Random scene generation example. More...

#include <gazebo/gazebo_config.h>
#include <gazebo/transport/transport.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/gazebo_client.hh>
#include "camera_utils_request.pb.h"
#include "camera_utils_response.pb.h"
#include "visual_utils_request.pb.h"
#include "visual_utils_response.pb.h"
#include "world_utils_request.pb.h"
#include "world_utils_response.pb.h"
#include "utils.hh"
#include "ObjectGrid.hh"
#include <iostream>
#include <fstream>
#include <boost/filesystem.hpp>
#include <mutex>
#include <set>
#include <chrono>
#include <thread>
#include <regex>
#include <Eigen/Dense>
#include <climits>

Macros
#define	FIXED_VIEW 0

#define	MOVING_VIEW_POS 1

#define	MOVING_VIEW_POS_ROT 2

#define	MOVE_REQUEST gap::msgs::CameraUtilsRequest::MOVE
	Request to move camera to given pose. More...

#define	MOVE_RESPONSE gap::msgs::CameraUtilsResponse::MOVE
	Response acknowledging move camera request. More...

#define	CAPTURE_REQUEST gap::msgs::CameraUtilsRequest::CAPTURE
	Request to capture a frame and save it to disk. More...

#define	CAPTURE_RESPONSE gap::msgs::CameraUtilsResponse::CAPTURE
	Response acknowledging captured frame. More...

#define	PROJECTION_REQUEST gap::msgs::CameraUtilsRequest::PROJECTION
	Request 3D to 2D point projection. More...

#define	PROJECTION_RESPONSE gap::msgs::CameraUtilsResponse::PROJECTION
	Response 3D to 2D point projection. More...

#define	OPTIONS gap::msgs::CameraUtilsRequest::OPTIONS
	Request to change camera plugin settings. More...

#define	UPDATE gap::msgs::VisualUtilsRequest::UPDATE
	Request update. More...

#define	UPDATED gap::msgs::VisualUtilsResponse::UPDATED
	Visual updated response. More...

#define	SPAWN gap::msgs::WorldUtilsRequest::SPAWN
	Spawn entity. More...

#define	WORLD_MOVE gap::msgs::WorldUtilsRequest::MOVE
	Move entity. More...

#define	PHYSICS gap::msgs::WorldUtilsRequest::PHYSICS
	Start or stop physcis simulation. More...

#define	CUSTOM gap::msgs::Object::CUSTOM
	Spawn custom object. More...

#define	CUSTOM_LIGHT gap::msgs::Object::CUSTOM_LIGHT
	Spawn custom light object. More...

#define	CAMERA_UTILS_TOPIC "~/gap/camera_utils"
	Topic monitored by CameraUtils plugin for incoming requests. More...

#define	CAMERA_UTILS_RESPONSE_TOPIC "~/gap/camera_utils/response"
	Topic for receiving replies from CameraUtils plugin. More...

#define	VISUAL_UTILS_TOPIC "~/gap/visual_utils"
	Topic monitored by VisualUtils plugin for incoming requests. More...

#define	VISUAL_UTILS_RESPONSE_TOPIC "~/gap/visual_utils/response"
	Topic for receiving replies from VisualUtils plugin. More...

#define	WORLD_UTILS_TOPIC "~/gap/world_utils"
	Topic monitored by WorldUtils plugin for incoming requests. More...

#define	WORLD_UTILS_RESPONSE_TOPIC "~/gap/world_utils/response"
	Topic for receiving replies from WorldUtils plugin. More...

Typedefs
typedef const boost::shared_ptr< const gap::msgs::CameraUtilsResponse >	CameraUtilsResponsePtr
	Pointer to CameraUtils response message. More...

typedef const boost::shared_ptr< const gap::msgs::VisualUtilsResponse >	VisualUtilsResponsePtr
	Pointer to VisualUtils request message. More...

typedef const boost::shared_ptr< const gap::msgs::WorldUtilsResponse >	WorldUtilsResponsePtr
	Pointer to WorldUtils request message. More...

