The simulation of the VI-Sensor. No Guarantees.
This work is described in the letter "Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation", by Lucas Teixeira, Martin R. Oswald, Marc Pollefeys, Margarita Chli, published in the IEEE Robotics and Automation Letters (RA-L) IEEE link.
If you use this code for research, please cite the following publication:
@article{Teixeira:etal:RAL2020,
title = {{Aerial Single-View Depth Completion with Image-Guided Uncertainty Estimation}},
author = {Lucas Teixeira and Martin R. Oswald and Marc Pollefeys and Margarita Chli},
journal = {{IEEE} Robotics and Automation Letters ({RA-L})},
doi = {10.1109/LRA.2020.2967296},
year = {2020}
}
There is copyright code from other libraries. Mostly commented in the source code. For our original code BSD license applies.
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Requirements:
- ROS Melodic
- Blender 2.80 or newer- (https://askubuntu.com/questions/110821/how-to-install-blender-from-the-official-website)
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Initialize catkin workspace (using catkin tools):
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ source /opt/ros/melodic/setup.bash
$ catkin init # initialize your catkin workspace
$ catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
$ catkin config --merge-devel- Get the simulator and dependencies
$ cd ~/catkin_ws/src
$ sudo apt-get install liblapacke-dev python-wstool python-catkin-tools protobuf-compiler libgoogle-glog-dev libopenexr-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
$ sudo apt-get install ros-melodic-joy ros-melodic-octomap-ros
$ git clone git@github.com:catkin/catkin_simple
$ git clone git@github.com:ethz-asl/rotors_simulator
$ git clone git@github.com:ethz-asl/mav_comm
$ git clone git@github.com:ethz-asl/eigen_catkin
$ git clone git@github.com:ethz-asl/glog_catkin
$ git clone git@github.com:ethz-asl/mav_control_rw
$ pip install OpenEXR
$ git clone git@github.com:VIS4ROB-lab/visensor_simulator.git -b blender_2.8
- Build the workspace
$ catkin build- Open your Blender, navigate to Edit > Preferences > Add-ons, and import the script "visensor_simulator/scripts/blender/visensor_sim_blender_addon.py" as an add-on by clicking on "Install..." (https://docs.blender.org/manual/en/latest/editors/preferences/addons.html)
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Create a project - this is a folder with any name. Configure the cameras and the waypoints In the folder resources there is a example "project_test.tar"
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starts gazebo
$ roslaunch visensor_simulator uav_vi_blender.launch- run the back_end:
$ roslaunch visensor_simulator ros_backend.launch project_folder:="/home/lucas/data/test/project_testA"-
open your scene on blender, select the camera, file->import->VISensor Simulator Project(*json), choose the file visim_project.json on your project.
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Render. Quick render is faster, but it is less realistic.
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run the bagcreator(namespace is optional):
$ rosrun visensor_simulator visensor_sim_bagcreator.py --output_bag your_output.bag --project_folder "/home/lucas/data/test/project_testA" --namespace "firefly"- write a camera path exporter compatible with our waypoint planner, better if we introduce this on our dataset format
- change from firefly to neo11
- develop a software to build a simplified version of the world to allow collision on the simulation. BVH and Octomap are options
- better error msg on the bagcreator when it is not possible to create the bagfile
- expose the simple_planner waypoint tolerance as ros parameters
- write my owm spawn with noise and vi_sensor pose as parameters
- add imu name on the json file
- autoselect a camera from the json
- add option to disable the simple planner
- detect incomplete render sequence and jump to the latest one (support in case of shutdown)
- make everything relative to the project file instead of the project folder
- add test for topic names on the bagcreator