggTexture.FTLinearMipmapLinear)
+        m.setWrapU(EggTexture.WMRepeat)
+        m.setWrapV(EggTexture.WMRepeat)
+        self.eggdiffusetexture = m
+        return self.eggdiffusetexture
+
+    def getEggMaterial(self):
+        if self.eggmaterial:
+            return self.eggmaterial
+        m = EggMaterial(self.name + "_mat")
+        # XXX TODO: add support for specular, and obey illum setting
+        # XXX as best as we can
+        rgb = self.get("Kd")
+        if rgb is not None:
+            m.setDiff(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        rgb = self.get("Ka")
+        if rgb is not None:
+            m.setAmb(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        rgb = self.get("Ks")
+        if rgb is not None:
+            m.setSpec(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+        ns = self.get("Ns")
+        if ns is not None:
+            m.setShininess(ns)
+        self.eggmaterial = m
+        return self.eggmaterial
+
+class MtlFile:
+    """an object representing all Wavefront materials in a .mtl file"""
+    def __init__(self, filename=None):
+        self.filename = None
+        self.materials = {}
+        self.comments = {}
+        if filename is not None:
+            self.read(filename)
+
+    def read(self, filename, verbose=False):
+        self.filename = filename
+        self.materials = {}
+        self.comments = {}
+        try:
+            file = open(filename)
+        except:
+            return self
+        linenumber = 0
+        mat = None
+        for line in file.readlines():
+            line = line.strip()
+            linenumber = linenumber + 1
+            if not line:
+                continue
+            if line[0] == '#':
+                self.comments[linenumber] = line
+                print line
+                continue
+            tokens = line.split()
+            if not tokens:
+                continue
+            if verbose: print "tokens[0]:", tokens
+            if tokens[0] == "newmtl":
+                mat = ObjMaterial()
+                mat.filename = filename
+                mat.name = tokens[1]
+                self.materials[mat.name] = mat
+                if verbose: print "newmtl:", mat.name
+                continue
+            if tokens[0] in ("Ns", "d", "Tr"):
+                # "d factor" - specifies the dissovle for the current material,
+                #              1.0 is full opaque
+                # "Ns exponent" - specifies the specular exponent.  A high exponent
+                #               results in a tight, concentrated highlight.
+                mat.put(tokens[0], float(tokens[1]))
+                continue
+            if tokens[0] in ("illum"):
+                # according to http://www.fileformat.info/format/material/
+                # 0 = Color on and Ambient off
+                # 1 = Color on and Ambient on
+                # 2 = Highlight on
+                # 3 = Reflection on and Ray trace on
+                # 4 = Transparency: Glass on, Reflection: Ray trace on
+                # 5 = Reflection: Fesnel on and Ray trace on
+                # 6 = Transparency: Refraction on, Reflection: Fresnel off and Ray trace on
+                # 7 = Transparency: Refraction on, Refelction: Fresnel on and Ray Trace on
+                # 8 = Reflection on and Ray trace off
+                # 9 = Transparency: Glass on, Reflection: Ray trace off
+                # 10 = Casts shadows onto invisible surfaces
+                mat.put(tokens[0], int(tokens[1]))
+                continue
+            if tokens[0] in ("Kd", "Ka", "Ks", "Ke"):
+                mat.put(tokens[0], floats(tokens[1:]))
+                continue
+            if tokens[0] in ("map_Kd", "map_Bump", "map_Ks", "map_bump", "bump"):
+                # Ultimate Unwrap 3D Pro emits these:
+                # map_Kd == diffuse
+                # map_Bump == bump
+                # map_Ks == specular
+                mat.put(tokens[0], pathify(tokens[1]))
+                if verbose: print "map:", mat.name, tokens[0], mat.get(tokens[0])
+                continue
+            if tokens[0] in ("Ni"):
+                # blender's .obj exporter can emit this "Ni 1.000000"
+                mat.put(tokens[0], float(tokens[1]))
+                continue
+            print "file \"%s\": line %d: unrecognized:" % (filename, linenumber), tokens
+        file.close()
+        if verbose: print "%d materials" % len(self.materials), "loaded from", filename
+        return self
+
+class ObjFile:
+    """a representation of a wavefront .obj file"""
+    def __init__(self, filename=None):
+        self.filename = None
+        self.objects = ["defaultobject"]
+        self.groups = ["defaultgroup"]
+        self.points = []
+        self.uvs = []
+        self.normals = []
+        self.faces = []
+        self.polylines = []
+        self.matlibs = []
+        self.materialsbyname = {}
+        self.comments = {}
+        self.currentobject = self.objects[0]
+        self.currentgroup = self.groups[0]
+        self.currentmaterial = None