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

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

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

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

void	visualizeData (const std::string &image_dir, int iteration)
	Debug function to visualise scene Debug function to visualise acquired frame and object bounding boxes. More...

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

Detailed Description

Random scene generation example.

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

Author: João Borrego : jsbruglie; Rui Figueiredo : ruipimentelfigueiredo

Macro Definition Documentation

#define CAMERA_UTILS_RESPONSE_TOPIC "~/gap/camera_utils/response"

Topic for receiving replies from CameraUtils plugin.

#define CAMERA_UTILS_TOPIC "~/gap/camera_utils"

Topic monitored by CameraUtils plugin for incoming requests.

#define CAPTURE_REQUEST gap::msgs::CameraUtilsRequest::CAPTURE

Request to capture a frame and save it to disk.

#define CAPTURE_RESPONSE gap::msgs::CameraUtilsResponse::CAPTURE

Response acknowledging captured frame.

#define CUSTOM gap::msgs::Object::CUSTOM

Spawn custom object.

#define CUSTOM_LIGHT gap::msgs::Object::CUSTOM_LIGHT

Spawn custom light object.

#define FIXED_VIEW 0

#define MOVE_REQUEST gap::msgs::CameraUtilsRequest::MOVE

Request to move camera to given pose.

#define MOVE_RESPONSE gap::msgs::CameraUtilsResponse::MOVE

Response acknowledging move camera request.

#define MOVING_VIEW_POS 1

#define MOVING_VIEW_POS_ROT 2

#define OPTIONS gap::msgs::CameraUtilsRequest::OPTIONS

Request to change camera plugin settings.

#define PHYSICS gap::msgs::WorldUtilsRequest::PHYSICS

Start or stop physcis simulation.

#define PROJECTION_REQUEST gap::msgs::CameraUtilsRequest::PROJECTION

Request 3D to 2D point projection.

#define PROJECTION_RESPONSE gap::msgs::CameraUtilsResponse::PROJECTION

Response 3D to 2D point projection.

#define SPAWN gap::msgs::WorldUtilsRequest::SPAWN

Spawn entity.

#define UPDATE gap::msgs::VisualUtilsRequest::UPDATE

Request update.

#define UPDATED gap::msgs::VisualUtilsResponse::UPDATED

Visual updated response.

#define VISUAL_UTILS_RESPONSE_TOPIC "~/gap/visual_utils/response"

Topic for receiving replies from VisualUtils plugin.

#define VISUAL_UTILS_TOPIC "~/gap/visual_utils"

Topic monitored by VisualUtils plugin for incoming requests.

#define WORLD_MOVE gap::msgs::WorldUtilsRequest::MOVE

Move entity.

#define WORLD_UTILS_RESPONSE_TOPIC "~/gap/world_utils/response"

Topic for receiving replies from WorldUtils plugin.

#define WORLD_UTILS_TOPIC "~/gap/world_utils"

Topic monitored by WorldUtils plugin for incoming requests.

Typedef Documentation

typedef const boost::shared_ptr<const gap::msgs::CameraUtilsResponse> CameraUtilsResponsePtr

Pointer to CameraUtils response message.

typedef const boost::shared_ptr<const gap::msgs::VisualUtilsResponse> VisualUtilsResponsePtr

Pointer to VisualUtils request message.

typedef const boost::shared_ptr<const gap::msgs::WorldUtilsResponse> WorldUtilsResponsePtr

Pointer to WorldUtils request message.

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.

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

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.

void visualizeData	(	const std::string &	image_dir,
		int	iteration
	)

Debug function to visualise scene Debug function to visualise acquired frame and object bounding boxes.

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

Macros

Typedefs

Functions

Detailed Description

Macro Definition Documentation

Typedef Documentation

Function Documentation