Merge pull request #2 from ctu-mrs/frame_type_loader

Frame type loader
ctu-mrs · Dec 11, 2024 · 63f0e2a · 63f0e2a
2 parents 4b491be + d99d99f
commit 63f0e2a
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Showing 3 changed files with 268 additions and 67 deletions.
diff --git a/.gitman.yaml b/.gitman.yaml
@@ -15,7 +15,7 @@ sources:
 sources_locked:
   - repo: https://github.com/ctu-mrs/mrs_flight_forge_connector.git
     name: mrs_flight_forge_connertor
-    rev: 42a09e94130e67976656dde5312e695571b92ca4
+    rev: 00484406019cdac495aebc019bae2f795156e07b
     type: git
     params:
     sparse_paths:

diff --git a/src/unreal_simulator.cpp b/src/unreal_simulator.cpp
@@ -48,7 +48,7 @@
 
 /* defines //{ */
 
-#define API_VERSION 2
+#define API_VERSION 8
 
 //}
 
@@ -196,6 +196,266 @@ class UnrealSimulator : public nodelet::Nodelet {
   double lidar_int_other;
   bool   lidar_int_noise;
 
+  // segmentation decode array
+  uint8_t seg_rgb_[256][3] = {
+      255, 255, 255,
+      153, 108, 6 ,
+      112, 105, 191 ,
+      89, 121, 72 ,
+      190, 225, 64 ,
+      206, 190, 59 ,
+      81, 13, 36 ,
+      115, 176, 195 ,
+      161, 171, 27 ,
+      135, 169, 180 ,
+      29, 26, 199 ,
+      102, 16, 239 ,
+      242, 107, 146 ,
+      156, 198, 23 ,
+      49, 89, 160 ,
+      68, 218, 116 ,
+      11, 236, 9 ,
+      196, 30, 8 ,
+      121, 67, 28 ,
+      0, 53, 65 ,
+      146, 52, 70 ,
+      226, 149, 143 ,
+      151, 126, 171 ,
+      194, 39, 7 ,
+      205, 120, 161 ,
+      212, 51, 60 ,
+      211, 80, 208 ,
+      189, 135, 188 ,
+      54, 72, 205 ,
+      103, 252, 157 ,
+      124, 21, 123 ,
+      19, 132, 69 ,
+      195, 237, 132 ,
+      94, 253, 175 ,
+      182, 251, 87 ,
+      90, 162, 242 ,
+      199, 29, 1 ,
+      254, 12, 229 ,
+      35, 196, 244 ,
+      220, 163, 49 ,
+      86, 254, 214 ,
+      152, 3, 129 ,
+      92, 31, 106 ,
+      207, 229, 90 ,
+      125, 75, 48 ,
+      98, 55, 74 ,
+      126, 129, 238 ,
+      222, 153, 109 ,
+      85, 152, 34 ,
+      173, 69, 31 ,
+      37, 128, 125 ,
+      58, 19, 33 ,
+      134, 57, 119 ,
+      218, 124, 115 ,
+      120, 0, 200 ,
+      225, 131, 92 ,
+      246, 90, 16 ,
+      51, 155, 241 ,
+      202, 97, 155 ,
+      184, 145, 182 ,
+      96, 232, 44 ,
+      133, 244, 133 ,
+      180, 191, 29 ,
+      1, 222, 192 ,
+      99, 242, 104 ,
+      91, 168, 219 ,
+      65, 54, 217 ,
+      148, 66, 130 ,
+      203, 102, 204 ,
+      216, 78, 75 ,
+      234, 20, 250 ,
+      109, 206, 24 ,
+      164, 194, 17 ,
+      157, 23, 236 ,
+      158, 114, 88 ,
+      245, 22, 110 ,
+      67, 17, 35 ,
+      181, 213, 93 ,
+      170, 179, 42 ,
+      52, 187, 148 ,
+      247, 200, 111 ,
+      25, 62, 174 ,
+      100, 25, 240 ,
+      191, 195, 144 ,
+      252, 36, 67 ,
+      241, 77, 149 ,
+      237, 33, 141 ,
+      119, 230, 85 ,
+      28, 34, 108 ,
+      78, 98, 254 ,
+      114, 161, 30 ,
+      75, 50, 243 ,
+      66, 226, 253 ,
+      46, 104, 76 ,
+      8, 234, 216 ,
+      15, 241, 102 ,
+      93, 14, 71 ,
+      192, 255, 193 ,
+      253, 41, 164 ,
+      24, 175, 120 ,
+      185, 243, 231 ,
+      169, 233, 97 ,
+      243, 215, 145 ,
+      72, 137, 21 ,
+      160, 113, 101 ,
+      214, 92, 13 ,
