release 0.1

Near32 · Oct 6, 2017 · 94ab571 · 94ab571
1 parent 2794118
commit 94ab571
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Showing 3 changed files with 17 additions and 4 deletions.
diff --git a/launch/empty_world.launch b/launch/empty_world.launch
@@ -1,6 +1,6 @@
 <launch>
   <arg name="world_file"  			default="$(find GazeboDomainRandom)/models/GazeboDomainRandom/worlds/empty+light.world"/>
-	<arg name="gui" 							default="true"/>
+	<arg name="gui" 							default="false"/>
 
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">

diff --git a/src/GazeboDomainRandom/GazeboDomainRandom.py b/src/GazeboDomainRandom/GazeboDomainRandom.py
@@ -384,4 +384,14 @@ def project(self, x) :
 			projx[i] /= projx[2]+1e-6
 
 		return projx
+
+	def setPause(self,pause=True) :
+		if pause==True :
+			subprocess.Popen(['rosservice call /gazebo/pause_physics'], shell=True, env=self.env)
+			rospy.loginfo("ENVIRONMENT "+str(self.port)+" PHYSICS : PAUSED.\n")
+		else :
+			subprocess.Popen(['rosservice call /gazebo/unpause_physics'], shell=True, env=self.env)
+			rospy.loginfo("ENVIRONMENT "+str(self.port)+" PHYSICS : UNPAUSED.\n")
+
+
 
diff --git a/src/createDataset-auto.py b/src/createDataset-auto.py
@@ -9,7 +9,7 @@ def create_dataset(path='./dataset/') :
 	#XML generator :
 	genXML = XMLGenerator(path_out=path)
 	#index to name the pictures :
-	date = '2017_09_22__'
+	date = '2017_10_06__'
 	indexIMG = 0
 	#create the images folder :
 	pathimg = 'images/'
@@ -74,6 +74,7 @@ def create_dataset(path='./dataset/') :
 	fovy = 120
 	altitude = 0.45
 	camera = Camera(fovy=fovy,altitude=altitude,port=cfact.port, env=cfact.env)
+	camera.setPause(False)
 	camera.spawn()
 
 	#retrieve the position of the model :
@@ -152,9 +153,10 @@ def create_dataset(path='./dataset/') :
 			pose3d = [ np.reshape( model.getPose()[0,0:3], (3,1) ) for model in model_params ]
 			#REFRAMING :
 			pose3d = reframing(pose3d)
+			time.sleep(3)
 
 		elif key == ord('c') :
-			#create new config :
+			#change Orientations :
 			cfact.changeOrientation()
 			cfact.changeSpawned()
 
@@ -166,7 +168,7 @@ def create_dataset(path='./dataset/') :
 			pose3d = reframing(pose3d)
 
 		elif key == ord('v') :
-			#create new config :
+			#change Positions :
 			cfact.changePose()
 			cfact.changeSpawned()
 
@@ -178,6 +180,7 @@ def create_dataset(path='./dataset/') :
 			pose3d = reframing(pose3d)
 
 		elif key == ord('p') :
+			#Register the image into the dataset with its annotations :
 			listobj = []
 			for i in range(len(pose3d)) :
 				xp = pose3d[i].copy()