+        if filename is not None:
+            self.read(filename)
+
+    def read(self, filename, verbose=False):
+        if verbose: print "ObjFile.read:", "filename:", filename
+        self.filename = filename
+        self.objects = ["defaultobject"]
+        self.groups = ["defaultgroup"]
+        self.points = []
+        self.uvs = []
+        self.normals = []
+        self.faces = []
+        self.polylines = []
+        self.matlibs = []
+        self.materialsbyname = {}
+        self.comments = {}
+        self.currentobject = self.objects[0]
+        self.currentgroup = self.groups[0]
+        self.currentmaterial = None
+        try:
+            file = open(filename)
+        except:
+            return self
+        linenumber = 0
+        for line in file.readlines():
+            line = line.strip()
+            linenumber = linenumber + 1
+            if not line:
+                continue
+            if line[0] == '#':
+                self.comments[linenumber] = line
+                print line
+                continue
+            tokens = line.split()
+            if not tokens:
+                continue
+            if tokens[0] == "mtllib":
+                if verbose: print "mtllib:", tokens[1:]
+                mtllib = MtlFile(tokens[1])
+                # if verbose: print mtllib
+                self.matlibs.append(mtllib)
+                self.indexmaterials(mtllib)
+                continue
+            if tokens[0] == "g":
+                if verbose: print "g:", tokens[1:]
+                self.__newgroup("".join(tokens[1:]))
+                continue
+            if tokens[0] == "o":
+                if verbose: print "o:", tokens[1:]
+                self.__newobject("".join(tokens[1:]))
+                continue
+            if tokens[0] == "usemtl":
+                if verbose: print "usemtl:", tokens[1:]
+                self.__usematerial(tokens[1])
+                continue
+            if tokens[0] == "v":
+                if verbose: print "v:", tokens[1:]
+                self.__newv(tokens[1:])
+                continue
+            if tokens[0] == "vn":
+                if verbose: print "vn:", tokens[1:]
+                self.__newnormal(tokens[1:])
+                continue
+            if tokens[0] == "vt":
+                if verbose: print "vt:", tokens[1:]
+                self.__newuv(tokens[1:])
+                continue
+            if tokens[0] == "f":
+                if verbose: print "f:", tokens[1:]
+                self.__newface(tokens[1:])
+                continue
+            if tokens[0] == "s":
+                # apparently, this enables/disables smoothing
+                print "%s:%d:" % (filename, linenumber), "ignoring:", tokens
+                continue
+            if tokens[0] == "l":
+                if verbose: print "l:", tokens[1:]
+                self.__newpolyline(tokens[1:])
+                continue
+            print "%s:%d:" % (filename, linenumber), "unknown:", tokens
+        file.close()
+        return self
+
+    def __vertlist(self, lst):
+        res = []
+        for vert in lst:
+            vinfo = vert.split("/")
+            vlen = len(vinfo)
+            vertex = {'v':None, 'vt':None, 'vn':None}
+            if vlen == 1:
+                vertex['v'] = int(vinfo[0])
+            elif vlen == 2:
+                if vinfo[0] != '':
+                    vertex['v'] = int(vinfo[0])
+                if vinfo[1] != '':
+                    vertex['vt'] = int(vinfo[1])
+            elif vlen == 3:
+                if vinfo[0] != '':
+                    vertex['v'] = int(vinfo[0])
+                if vinfo[1] != '':
+                    vertex['vt'] = int(vinfo[1])
+                if vinfo[2] != '':
+                    vertex['vn'] = int(vinfo[2])
+            else:
+                print "aborting..."
+                raise UNKNOWN, res
+            res.append(vertex)
+        if False: print res
+        return res
+
+    def __enclose(self, lst):
+        mdata = (self.currentobject, self.currentgroup, self.currentmaterial)
+        return (lst, mdata)
+
+    def __newpolyline(self, l):
+        polyline = self.__vertlist(l)
+        if False: print "__newline:", polyline
+        self.polylines.append(self.__enclose(polyline))
+        return self
+
+    def __newface(self, f):
+        face = self.__vertlist(f)
+        if False: print face
+        self.faces.append(self.__enclose(face))
+        return self
+
+    def __newuv(self, uv):
+        self.uvs.append(floats(uv))
+        return self
+
+    def __newnormal(self, normal):
+        self.normals.append(floats(normal))
+        return self
+
+    def __newv(self, v):
+        # capture the current metadata with vertices
+        vdata = floats(v)
+        mdata = (self.currentobject, self.currentgroup, self.currentmaterial)
+        vinfo = (vdata, mdata)
+        self.points.append(vinfo)
+        return self
+
+    def indexmaterials(self, mtllib, verbose=False):
+        # traverse the materials defined in mtllib, indexing
+        # them by name.