+      167, 140, 147 ,
+      101, 109, 181 ,
+      53, 118, 126 ,
+      3, 177, 32 ,
+      40, 63, 99 ,
+      186, 139, 153 ,
+      88, 207, 100 ,
+      71, 146, 227 ,
+      236, 38, 187 ,
+      215, 4, 215 ,
+      18, 211, 66 ,
+      113, 49, 134 ,
+      47, 42, 63 ,
+      219, 103, 127 ,
+      57, 240, 137 ,
+      227, 133, 211 ,
+      145, 71, 201 ,
+      217, 173, 183 ,
+      250, 40, 113 ,
+      208, 125, 68 ,
+      224, 186, 249 ,
+      69, 148, 46 ,
+      239, 85, 20 ,
+      108, 116, 224 ,
+      56, 214, 26 ,
+      179, 147, 43 ,
+      48, 188, 172 ,
+      221, 83, 47 ,
+      155, 166, 218 ,
+      62, 217, 189 ,
+      198, 180, 122 ,
+      201, 144, 169 ,
+      132, 2, 14 ,
+      128, 189, 114 ,
+      163, 227, 112 ,
+      45, 157, 177 ,
+      64, 86, 142 ,
+      118, 193, 163 ,
+      14, 32, 79 ,
+      200, 45, 170 ,
+      74, 81, 2 ,
+      59, 37, 212 ,
+      73, 35, 225 ,
+      95, 224, 39 ,
+      84, 170, 220 ,
+      159, 58, 173 ,
+      17, 91, 237 ,
+      31, 95, 84 ,
+      34, 201, 248 ,
+      63, 73, 209 ,
+      129, 235, 107 ,
+      231, 115, 40 ,
+      36, 74, 95 ,
+      238, 228, 154 ,
+      61, 212, 54 ,
+      13, 94, 165 ,
+      141, 174, 0 ,
+      140, 167, 255 ,
+      117, 93, 91 ,
+      183, 10, 186 ,
+      165, 28, 61 ,
+      144, 238, 194 ,
+      12, 158, 41 ,
+      76, 110, 234 ,
+      150, 9, 121 ,
+      142, 1, 246 ,
+      230, 136, 198 ,
+      5, 60, 233 ,
+      232, 250, 80 ,
+      143, 112, 56 ,
+      187, 70, 156 ,
+      2, 185, 62 ,
+      138, 223, 226 ,
+      122, 183, 222 ,
+      166, 245, 3 ,
+      175, 6, 140 ,
+      240, 59, 210 ,
+      248, 44, 10 ,
+      83, 82, 52 ,
+      223, 248, 167 ,
+      87, 15, 150 ,
+      111, 178, 117 ,
+      197, 84, 22 ,
+      235, 208, 124 ,
+      9, 76, 45 ,
+      176, 24, 50 ,
+      154, 159, 251 ,
+      149, 111, 207 ,
+      168, 231, 15 ,
+      209, 247, 202 ,
+      80, 205, 152 ,
+      178, 221, 213 ,
+      27, 8, 38 ,
+      244, 117, 51 ,
+      107, 68, 190 ,
+      23, 199, 139 ,
+      171, 88, 168 ,
+      136, 202, 58 ,
+      6, 46, 86 ,
+      105, 127, 176 ,
+      174, 249, 197 ,
+      172, 172, 138 ,
+      228, 142, 81 ,
+      7, 204, 185 ,
+      22, 61, 247 ,
+      233, 100, 78 ,
+      127, 65, 105 ,
+      33, 87, 158 ,
+      139, 156, 252 ,
+      42, 7, 136 ,
+      20, 99, 179 ,
+      79, 150, 223 ,
+      131, 182, 184 ,
+      110, 123, 37 ,
+      60, 138, 96 ,
+      210, 96, 94 ,
+      123, 48, 18 ,
+      137, 197, 162 ,
+      188, 18, 5 ,
+      39, 219, 151 ,
+      204, 143, 135 ,
+      249, 79, 73 ,
+      77, 64, 178 ,
+      41, 246, 77 ,
+      16, 154, 4 ,
+      116, 134, 19 ,
+      4, 122, 235 ,
+      177, 106, 230 ,
+      21, 119, 12 ,
+      104, 5, 98 ,
+      50, 130, 53 ,
+      30, 192, 25 ,
+      26, 165, 166 ,
+      10, 160, 82 ,
+      106, 43, 131 ,
+      44, 216, 103 ,
+      255, 101, 221 ,
+      32, 151, 196 ,
+      213, 220, 89 ,
+      70, 209, 228 ,
+      97, 184, 83 ,
+      82, 239, 232 ,
+      251, 164, 128 ,
+      193, 11, 245 ,
+      38, 27, 159 ,
+      229, 141, 203 ,
+      130, 56, 55 ,
+      147, 210, 11 ,
+      162, 203, 118 ,
+      0, 0, 0 
+  };
+
 
