This tool is located under "verse/tools/bin" folder and its purpose is to show an interactive plot of a pre-defined path file.
The syntax of this command has the following options:
./display_path.py -h
usage: display_path.py [-h] [-i INPUT_FILE] [-v] [-log LOGFILE]
options:
-h, --help show this help message and exit
-i INPUT_FILE, --input_file INPUT_FILE
input path file (yaml or csv) to display (default: None)
-v, --verbose verbose (default: False)
-log LOGFILE, --logfile LOGFILE
log verbose output to file (default: None)
As input file you can specify either a yaml or a csv file, it must be a valid file as per VERSE definition path_syntax
As an example we refer to path "path_001.yaml" under the "unimore" resource. After enabling your conda environment for VERSE use the following command to display the path:
cd [VERSE]tools/bin/
./display_path.py -i ../../resources/paths/unimore/info/path_001.yaml
This will generate a plot like the following:
This path is defined as moving from the right to the left side of the listener, following a semi-circular path at a distance of 1m from the center of the listener position.
The red-green-blu lines are placed as a reference to the listener head position. In this example the movement from right to left is on the front side of the listener.
Using the "-v" (verbose) option a table is presented with all the numerical details of each step with coordinates
./display_path.py -i ../../resources/paths/unimore/info/path_001.yaml -v
INFO:root:name :left_to_right_front_circle
INFO:root:description :panning on the horizontal plane from left to right, 1m distance circle, front side
+----+----------------+------------------+---------------+-----------------+--------------+--------+---------------+-----------------+-------------+-----------+-----+
| | time_percent | volume_percent | azimuth_deg | elevation_deg | distance_m | type | azimuth_rad | elevation_rad | x | y | z |
|----+----------------+------------------+---------------+-----------------+--------------+--------+---------------+-----------------+-------------+-----------+-----|
| 0 | 2 | 100 | -90 | 0 | 1 | s | -1.5708 | 0 | 6.12323e-17 | -1 | 0 |
| 1 | 5 | 100 | -81 | 0 | 1 | s | -1.41372 | 0 | 0.156434 | -0.987688 | 0 |
| 2 | 10 | 100 | -72 | 0 | 1 | s | -1.25664 | 0 | 0.309017 | -0.951057 | 0 |
| 3 | 15 | 100 | -63 | 0 | 1 | s | -1.09956 | 0 | 0.45399 | -0.891007 | 0 |
| 4 | 20 | 100 | -54 | 0 | 1 | s | -0.942478 | 0 | 0.587785 | -0.809017 | 0 |
| 5 | 25 | 100 | -45 | 0 | 1 | s | -0.785398 | 0 | 0.707107 | -0.707107 | 0 |
| 6 | 30 | 100 | -36 | 0 | 1 | s | -0.628319 | 0 | 0.809017 | -0.587785 | 0 |
| 7 | 35 | 100 | -27 | 0 | 1 | s | -0.471239 | 0 | 0.891007 | -0.45399 | 0 |
| 8 | 40 | 100 | -18 | 0 | 1 | s | -0.314159 | 0 | 0.951057 | -0.309017 | 0 |
| 9 | 45 | 100 | -9 | 0 | 1 | s | -0.15708 | 0 | 0.987688 | -0.156434 | 0 |
| 10 | 50 | 100 | 0 | 0 | 1 | s | 0 | 0 | 1 | 0 | 0 |
| 11 | 55 | 100 | 9 | 0 | 1 | s | 0.15708 | 0 | 0.987688 | 0.156434 | 0 |
| 12 | 60 | 100 | 18 | 0 | 1 | s | 0.314159 | 0 | 0.951057 | 0.309017 | 0 |
| 13 | 65 | 100 | 27 | 0 | 1 | s | 0.471239 | 0 | 0.891007 | 0.45399 | 0 |
| 14 | 70 | 100 | 36 | 0 | 1 | s | 0.628319 | 0 | 0.809017 | 0.587785 | 0 |
| 15 | 75 | 100 | 45 | 0 | 1 | s | 0.785398 | 0 | 0.707107 | 0.707107 | 0 |
| 16 | 80 | 100 | 54 | 0 | 1 | s | 0.942478 | 0 | 0.587785 | 0.809017 | 0 |
| 17 | 85 | 100 | 63 | 0 | 1 | s | 1.09956 | 0 | 0.45399 | 0.891007 | 0 |
| 18 | 90 | 100 | 72 | 0 | 1 | s | 1.25664 | 0 | 0.309017 | 0.951057 | 0 |
| 19 | 95 | 100 | 81 | 0 | 1 | s | 1.41372 | 0 | 0.156434 | 0.987688 | 0 |
| 20 | 100 | 100 | 90 | 0 | 1 | s | 1.5708 | 0 | 6.12323e-17 | 1 | 0 |
+----+----------------+------------------+---------------+-----------------+--------------+--------+---------------+-----------------+-------------+-----------+-----+