+        for mname in mtllib.materials:
+            mobj = mtllib.materials[mname]
+            self.materialsbyname[mobj.name] = mobj
+        if verbose: 
+            print "indexmaterials:", mtllib.filename, "materials:", self.materialsbyname.keys()
+        return self
+
+    def __closeobject(self):
+        self.currentobject = "defaultobject"
+        return self
+
+    def __newobject(self, object):
+        self.__closeobject()
+        if False: print "__newobject:", "object:", object
+        self.currentobject = object
+        self.objects.append(object)
+        return self
+
+    def __closegroup(self):
+        self.currentgroup = "defaultgroup"
+        return self
+
+    def __newgroup(self, group):
+        self.__closegroup()
+        if False: print "__newgroup:", "group:", group
+        self.currentgroup = group
+        self.groups.append(group)
+        return self
+
+    def __usematerial(self, material):
+        if False: print "__usematerial:", "material:", material
+        if self.materialsbyname.has_key(material):
+            self.currentmaterial = material
+        else:
+            print "warning:", "__usematerial:", "unknown material:", material
+        return self
+
+    def __itemsby(self, itemlist, objname, groupname):
+        res = []
+        for item in itemlist:
+            vlist, mdata = item
+            wobj, wgrp, wmat = mdata
+            if (wobj == objname) and (wgrp == groupname):
+                res.append(item)
+        return res
+
+    def __facesby(self, objname, groupname):
+        return self.__itemsby(self.faces, objname, groupname)
+
+    def __linesby(self, objname, groupname):
+        return self.__itemsby(self.polylines, objname, groupname)
+
+    def __eggifyverts(self, eprim, evpool, vlist):
+        for vertex in vlist:
+            ixyz = vertex['v']
+            vinfo = self.points[ixyz-1]
+            vxyz, vmeta = vinfo
+            ev = EggVertex()
+            ev.setPos(Point3D(vxyz[0], vxyz[1], vxyz[2]))
+            iuv = vertex['vt']
+            if iuv is not None:
+                vuv = self.uvs[iuv-1]
+                ev.setUv(Point2D(vuv[0], vuv[1]))
+            inormal = vertex['vn']
+            if inormal is not None:
+                vn = self.normals[inormal-1]
+                ev.setNormal(Vec3D(vn[0], vn[1], vn[2]))
+            evpool.addVertex(ev)
+            eprim.addVertex(ev)
+        return self
+
+    def __eggifymats(self, eprim, wmat):
+        if self.materialsbyname.has_key(wmat):
+            mtl = self.materialsbyname[wmat]
+            if mtl.isTextured():
+                eprim.setTexture(mtl.getEggTexture())
+                # NOTE: it looks like you almost always want to setMaterial()
+                #       for textured polys.... [continued below...]
+                eprim.setMaterial(mtl.getEggMaterial())
+            rgb = mtl.get("Kd")
+            if rgb is not None:
+                # ... and some untextured .obj's store the color of the
+                # material # in the Kd settings...
+                eprim.setColor(Vec4(rgb[0], rgb[1], rgb[2], 1.0))
+            # [continued...] but you may *not* always want to assign
+            # materials to untextured polys...  hmmmm.