   // | ----------------------- publishers ----------------------- |
 
@@ -1175,68 +1435,9 @@ void UnrealSimulator::timerSegLidar([[maybe_unused]] const ros::TimerEvent& even
       point.y = -dir.y();  // convert left-hand to right-hand coordinates
       point.z = dir.z();
 
-      switch (ray.segmentation) {
-        case 0: {
-          point.r = 0;
-          point.g = 0;
-          point.b = 255;
-          break;
-        }
-        case 1: {
-          point.r = 0;
-          point.g = 0;
-          point.b = 255;
-          break;
-        }
-        case 2: {
-          point.r = 255;
-          point.g = 0;
-          point.b = 0;
-          break;
-        }
-        case 3: {
-          point.r = 0;
-          point.g = 255;
-          point.b = 0;
-          break;
-        }
-        case 4: {
-          point.r = 120;
-          point.g = 255;
-          point.b = 0;
-          break;
-        }
-        case 5: {
-          point.r = 255;
-          point.g = 150;
-          point.b = 255;
-          break;
-        }
-        case 6: {
-          point.r = 255;
-          point.g = 75;
-          point.b = 0;
-          break;
-        }
-        case 7: {
-          point.r = 0;
-          point.g = 20;
-          point.b = 255;
-          break;
-        }
-        case 8: {
-          point.r = 255;
-          point.g = 255;
-          point.b = 0;
-          break;
-        }
-        default: {
-          point.r = 0;
-          point.g = 0;
-          point.b = 0;
-          break;
-        }
-      }
+      point.r = seg_rgb_[ray.segmentation][0];
+      point.g = seg_rgb_[ray.segmentation][1];
+      point.b = seg_rgb_[ray.segmentation][2];
 
       pcl_cloud.push_back(point);
     }

diff --git a/tmux/one_drone/config/simulator.yaml b/tmux/one_drone/config/simulator.yaml
@@ -5,9 +5,9 @@ uav_names: [
 
 graphics_settings: "low"
 
-world_name: "infinite_forest"
+world_name: "VALLEY"
 
-weather_type: "rain"
+weather_type: "sunny"
 
 daytime:
   hour: 7
@@ -48,4 +48,4 @@ sensors:
   rgb:
     enabled: true
   stereo:
-    enabled: false
+    enabled: false