private void setupCameraForUnitTest(SimulationConstructionSet scs) { CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera"); cameraConfiguration.setCameraFix(0.6, 0.4, 1.1); cameraConfiguration.setCameraPosition(-0.15, 10.0, 3.0); cameraConfiguration.setCameraTracking(true, true, true, false); cameraConfiguration.setCameraDolly(true, true, true, false); scs.setupCamera(cameraConfiguration); scs.selectCamera("testCamera"); }
public String[] getCameraConfigurationNames() { int n = configs.size(); String[] ret = new String[n]; for (int i = 0; i < n; i++) { ret[i] = (configs.get(i)).getName(); } return ret; }
public void initializeGUI(SimulationConstructionSet scs, Robot robot, DRCRobotModel robotModel) CameraConfiguration behindPelvis = new CameraConfiguration("BehindPelvis"); behindPelvis.setCameraTracking(false, true, true, false); behindPelvis.setCameraDolly(false, true, true, false); behindPelvis.setCameraFix(0.0, 0.0, 1.0); behindPelvis.setCameraPosition(-2.5, 0.0, 1.0); behindPelvis.setCameraTrackingVars("q_x", "q_y", "q_z"); scs.setupCamera(behindPelvis); CameraConfiguration camera = new CameraConfiguration(cameraInfo[i].getSensorNameInSdf()); camera.setCameraMount(cameraInfo[i].getSensorNameInSdf()); scs.setupCamera(camera);
int height = sdfRobot.getCameraMount(cameraName).getImageHeight(); CameraConfiguration cameraConfiguration = new CameraConfiguration(cameraName); cameraConfiguration.setCameraMount(cameraName);
public void setCameraFix(Tuple3DBasics cameraFix) { setCameraFix(cameraFix.getX(), cameraFix.getY(), cameraFix.getZ()); }
public void setCameraPosition(Tuple3d cameraPosition) { setCameraPosition(cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ()); }
private CameraConfiguration createCameraConfiguration(String name) { return new CameraConfiguration(name); }
return; this.isMounted = config.isCameraMounted(); if (isMounted && (mountList != null)) this.cameraMount = mountList.getCameraMount(config.getCameraMountName());
public void initializeGUI(SimulationConstructionSet scs, Robot robot, DRCRobotModel robotModel) CameraConfiguration behindPelvis = new CameraConfiguration("BehindPelvis"); behindPelvis.setCameraTracking(false, true, true, false); behindPelvis.setCameraDolly(false, true, true, false); behindPelvis.setCameraFix(0.0, 0.0, 1.0); behindPelvis.setCameraPosition(-2.5, 0.0, 1.0); behindPelvis.setCameraTrackingVars("q_x", "q_y", "q_z"); scs.setupCamera(behindPelvis); CameraConfiguration camera = new CameraConfiguration(cameraInfo[i].getSensorNameInSdf()); camera.setCameraMount(cameraInfo[i].getSensorNameInSdf()); scs.setupCamera(camera);
public LocalObjectCommunicator createSimulatedSensorsPacketCommunicator() { scsSensorOutputPacketCommunicator = new LocalObjectCommunicator(); if (createSCSSimulatedSensors) { DRCRobotSensorInformation sensorInformation = robotModel.getSensorInformation(); DRCRobotJointMap jointMap = robotModel.getJointMap(); TimestampProvider timeStampProvider = avatarSimulation.getSimulatedRobotTimeProvider(); HumanoidFloatingRootJointRobot robot = avatarSimulation.getHumanoidFloatingRootJointRobot(); Graphics3DAdapter graphics3dAdapter = simulationConstructionSet.getGraphics3dAdapter(); printIfDebug("Streaming SCS Video"); DRCRobotCameraParameters cameraParameters = sensorInformation.getCameraParameters(0); if (cameraParameters != null) { String cameraName = cameraParameters.getSensorNameInSdf(); int width = sdfRobot.getCameraMount(cameraName).getImageWidth(); int height = sdfRobot.getCameraMount(cameraName).getImageHeight(); CameraConfiguration