+            if False:
+                eprim.setMaterial(mtl.getEggMaterial())
+        return self
+
+    def __facestoegg(self, egg, objname, groupname):
+        selectedfaces = self.__facesby(objname, groupname)
+        if len(selectedfaces) == 0:
+            return self
+        eobj = EggGroup(objname)
+        egg.addChild(eobj)
+        egrp = EggGroup(groupname)
+        eobj.addChild(egrp)
+        evpool = EggVertexPool(groupname)
+        egrp.addChild(evpool)
+        for face in selectedfaces:
+            vlist, mdata = face
+            wobj, wgrp, wmat = mdata
+            epoly = EggPolygon()
+            egrp.addChild(epoly)
+            self.__eggifymats(epoly, wmat)
+            self.__eggifyverts(epoly, evpool, vlist)
+        #; each matching face
+        return self
+
+    def __polylinestoegg(self, egg, objname, groupname):
+        selectedlines = self.__linesby(objname, groupname)
+        if len(selectedlines) == 0:
+            return self
+        eobj = EggGroup(objname)
+        egg.addChild(eobj)
+        egrp = EggGroup(groupname)
+        eobj.addChild(egrp)
+        evpool = EggVertexPool(groupname)
+        egrp.addChild(evpool)
+        for line in selectedlines:
+            vlist, mdata = line
+            wobj, wgrp, wmat = mdata
+            eline = EggLine()
+            egrp.addChild(eline)
+            self.__eggifymats(eline, wmat)
+            self.__eggifyverts(eline, evpool, vlist)
+        #; each matching line
+        return self
+
+    def toEgg(self, verbose=True):
+        if verbose: print "converting..."
+        # make a new egg
+        egg = EggData()
+        # convert polygon faces
+        if len(self.faces) > 0:
+            for objname in self.objects:
+                for groupname in self.groups:
+                    self.__facestoegg(egg, objname, groupname)
+        # convert polylines
+        if len(self.polylines) > 0:
+            for objname in self.objects:
+                for groupname in self.groups:
+                    self.__polylinestoegg(egg, objname, groupname)
+        return egg
+
+def pathify(path):
+    if os.path.isfile(path):
+        return path
+    # if it was written on win32, it may have \'s in it, and
+    # also a full rather than relative pathname (Hexagon does this... ick)
+    orig = path
+    path = path.lower()
+    path = path.replace("\\", "/")
+    h, t = os.path.split(path)
+    if os.path.isfile(t):
+        return t
+    print "warning: can't make sense of this map file name:", orig
+    return t
+    
+def main(argv=None):
+    if argv is None:
+        argv = sys.argv
+    try:
+        opts, args = getopt.getopt(argv[1:], "hn:bs", ["help", "normals", "binormals", "show"])
+    except getopt.error, msg:
+        print msg
+        print __doc__
+        return 2
+    show = False
+    for o, a in opts:
+        if o in ("-h", "--help"):
+            print __doc__
+            return 0
+        elif o in ("-s", "--show"):
+            show = True
+    for infile in args:
+        try:
+            if ".obj" not in infile:
+                print "WARNING", finfile, "does not look like a valid obj file"
+                continue
+            obj = ObjFile(infile)
+            egg = obj.toEgg()
+            f, e = os.path.splitext(infile)
+            outfile = f + ".egg"
+            for o, a in opts:
+                if o in ("-n", "--normals"):
+                    egg.recomputeVertexNormals(float(a))
+                elif o in ("-b", "--binormals"):
+                    egg.recomputeTangentBinormal(GlobPattern(""))
+            egg.removeUnusedVertices(GlobPattern(""))
+            if True:
+                egg.triangulatePolygons(EggData.TConvex & EggData.TPolygon)
+            if True:
+                egg.recomputePolygonNormals()
+            egg.writeEgg(Filename(outfile))
+            if show:
+                os.system("pview " + outfile)
+        except Exception,e:
+            print e
