Blame: Examples/main.cpp - microsoft/AirSim

Open source simulator for autonomous vehicles built on Unreal Engine / Unity, from Microsoft AI & Research

0 0 29 C++

Added standalone sensor example 2017-03-21 14:48:12 -07:00			`#include "StandAloneSensors.hpp"`
moved major changes from col branch (mainly drag vertices concept) 2017-06-15 16:15:22 -07:00			`#include "StandAlonePhysics.hpp"`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`#include "DataCollection/StereoImageGenerator.hpp"`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`#include "DataCollection/DataCollectorSGM.h"`
delay line and freq limit in baro and mag, fix bug in baro, add ground lock 2017-07-27 17:27:26 -07:00			`#include "GaussianMarkovTest.hpp"`
Separatinf DepthNav files 2018-08-02 18:43:40 -07:00			`#include "DepthNav/DepthNavCost.hpp"`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`#include "DepthNav/DepthNavThreshold.hpp"`
Added standalone sensor example 2017-03-21 14:48:12 -07:00			`#include <iostream>`
			`#include <string>`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`#ifndef _USE_MATH_DEFINES`
			`#define _USE_MATH_DEFINES`
			`#endif`
Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`#include <cmath>`
Added standalone sensor example 2017-03-21 14:48:12 -07:00
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`int runStandAloneSensors(int argc, const char* argv[])`
Added standalone sensor example 2017-03-21 14:48:12 -07:00			`{`
			`if (argc < 2) {`
			`std::cout << "Usage: " << argv[0] << " <out_file_name> <period_ms> <total_duration_sec>" << std::endl;`
			`return 1;`
			`}`

			`float period = 30E-3f;`
			`if (argc >= 3)`
			`period = std::stof(argv[2]) * 1E-3f;`

			`float total_duration = 3600;`
			`if (argc >= 4)`
			`total_duration = std::stof(argv[3]);`

			`std::cout << "Period is " << period << "sec" << std::endl;`
			`std::cout << "Total duration is " << total_duration << "sec" << std::endl;`

			`using namespace msr::airlib;`

changed simGetPosition,Orientation APIs to simGetPose, resolve Unreal crash issues, update kinematics with thread safety 2017-07-10 19:23:40 -07:00			`//60 acres park:`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`//GeoPoint testLocation(47.7037051477, -122.1415384809, 9.93f);`
changed simGetPosition,Orientation APIs to simGetPose, resolve Unreal crash issues, update kinematics with thread safety 2017-07-10 19:23:40 -07:00
			`//marymoore park`
			`//GeoPoint testLocation(47.662804385, -122.1167039875, 9.93f);`
Change magnetometer scale to match hmc5883 sensor. 2017-04-05 20:25:36 -07:00
Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`const GeoPoint testLocation(47.7631699747, -122.0685655406, 9.93f); // woodinville`
			`constexpr float yawOffset = 0; // static_cast<float>(91.27622 * M_PI / 180.0); // I was aligned with the road...`
add -filter option to MavLinkTest for exporting a single message type from mavlink logfile as .csv. Add csv headers to example sensor output. 2017-04-03 13:48:40 -07:00
Added standalone sensor example 2017-03-21 14:48:12 -07:00			`std::ofstream out_file(argv[1]);`
changed simGetPosition,Orientation APIs to simGetPose, resolve Unreal crash issues, update kinematics with thread safety 2017-07-10 19:23:40 -07:00			`StandALoneSensors::generateImuStaticData(out_file, period, total_duration);`
			`StandALoneSensors::generateBarometerStaticData(out_file, period, total_duration, testLocation);`
			`StandALoneSensors::generateBarometerDynamicData(out_file, period, total_duration, testLocation);`
Change magnetometer scale to match hmc5883 sensor. 2017-04-05 20:25:36 -07:00			`StandALoneSensors::generateMagnetometer2D(out_file, period, total_duration, testLocation, yawOffset, true);`
changed simGetPosition,Orientation APIs to simGetPose, resolve Unreal crash issues, update kinematics with thread safety 2017-07-10 19:23:40 -07:00			`StandALoneSensors::generateMagnetometerMap(out_file);`
moved major changes from col branch (mainly drag vertices concept) 2017-06-15 16:15:22 -07:00
			`return 0;`
			`}`