cameraConfiguration = new CameraConfiguration(cameraName); cameraConfiguration.setCameraMount(cameraName); int framesPerSecond = 25; DRCRenderedSceneVideoHandler drcRenderedSceneVideoHandler = new DRCRenderedSceneVideoHandler(scsSensorOutputPacketCommunicator); simulationConstructionSet.startStreamingVideoData(cameraConfiguration, width, height, drcRenderedSceneVideoHandler, timeStampProvider, framesPerSecond); } for (DRCRobotLidarParameters lidarParams : sensorInformation.getLidarParameters()) { DRCLidar.setupDRCRobotLidar(robot, graphics3dAdapter, scsSensorOutputPacketCommunicator, jointMap, lidarParams, timeStampProvider, true); } } return scsSensorOutputPacketCommunicator; }
public void setCameraFix(Tuple3d cameraFix) { setCameraFix(cameraFix.getX(), cameraFix.getY(), cameraFix.getZ()); }
public void setCameraPosition(Tuple3DBasics cameraPosition) { setCameraPosition(cameraPosition.getX(), cameraPosition.getY(), cameraPosition.getZ()); }
return; this.isMounted = config.isCameraMounted(); if (isMounted && (mountList != null)) this.cameraMount = mountList.getCameraMount(config.getCameraMountName());
public void setupCameraForUnitTest(Point3D cameraFix, Point3D cameraPosition) { CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera"); cameraConfiguration.setCameraFix(cameraFix); cameraConfiguration.setCameraPosition(cameraPosition); cameraConfiguration.setCameraTracking(false, true, true, false); cameraConfiguration.setCameraDolly(false, true, true, false); scs.setupCamera(cameraConfiguration); scs.selectCamera("testCamera"); }
public String[] getCameraConfigurationNames() { int n = configs.size(); String[] ret = new String[n]; for (int i = 0; i < n; i++) { ret[i] = (configs.get(i)).getName(); } return ret; }
private void setupCameraForUnitTest(SimulationConstructionSet scs) { CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera"); cameraConfiguration.setCameraFix(0.6, 0.4, 1.1); cameraConfiguration.setCameraPosition(-0.15, 10.0, 3.0); cameraConfiguration.setCameraTracking(true, true, true, false); cameraConfiguration.setCameraDolly(true, true, true, false); scs.setupCamera(cameraConfiguration); scs.selectCamera("testCamera"); }
public CameraConfiguration getCameraConfiguration(String name) { int n = configs.size(); for (int i = 0; i < n; i++) { CameraConfiguration config = (configs.get(i)); if (config.getName().equals(name)) return config; } return null; } }
protected void setupCameraForUnitTest(SimulationConstructionSet scs) { CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera"); cameraConfiguration.setCameraFix(0.6, 0.4, 1.1); cameraConfiguration.setCameraPosition(-0.15, 10.0, 3.0); cameraConfiguration.setCameraTracking(true, true, true, false); cameraConfiguration.setCameraDolly(true, true, true, false); scs.setupCamera(cameraConfiguration); scs.selectCamera("testCamera"); } }
public CameraConfiguration getCameraConfiguration(String name) { int n = configs.size(); for (int i = 0; i < n; i++) { CameraConfiguration config = (configs.get(i)); if (config.getName().equals(name)) return config; } return null; } }
public void setupCameraForUnitTest(boolean enableTracking, Point3D cameraFix, Point3D cameraPosition) { CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera"); cameraConfiguration.setCameraFix(cameraFix); cameraConfiguration.setCameraPosition(cameraPosition); cameraConfiguration.setCameraTracking(enableTracking, true, true, false); cameraConfiguration.setCameraDolly(false, true, true, false); scs.setupCamera(cameraConfiguration); scs.selectCamera("testCamera"); }