+    return 0
+
+if __name__ == "__main__":
+    sys.exit(main())
+
+

rendering/renderer.py

@@ -0,0 +1,203 @@
+from panda3d.core import *
+from direct.showbase.ShowBase import ShowBase
+import cv2
+from floorplan import Floorplan
+import numpy as np
+import random
+import math
+
+class Renderer(ShowBase):
+  def __init__(self):
+    #self.scene = self.loader.loadModel("floorplan_1.txt-floor.obj")
+    loadPrcFileData("", "window-type offscreen")
+    loadPrcFileData("", "win-size 128 128")
+    ShowBase.__init__(self)
+    
+    self.scene = NodePath("Scene")
+    self.scene.reparentTo(self.render)
+    self.scene.setScale(1, 1, 1)
+    self.scene.setTwoSided(True)
+    self.scene.setPos(0, 0, 0)
+    self.scene.setHpr(0, 0, 0)
+    self.near_plane = 0.1
+    self.far_plane = 5.0
+    self.resolution = 128
+    self.max_16bit_val = 65535
+    self.light_sources = []
+    self.light_nodes = []
+
+    self.alight = AmbientLight('alight')
+    self.alight.setColor(VBase4(0.2, 0.2, 0.2, 1))
+    self.alnp = self.render.attachNewNode(self.alight)
+    self.render.setLight(self.alnp)
+    self.attenuation = False
+    
+    base.camLens.setNear(self.near_plane)
+    base.camLens.setFar(self.far_plane)
+    
+    self.generate_depth = True
+    if self.generate_depth is True:
+      self.depth_tex = Texture()
+      self.depth_tex.setFormat(Texture.FDepthComponent)
+      self.depth_buffer = base.win.makeTextureBuffer('depthmap', self.resolution, self.resolution, self.depth_tex, to_ram=True)
+      self.depth_cam = self.makeCamera(self.depth_buffer, lens = base.camLens)
+      print(self.depth_cam.node().getLens().getFilmSize())
+      self.depth_cam.reparentTo(base.render)
+      pass
+
+    self.models = []
+    self.backgrounds = []
+    self.model = None
+
+    self.createLightSources()
+    return
+  
+  def delete(self):
+    self.alnp.removeNode()
+    for n in self.light_nodes:
+      n.removeNode()
+      continue
+    for m in self.models:
+      self.loader.unloadModel(m)
+      continue
+    base.destroy()
+    return
+
+  def selectModel(self, model_ind):
+    self.model = self.models[model_ind]
+    self.model.reparentTo(self.scene)
+    
+  def unselectModel(self, model_ind):
+    self.model.detachNode()
+    self.model = None
+    
+  def loadModels(self, filenames):
+    self.models = []
+    for filename in filenames:
+      floorplan = Floorplan(filename)
+      floorplan.read()
+      floorplan.segmentRooms()
+      exit(1)
+      self.models.append(floorplan.generateEggModel())
+      continue
+    return
+
+  def createLightSources(self):
+    for i in range(0, 7):
+      plight = PointLight('plight')
+      if self.attenuation is True:
+        plight.setAttenuation((1, 0, 1))
+        pass
+      plight.setColor(VBase4(0, 0, 0, 0))
+      self.light_sources.append(plight)
+      plnp = self.render.attachNewNode(plight)
+      plnp.setPos(3, 3, 3)
+      render.setLight(plnp)
+      self.light_nodes.append(plnp)
+      continue
+    return
+
+  def activateLightSources(self, light_sources, spher=True):
+    i = 0
+    for lght in light_sources:
+      lp_rad = lght[0]
+      lp_el = lght[1]
+      lp_az = lght[2]
+      lp_int = lght[3]
+      if spher:
+        self.light_nodes[i].setPos(
+          lp_rad*math.cos(lp_el)*math.cos(lp_az),
+          lp_rad*math.cos(lp_el)*math.sin(lp_az),
+          lp_rad*math.sin(lp_el))
+      else:
+        self.light_nodes[i].setPos(lp_rad, lp_el, lp_az)
+        pass
+      self.light_sources[i].setColor(VBase4(lp_int, lp_int, lp_int, 1))
+      i += 1
+      continue
+    return
+  
+  def deactivateLightSources(self):
+    for i in range(0, 7):
+      self.light_sources[i].setColor(VBase4(0, 0, 0, 0))
+      continue
+    return
+
+  def textureToImage(self, texture):
+    im = texture.getRamImageAs("RGB")
+    strim = im.getData()
+    image = np.fromstring(strim, dtype='uint8')
+    #image = image.reshape(1200, 1200)
+    #cv2.imwrite('test/test.png', image.astype(np.uint8))