do the clang-formatting. 2021-05-13 17:40:06 -07:00			`int runStandAlonePhysics(int argc, const char* argv[])`
moved major changes from col branch (mainly drag vertices concept) 2017-06-15 16:15:22 -07:00			`{`
			`using namespace msr::airlib;`

Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`StandAlonePhysics::testCollision();`
moved major changes from col branch (mainly drag vertices concept) 2017-06-15 16:15:22 -07:00
			`return 0;`
			`}`

Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`void runDataCollectorSGM(const int num_samples, const std::string storage_path)`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`{`
			`DataCollectorSGM gen(storage_path);`
			`gen.generate(num_samples);`
			`}`

Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`void runDataCollectorSGM(const int argc, const char* argv[])`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`{`
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`runDataCollectorSGM(argc < 2 ? 5000 : std::stoi(argv[1]), argc < 3 ? common_utils::FileSystem::combine(common_utils::FileSystem::getAppDataFolder(), "data_sgm") : std::string(argv[2]));`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`}`
Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00
			`void runStereoImageGenerator(const int num_samples, const std::string storage_path)`
depth map 16 bit working 2017-07-07 11:03:01 -07:00			`{`
gaussian pose generator, no eye adaptation, docs update and other stereo gen tweaks 2017-07-08 21:46:06 -07:00			`StereoImageGenerator gen(storage_path);`
command line args change 2017-07-07 15:49:28 -07:00			`gen.generate(num_samples);`
depth map 16 bit working 2017-07-07 11:03:01 -07:00			`}`

Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`void runStereoImageGenerator(const int argc, const char* argv[])`
moved major changes from col branch (mainly drag vertices concept) 2017-06-15 16:15:22 -07:00			`{`
Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`runStereoImageGenerator(argc < 2 ? 50000 : std::stoi(argv[1]), argc < 3 ? common_utils::FileSystem::combine(common_utils::FileSystem::getAppDataFolder(), "stereo_gen") : std::string(argv[2]));`
moved major changes from col branch (mainly drag vertices concept) 2017-06-15 16:15:22 -07:00			`}`

Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00			`void runGaussianMarkovTest()`
delay line and freq limit in baro and mag, fix bug in baro, add ground lock 2017-07-27 17:27:26 -07:00			`{`
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`using namespace msr::airlib;`
DepthNav demo 2018-07-31 11:49:42 -07:00
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`GaussianMarkovTest test;`
			`test.run();`
Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00			`}`

Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`void runDepthNavGT()`
Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00			`{`
Fix namespace usages in AirLib Remove `using namespace msr::airlib` 2022-03-27 13:16:58 +05:30			`using namespace msr::airlib;`

Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`typedef ImageCaptureBase::ImageRequest ImageRequest;`
			`typedef ImageCaptureBase::ImageType ImageType;`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00
fix clang-format 2022-03-22 08:02:14 -07:00			`const std::vector<ImageRequest> request{`
Rename DepthPlanner to DepthPlanar 2020-12-18 14:47:06 -08:00			`ImageRequest("front_left", ImageType::DepthPlanar, true) /*,`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`ImageRequest("front_left", ImageType::Scene),`
			`ImageRequest("front_left", ImageType::DisparityNormalized, true) */`
			`};`

Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`Pose startPose = Pose(Vector3r(0, 0, -1), Quaternionr(1, 0, 0, 0)); //start pose`
			`Pose goalPose = Pose(Vector3r(50, 105, -1), Quaternionr(1, 0, 0, 0)); //final pose`
			`//Pose goalPose = client.simGetObjectPose("OrangeBall");`

Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00			`RpcLibClientBase client;`
			`client.confirmConnection();`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`client.reset();`
Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`client.simSetVehiclePose(startPose, true);`
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`std::cout << "Press Enter to start" << std::endl;`
			`std::cin.get(); //Allow some time to reach startPose`
Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00
Added DepthNav subclass to compute next pose based on cost. 2018-08-01 14:17:47 -07:00			`//DepthNavThreshold depthNav;`
Updated main and depthNav settings file 2018-08-28 16:05:09 -07:00			`DepthNavCost depthNav;`
			`//DepthNavOptAStar depthNav;`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`depthNav.initialize(client, request);`
			`depthNav.gotoGoal(goalPose, client, request);`
Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00			`}`

Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`void runDepthNavSGM()`
			`{`
Fix namespace usages in AirLib Remove `using namespace msr::airlib` 2022-03-27 13:16:58 +05:30			`using namespace msr::airlib;`

Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`typedef ImageCaptureBase::ImageRequest ImageRequest;`
			`typedef ImageCaptureBase::ImageType ImageType;`

fix clang-format 2022-03-22 08:02:14 -07:00			`const std::vector<ImageRequest> request{`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`ImageRequest("front_left", ImageType::Scene, false, false),`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`ImageRequest("front_right", ImageType::Scene, false, false), /*`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`ImageRequest("front_left", ImageType::DepthPlanar, true),`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`ImageRequest("front_left", ImageType::DisparityNormalized, true) */`
			`};`

Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`Pose startPose = Pose(Vector3r(0, 0, -1), Quaternionr(1, 0, 0, 0)); //start pose`
			`Pose goalPose = Pose(Vector3r(50, 105, -1), Quaternionr(1, 0, 0, 0)); //final pose`

			`RpcLibClientBase client;`
			`client.confirmConnection();`
			`client.reset();`

			`client.simSetVehiclePose(startPose, true);`
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`std::cout << "Press Enter to start" << std::endl;`
			`std::cin.get(); //Allow some time to reach startPose`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00
			`//DepthNavThreshold depthNav;`
			`DepthNavCost depthNav;`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`//DepthNavOptAStar depthNav;`
			`depthNav.initialize(client, request);`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`SGMOptions params;`
Update CStateStereo Variable 2022-03-19 20:57:13 +09:00			`CStateStereo p_state;`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00
Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`if (params.maxImageDimensionWidth != static_cast<int>(depthNav.params_.depth_width))`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`printf("WARNING: Width Mismatch between SGM and DepthNav. Overwriting parameters.\n");`
Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`params.maxImageDimensionWidth = static_cast<int>(depthNav.params_.depth_width);`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00
do the clang-formatting. 2021-05-13 17:40:06 -07:00			`params.Print();`
Update Raw Pointer & Vector 2022-03-19 09:31:34 +09:00
Update CStateStereo Variable 2022-03-19 20:57:13 +09:00			`p_state.Initialize(params, static_cast<int>(depthNav.params_.depth_height), static_cast<int>(depthNav.params_.depth_width));`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00
Update CStateStereo Variable 2022-03-19 20:57:13 +09:00			`depthNav.gotoGoalSGM(goalPose, client, request, &p_state);`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00			`}`

Improve Codes By Fixing Narrowing Conversion 2022-03-05 16:41:17 +09:00			`int main(const int argc, const char* argv[])`
Bit of clean and refactoring for DepthNav 2018-07-31 19:42:34 -07:00			`{`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`//runDepthNavGT();`
Updated main and depthNav settings file 2018-08-28 16:05:09 -07:00			`//runDepthNavSGM();`
Organize Examples project, depthNav detects resolution automatically 2018-09-06 17:13:26 -07:00			`runDataCollectorSGM(argc, argv);`
Integrated SGM into example project and added data collection pipeline 2018-08-28 16:02:03 -07:00
			`return 0;`
Fix typo (collison -> collision) 2021-05-11 19:55:55 -03:00			`}`