Random scene generation example implementation. More...

#include "scene_example.hh"

Functions
std::regex	g_regex_uid (REGEX_XML_UID)

std::regex	g_regex_model (REGEX_XML_MODEL)

int	main (int argc, char **argv)

void	addModelFromFile (gap::msgs::WorldUtilsRequest &msg, const std::string &file)
	Function prototypes. More...

void	addDynamicModels (gap::msgs::WorldUtilsRequest &msg)
	Add objects in global grid to WorldUtils spawn request. More...

void	updateObjects (gap::msgs::VisualUtilsRequest &msg)
	Add objects in global grid to VisualUtils update request. More...

void	addMoveObject (gap::msgs::WorldUtilsRequest &msg, const std::string &name, const bool is_light, const ignition::math::Pose3d &pose)
	Add move object command to WorldUtils request. More...

ignition::math::Pose3d	getRandomCameraPose ()
	Obtain random camera pose in dome. More...

ignition::math::Pose3d	getRandomLightPose ()
	Obtain random light pose in dome. More...

void	createNameSet ()
	Create set with names of existing objects. More...

void	addProjections (gap::msgs::CameraUtilsRequest &msg)
	Add 3D points to projection request. More...

void	moveCamera (gazebo::transport::PublisherPtr pub)
	Move camera to global camera pose. More...

void	captureScene (gazebo::transport::PublisherPtr pub, int iteration)
	Send CameraUtils request to capture current scene. More...

bool	waitForMove ()
	Wait for camera to move to new pose. More...

bool	waitForVisuals ()
	Wait for visuals to update. More...

bool	waitForCamera ()
	Wait for camera to save frame to disk. More...

bool	waitForProjections ()
	Wait for projected points. More...

void	onVisualUtilsResponse (VisualUtilsResponsePtr &_msg)
	Callback function for VisualUtils response. More...

void	onWorldUtilsResponse (WorldUtilsResponsePtr &_msg)
	Callback function for WorldUtils response. More...

void	onCameraUtilsResponse (CameraUtilsResponsePtr &_msg)
	Callback function for CameraUtils response. More...

void	setPhysics (gazebo::transport::PublisherPtr pub, bool enable)
	Enables/disables physics engine. More...

void	storeAnnotations (const std::string &path, const int iteration)
	Store current scene annotations. More...

Variables
ObjectGrid	g_grid (3, 3, 3, 3, 1)

const int	g_obj_min {2}

const int	g_obj_max {7}

const bool	g_move_light {true}

const ignition::math::Vector3d	g_light_pos {1.5, 1.5, 5.5}

const ignition::math::Vector3d	g_camera_pos {1.5, 1.5, 3.2}

const int	g_viewpoint {FIXED_VIEW}

bool	g_moved {false}

std::mutex	g_moved_mutex

bool	g_camera_ready {false}

std::mutex	g_camera_ready_mutex

bool	g_points_ready {false}

std::mutex	g_points_ready_mutex

bool	g_visuals_ready {false}

std::mutex	g_visuals_ready_mutex

std::set< std::string >	g_names

ignition::math::Pose3d	g_camera_pose

Detailed Description

Random scene generation example implementation.

Generates a scene with up to 10 objects in a 4x4 grid.

Author: João Borrego : jsbruglie; Rui Figueiredo : ruipimentelfigueiredo

Function Documentation

void addDynamicModels ( gap::msgs::WorldUtilsRequest & msg )

Add objects in global grid to WorldUtils spawn request.

Parameters

msg	WorldUtils request message

void addModelFromFile	(	gap::msgs::WorldUtilsRequest &	msg,
		const std::string &	file
	)

Function prototypes.

Adds an SDF model to a WorldUtils request

Parameters

msg	WorldUtils request message
file	SDF file with model

void addMoveObject	(	gap::msgs::WorldUtilsRequest &	msg,
		const std::string &	name,
		const bool	is_light,
		const ignition::math::Pose3d &	pose
	)

Add move object command to WorldUtils request.

Parameters

msg	WordlUtils request
name	Object name
is_light	Whether object is a light
pose	New object pose

void addProjections ( gap::msgs::CameraUtilsRequest & msg )

Add 3D points to projection request.

void captureScene	(	gazebo::transport::PublisherPtr	pub,
		int	iteration
	)

Send CameraUtils request to capture current scene.

Parameters

pub	Publisher for CameraUtils request topic
iteration	Current iteration

void createNameSet ( )

Create set with names of existing objects.

std::regex g_regex_model ( REGEX_XML_MODEL )

std::regex g_regex_uid ( REGEX_XML_UID )

ignition::math::Pose3d getRandomCameraPose ( )

Obtain random camera pose in dome.

Returns: New random camera pose

ignition::math::Pose3d getRandomLightPose ( )

Obtain random light pose in dome.

Returns: New random light pose

int main	(	int	argc,
		char **	argv
	)

void moveCamera ( gazebo::transport::PublisherPtr pub )

Move camera to global camera pose.

void onCameraUtilsResponse ( CameraUtilsResponsePtr & _msg )

Callback function for CameraUtils response.

Parameters

_msg	Incoming message

void onVisualUtilsResponse ( VisualUtilsResponsePtr & _msg )

Callback function for VisualUtils response.

Parameters

_msg	Incoming message

void onWorldUtilsResponse ( WorldUtilsResponsePtr & _msg )

Callback function for WorldUtils response.

Parameters

_msg	Incoming message

void setPhysics	(	gazebo::transport::PublisherPtr	pub,
		bool	enable
	)

Enables/disables physics engine.

Parameters

pub	WorldUtils publisher ptr
enable	Desired physics engine status

void storeAnnotations	(	const std::string &	path,
		const int	iteration
	)

Store current scene annotations.

Parameters

path	Path to dataset folder
iteration	Current iteration

void updateObjects ( gap::msgs::VisualUtilsRequest & msg )

Add objects in global grid to VisualUtils update request.

bool waitForCamera ( )

Wait for camera to save frame to disk.

Returns: True if process should wait

bool waitForMove ( )

Wait for camera to move to new pose.

Returns: True if process should wait

bool waitForProjections ( )

Wait for projected points.

bool waitForVisuals ( )

Wait for visuals to update.

Returns: True if process should wait

Variable Documentation

const ignition::math::Vector3d g_camera_pos {1.5, 1.5, 3.2}

ignition::math::Pose3d g_camera_pose

bool g_camera_ready {false}

std::mutex g_camera_ready_mutex

ObjectGrid g_grid(3, 3, 3, 3, 1)

const ignition::math::Vector3d g_light_pos {1.5, 1.5, 5.5}

const bool g_move_light {true}

bool g_moved {false}

std::mutex g_moved_mutex

std::set<std::string> g_names

const int g_obj_max {7}

const int g_obj_min {2}

bool g_points_ready {false}

std::mutex g_points_ready_mutex

const int g_viewpoint {FIXED_VIEW}

bool g_visuals_ready {false}

std::mutex g_visuals_ready_mutex

Functions

Variables

Detailed Description

Function Documentation

Variable Documentation