+    image = image.reshape(self.resolution, self.resolution, 3)
+    image = np.flipud(image)
+    return image
+
+  def setCameraPosition(self, pos, target):
+    self.camera.setPos(pos[0], pos[1], pos[2])
+    self.camera.lookAt(target[0], target[1], target[2])
+
+    if self.generate_depth is True:
+      self.depth_cam.setPos(pos[0], pos[1], pos[2])
+      self.depth_cam.lookAt(target[0], target[1], target[2])
+      pass
+    return
+  
+  def renderView(self, camera_pos, light_sources):
+    angle = math.radians(random.randint(0, 360))
+    target = (camera_pos[0] + math.sin(angle), camera_pos[1] + math.cos(angle), camera_pos[2])
+    self.setCameraPosition(camera_pos, target)
+
+    self.activateLightSources(light_sources)
+
+    base.graphicsEngine.renderFrame()
+    tex = base.win.getScreenshot()
+    im = self.textureToImage(tex)
+    
+    dm_uint = False
+    
+    if self.generate_depth is True:
+      depth_im = PNMImage()
+      self.depth_tex.store(depth_im)
+      
+      depth_map = np.zeros([self.resolution, self.resolution], dtype='float')
+      for i in range(0, self.resolution):
+        for j in range(0, self.resolution):
+          depth_val = depth_im.getGray(j, i)
+          depth_map[i, j] = self.far_plane * self.near_plane / (self.far_plane - depth_val * (self.far_plane - self.near_plane))
+          depth_map[i, j] = depth_map[i, j] / self.far_plane
+          continue
+        continue
+      dm_uint = np.round(depth_map * self.max_16bit_val).astype('uint16')
+      pass
+    
+    
+    im = im.astype(dtype=np.uint8)
+    self.deactivateLightSources()
+    return im, dm_uint
+
+
+renderer = Renderer()
+renderer.loadModels(['test/floorplan_2', ])
+renderer.selectModel(0)
+
+num_light = random.randint(2, 4)
+lights = []
+for nl in range(0, num_light):
+  light_pos = [random.random()*2. + 2.5,
+               random.randint(-90, 90),
+               random.randint(0, 360),
+               random.randint(10, 15)]
+  lights.append(light_pos)
+  continue
+
+for im_num in range(0, 20):
+  x = random.random()
+  y = random.random()
+  z = 0.15
+  im, dm = renderer.renderView([x, y, z], lights)
+  cv2.imwrite('test/rendering_' + str(im_num) + '.png', (np.asarray(im)).astype(np.uint8))
+  cv2.imwrite('test/depth_' + str(im_num) + '.png', (np.asarray(1 / (dm / 65535.0) * 255)).astype(np.uint8))
+  continue
+
+exit(1)

rendering/viewer.py

@@ -0,0 +1,261 @@
+from math import pi, sin, cos
+from panda3d.core import *
+from direct.showbase.ShowBase import ShowBase
+from direct.task import Task
+from floorplan import Floorplan
+import numpy as np
+import random
+import copy
+
+class Viewer(ShowBase):
+  def __init__(self):
+
+    ShowBase.__init__(self)
+    #self.scene = self.loader.loadModel("floorplan_1.txt-floor.obj")
+    #self.scene = base.loader.loadModel("floorplan_1.txt-floor.egg")
+    #self.scene = base.loader.loadModel("panda.egg")
+
+    #self.scene = base.loader.loadModel("environment")
+
+    base.setBackgroundColor(0, 0, 0)
+    self.angle = 0.0
+    lens = PerspectiveLens()
+    lens.setFov(60)
+    lens.setNear(0.01)
+    lens.setFar(100000)
+    base.cam.node().setLens(lens)
+    floorplan = Floorplan('test/floorplan_7')
+    #floorplan.setFilename('test/floorplan_2')
+    floorplan.read()
+    self.scene = floorplan.generateEggModel()
+    self.scene.reparentTo(self.render)
+    #self.scene.setScale(0.01, 0.01, 0.01)
+    #self.scene.setTwoSided(True)
+    self.scene.setTwoSided(True)
+    #self.scene.setPos(0, 0, 3)
+    #texture = loader.loadTexture("floorplan_1.png")
+    #self.scene.setTexture(texture)
+    #self.scene.setHpr(0, 0, 0)
+    
+    # angleDegrees = 0
+    # angleRadians = angleDegrees * (pi / 180.0)
+    # self.camera.setPos(20 * sin(angleRadians), -20 * cos(angleRadians), 3)
+    # self.camera.setHpr(angleDegrees, 0, 0)
+    #self.camera.lookAt(0, 0, 0)
+    
+    self.alight = AmbientLight('alight')
+    self.alight.setColor(VBase4(0.2, 0.2, 0.2, 1))
