implemented sun rotation during dataset generation #91

synfeal_collection/model3d_config/santuario.yaml

@@ -23,11 +23,11 @@ volume:
 light:
   light_names: 
   - 'user_point_light_0'
-  - 'user_point_light_1'
-  - 'user_point_light_2'
-  - 'user_point_light_3'
-  - 'user_point_light_4'
-  - 'user_point_light_5'
+  # - 'user_point_light_1'
+  # - 'user_point_light_2'
+  # - 'user_point_light_3'
+  # - 'user_point_light_4'
+  # - 'user_point_light_5'
   att_initial: 1.0
   att_min: 0.1
   att_max: 1.0

synfeal_collection/scripts/data_collector

@@ -76,6 +76,8 @@ def main():
             if args['use_variable_lights']:
                 light = data_collector.generateLights(n_steps=1, random=True)
                 data_collector.setLight(light)
+                sun_light = data_collector.generateSunLight()
+                data_collector.setSunLight(sun_light)
             data_collector.setPose(pose)
             # todo: use getmodelstate from gazebo instead of waiting...
             rospy.sleep(0.6)
@@ -105,6 +107,8 @@ def main():
                 data_collector.setPose(pose)
                 if args['use_variable_lights']:
                     data_collector.setLight(step_lights[idx])
+                    sun_light = data_collector.generateSunLight()
+                    data_collector.setSunLight(sun_light)
                 if not args['fast']:
                     rospy.sleep(0.4)
                 else:

synfeal_collection/src/automatic_data_collection.py

@@ -10,7 +10,7 @@
 import tf
 import numpy as np
 import trimesh
-from geometry_msgs.msg import Pose , Quaternion , Point
+from geometry_msgs.msg import Pose , Quaternion , Point , Vector3
 #from interactive_markers.interactive_marker_server import *
 #from interactive_markers.menu_handler import *
 from visualization_msgs.msg import *
@@ -230,20 +230,32 @@ def setLight(self, light):
                 f.write(my_str)
 
             os.system(
-                f'gz topic -p /gazebo/santuario_Light/light/modify -f /tmp/set_light.txt')
+                f'gz topic -p /gazebo/santuario/light/modify -f /tmp/set_light.txt')
 
-    def generateSun(self):
-        sun = np.random.uniform(low=self.sun_min, high=self.sun_max)
-        return sun
+    def generateSunLight(self):
+        pitch = np.random.uniform(low=-1.57, high=1.57)
+        return pitch
 
-    def setSun(self, sun):
+    def setSunLight(self, roll = 0, pitch = 0, yaw = 0):
         pose = Pose()
         pose.position = Point(0,0,10)
-        pose.orientation = Quaternion(0,2,0,1)
+        orientation = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
+        pose.orientation = Quaternion(0,0,0,1)
+        pose.orientation.x = orientation[0]
+        pose.orientation.y = orientation[1]
+        pose.orientation.z = orientation[2]
+        pose.orientation.w = orientation[3]
 
         light = SetLightPropertiesRequest()
         light.light_name = 'sun'
+        light.cast_shadows = True
+        light.diffuse = ColorRGBA(0.8,0.8,0.8,1)
+        light.specular = ColorRGBA(0.2,0.2,0.2,1)
+        light.attenuation_constant = 0.9
+        light.attenuation_linear = 0.01
+        light.attenuation_quadratic = 0.001
         light.pose = pose
+        light.direction = Vector3(0,0,-1)
 
         rospy.wait_for_service('/gazebo/set_light_properties')
         try: