private CameraConfiguration createCameraConfiguration(String name) { return new CameraConfiguration(name); }
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"); }
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 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"); }
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 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"); }
CameraConfiguration view1 = new CameraConfiguration("view1");
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); CameraConfiguration camera = new CameraConfiguration(cameraInfo[i].getSensorNameInSdf()); camera.setCameraMount(cameraInfo[i].getSensorNameInSdf()); scs.setupCamera(camera);
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); 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 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; }
scs.setPlaybackRealTimeRate(0.025); CameraConfiguration cameraConfigurationOne = new CameraConfiguration("one"); cameraConfigurationOne.setCameraTracking(false, false, false, false); cameraConfigurationOne.setCameraDolly(false, false, false, false); scs.setupCamera(cameraConfigurationOne); CameraConfiguration cameraConfigurationTwo = new CameraConfiguration("two"); cameraConfigurationTwo.setCameraTracking(false, false, false, false); cameraConfigurationTwo.setCameraDolly(false, false, false, false);
CameraConfiguration cameraConfiguration = new CameraConfiguration("testCamera"); cameraConfiguration.setCameraFix(0.6, 0.0, 0.6); cameraConfiguration.setCameraPosition(10.0, 3.0, 3.0);