+    self.alnp = self.render.attachNewNode(self.alight)
+    self.render.setLight(self.alnp)
+
+    dlight = DirectionalLight('dlight')
+    dlight.setColor(VBase4(1, 1, 1, 1))
+    dlnp = self.render.attachNewNode(dlight)
+    #dlnp.setHpr(0, -90, 0)
+    dlnp.setPos(0.5, 0.5, 3)
+    dlnp.lookAt(0.5, 0.5, 2)
+    self.render.setLight(dlnp)
+    
+    for i in xrange(10):
+      plight = PointLight('plight')
+      plight.setAttenuation((1, 0, 1))
+      color = random.randint(10, 15)
+      plight.setColor(VBase4(color, color, color, 1))
+      plnp = self.render.attachNewNode(plight)
+      if i == 0:
+        plnp.setPos(0.5, 0.5, 3)
+      else:
+        plnp.setPos(1 * random.random(), 1 * random.random(), 0.3)
+        pass
+      self.render.setLight(plnp)
+
+
+
+    #base.useTrackball()
+    #base.trackball.node().setPos(2.0, 0, 3)
+    #base.trackball.node().setHpr(0, 0, 3)
+    #base.enableMouse()
+    #base.useDrive()
+    base.disableMouse()
+    self.taskMgr.add(self.spinCameraTask, "SpinCameraTask")
+    #self.accept('arrow_up', self.moveForward)
+    #self.accept('arrow_up_-repeat', self.moveForward)
+    self.topDownCameraPos = [0.5, 0.5, 1.5]
+    self.topDownTarget = [0.5, 0.499, 0.5]
+    self.topDownH = 0
+    self.startCameraPos = floorplan.startCameraPos
+    self.startTarget = floorplan.startTarget
+    self.startH = 0
+    
+    self.cameraPos = self.topDownCameraPos
+    self.target = self.topDownTarget
+    self.H = self.topDownH
+
+    self.accept('space', self.openDoor)
+    self.accept('enter', self.startChangingView)
+
+    self.viewMode = 'T'
+    self.viewChangingProgress = 1.02
+
+    ceiling = self.scene.find("**/ceiling")
+    ceiling.hide()
+    
+    return
+
+  def moveForward(self):
+    self.cameraPos[0] -= 0.1
+
+  def openDoor(self):
+    minDistance = 10000
+    doors = self.scene.find("**/doors")
+    for door in doors.getChildren():
+      mins, maxs = door.getTightBounds()
+
+      vec_1 = (mins + maxs) / 2 - Vec3(self.target[0], self.target[1], (mins[2] + maxs[2]) / 2)
+      vec_2 = (mins + maxs) / 2 - Vec3(self.cameraPos[0], self.cameraPos[1], (mins[2] + maxs[2]) / 2)
+      if (vec_1.dot(vec_2) > 0 and vec_1.length() > vec_2.length()) or np.arccos(abs(vec_1.dot(vec_2)) / (vec_1.length() * vec_2.length())) > np.pi / 4:
+        continue
+
+      distance = pow(pow(self.cameraPos[0] - (mins[0] + maxs[0]) / 2, 2) + pow(self.cameraPos[1] - (mins[1] + maxs[1]) / 2, 2) + pow(self.cameraPos[2] - (mins[2] + maxs[2]) / 2, 2), 0.5)
+      if distance < minDistance:
+        minDistanceDoor = door
+        minDistance = distance
+        pass
+      continue
+
+    if minDistance > 1:
+      return
+    mins, maxs = minDistanceDoor.getTightBounds()
+    if abs(maxs[0] - mins[0]) > abs(maxs[1] - mins[1]):
+      minsExpected = Vec3(mins[0] - (maxs[1] - mins[1]), mins[1], mins[2])
+      maxsExpected = Vec3(mins[0], mins[1] + (maxs[0] - mins[0]), maxs[2])
+    else:
+      minsExpected = Vec3(mins[0] - (maxs[1] - mins[1]) + (maxs[0] - mins[0]), mins[1] - (maxs[0] - mins[0]), mins[2])
+      maxsExpected = Vec3(mins[0] + (maxs[0] - mins[0]), mins[1] + (maxs[0] - mins[0]) - (maxs[0] - mins[0]), maxs[2])
+      pass
+    minDistanceDoor.setH(minDistanceDoor, 90)
+    mins, maxs = minDistanceDoor.getTightBounds()
+    minDistanceDoor.setPos(minDistanceDoor, minsExpected[1] - mins[1], -minsExpected[0] + mins[0], 0)
+    #print(scene.findAllMatches('doors'))
+    return
+
+  def startChangingView(self):
+    self.viewChangingProgress = 0
+    self.prevCameraPos = copy.deepcopy(self.cameraPos)
+    self.prevTarget = copy.deepcopy(self.target)
+    self.prevH = self.camera.getR()
+    if self.viewMode == 'T':
+      self.newCameraPos = self.startCameraPos
+      self.newTarget = self.startTarget
+      self.newH = self.startH
+      self.viewMode = 'C'
+    else:
+      self.newCameraPos = self.topDownCameraPos
+      self.newTarget = self.topDownTarget
+      self.newH = self.topDownH
