Trajectory creation from Blender Export

[stikkx]

Hello,

i have a trajectory of 12 CFs build in Blender. I have a export written in python to CSV. But with format is the best ? I think waypoints are to much to transmit while the CFs are flying. And to use the uav_trajectory script is in my opinion unnecessary since I already have the exact trajectory. Can't I create atrajectory directly from the cooardinates with time information (up to 24/second) and load it on the CFs ? Which format should it have ?

Thanks a lot!

[jpreiss]

Please explain more precisely what you mean by "a trajectory directly from the coordinates with time information". What format are you getting out of Blender?

[stikkx]

I get the time in seconds or milliseconds and the position x,y,z,yaw in meters per frame from the animation in Blender.

[whoenig]

I think the best would be to export this data to a csv-file and then convert to trajectories by following https://github.com/whoenig/uav_trajectories#generate-trajectory-given-time-position-pairs.

[stikkx]

I tried that, but the result is a bit laggy with --sim parameter and without the CF is flying very instabel.

Which format is the trajectory the script puts out?

Thank you!

[jpreiss]

Our trajectory system uses piecewise polynomials. The .csv file contains the polynomial coefficients. I don't think the format is documented, but you can inspect the parsing code to understand it.

If you are designing smooth trajectories with Blender, it is likely that Blender uses some spline format internally to represent the trajectory. It should be possible to do a "lossless" conversion to our polynomial format. That would be the ideal workflow, if you can figure it out.

[jpreiss]

@stikkx did you make any progress here?

[stikkx]

hi jpreiss, i hope i could make some progress in the next week. But atm i had no time to do..