+      self.startCameraPos = copy.deepcopy(self.cameraPos)
+      self.startTarget = copy.deepcopy(self.target)
+      self.startH = self.camera.getR()
+      self.viewMode = 'T'
+      pass
+    return
+
+
+  def changeView(self):
+    self.cameraPos = []
+    self.target = []
+    for c in xrange(3):
+      self.cameraPos.append(self.prevCameraPos[c] + (self.newCameraPos[c] - self.prevCameraPos[c]) * self.viewChangingProgress)
+      self.target.append(self.prevTarget[c] + (self.newTarget[c] - self.prevTarget[c]) * self.viewChangingProgress)
+      continue
+    self.H = self.prevH + (self.newH - self.prevH) * self.viewChangingProgress
+
+    if self.viewChangingProgress + 0.02 >= 1 and self.viewMode == 'C':
+      ceiling = self.scene.find("**/ceiling")
+      ceiling.show()
+      pass
+
+    if self.viewChangingProgress <= 0.02 and self.viewMode == 'T':
+      ceiling = self.scene.find("**/ceiling")
+      ceiling.hide()
+      pass
+    return
+  
+  def spinCameraTask(self, task):
+    #print(task.time)
+    #angleDegrees = task.time * 6.0
+    movementStep = 0.003
+    if self.viewChangingProgress <= 1.01:
+      self.changeView()
+      self.viewChangingProgress += 0.02
+      pass
+    
+    if base.mouseWatcherNode.is_button_down('w'):
+      for c in xrange(2):
+        step = movementStep * (self.target[c] - self.cameraPos[c])
+        self.cameraPos[c] += step
+        self.target[c] += step
+        continue
+      pass
+    if base.mouseWatcherNode.is_button_down('s'):
+      for c in xrange(2):
+        step = movementStep * (self.target[c] - self.cameraPos[c])
+        self.cameraPos[c] -= step
+        self.target[c] -= step
+        continue
+      pass
+    if base.mouseWatcherNode.is_button_down('a'):
+      step = movementStep * (self.target[0] - self.cameraPos[0])
+      self.cameraPos[1] += step
+      self.target[1] += step
+      step = movementStep * (self.target[1] - self.cameraPos[1])
+      self.cameraPos[0] -= step
+      self.target[0] -= step
+      pass
+    if base.mouseWatcherNode.is_button_down('d'):
+      step = movementStep * (self.target[0] - self.cameraPos[0])
+      self.cameraPos[1] -= step
+      self.target[1] -= step
+      step = movementStep * (self.target[1] - self.cameraPos[1])
+      self.cameraPos[0] += step
+      self.target[0] += step
+      pass
+    
+    rotationStep = 0.02
+    if base.mouseWatcherNode.is_button_down('arrow_left'):
+      angle = np.angle(complex(self.target[0] - self.cameraPos[0], self.target[1] - self.cameraPos[1]))
+      angle += rotationStep
+      self.target[0] = self.cameraPos[0] + np.cos(angle)
+      self.target[1] = self.cameraPos[1] + np.sin(angle)
+      pass
+    if base.mouseWatcherNode.is_button_down('arrow_right'):
+      angle = np.angle(complex(self.target[0] - self.cameraPos[0], self.target[1] - self.cameraPos[1]))
+      angle -= rotationStep
+      self.target[0] = self.cameraPos[0] + np.cos(angle)
+      self.target[1] = self.cameraPos[1] + np.sin(angle)
+      pass
+
+    if base.mouseWatcherNode.is_button_down('arrow_up'):
+      angle = np.arcsin(self.target[2] - self.cameraPos[2])
+      angle += rotationStep
+      self.target[2] = self.cameraPos[2] + np.sin(angle)
+      pass
+    if base.mouseWatcherNode.is_button_down('arrow_down'):
+      angle = np.arcsin(self.target[2] - self.cameraPos[2])
+      angle -= rotationStep
+      self.target[2] = self.cameraPos[2] + np.sin(angle)
+      pass
+
+    angleDegrees = self.angle
+    angleRadians = angleDegrees * (pi / 180.0)
+    #self.camera.setPos(2.0 * sin(angleRadians), -2.0 * cos(angleRadians), 3)
+    self.camera.setPos(self.cameraPos[0], self.cameraPos[1], self.cameraPos[2])
+    #self.camera.setHpr(angleDegrees, 0, 0)
+    #self.camera.lookAt(0, 0, 0)
+    self.camera.lookAt(self.target[0], self.target[1], self.target[2])
+    self.camera.setR(self.H)
+    #if base.mouseWatcherNode.hasMouse()
+    return Task.cont
+  
+app = Viewer()
+app.run()