3 * dyncnn is a deep-learning algorithm for the prediction of
4 * interacting object dynamics
6 * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
7 * Written by Francois Fleuret <francois.fleuret@idiap.ch>
9 * This file is part of dyncnn.
11 * dyncnn is free software: you can redistribute it and/or modify it
12 * under the terms of the GNU General Public License version 3 as
13 * published by the Free Software Foundation.
15 * dyncnn is distributed in the hope that it will be useful, but
16 * WITHOUT ANY WARRANTY; without even the implied warranty of
17 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
18 * General Public License for more details.
20 * You should have received a copy of the GNU General Public License
21 * along with dyncnn. If not, see <http://www.gnu.org/licenses/>.
40 #include "canvas_cairo.h"
42 FILE *safe_fopen(const char *name, const char *mode) {
43 FILE *file = fopen(name, mode);
45 cerr << "Cannot open " << name << endl;
51 void print_help(const char *command) {
52 cerr << command << " <nb sequences to generate> [--dir <dir>] [--seed <seed>]]" << endl;
56 //////////////////////////////////////////////////////////////////////
58 void draw_universe_on_canvas(CanvasCairo *canvas, scalar_t scaling,
60 canvas->set_line_width(1.0 / scaling);
61 universe->draw(canvas);
64 void draw_grabbing_point_on_canvas(CanvasCairo *canvas, scalar_t scaling,
65 scalar_t xg, scalar_t yg,
66 scalar_t r, scalar_t g, scalar_t b) {
67 scalar_t radius = 1/scaling;
69 scalar_t xp[n], yp[n];
70 for(int k = 0; k < n; k++) {
71 scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
72 xp[k] = xg + radius * cos(alpha);
73 yp[k] = yg + radius * sin(alpha);
75 canvas->set_drawing_color(r, g, b);
76 canvas->set_line_width(2.0);
77 canvas->draw_polygon(1, n, xp, yp);
80 //////////////////////////////////////////////////////////////////////
82 int main(int argc, char **argv) {
83 const scalar_t world_width = 400;
84 const scalar_t world_height = 400;
85 const scalar_t scaling = 0.16; // So that 400 * 0.16 = 64
87 const scalar_t dt = 0.1;
88 const int nb_iterations_per_steps = 5;
90 //////////////////////////////////////////////////////////////////////
92 // We will generate images { 0, every_nth, 2 * every_nth, ..., k * every_nth < nb_frames }
94 // The framerate every_nth may be set to smaller value to generate
95 // nice materials for presentations or papers.
100 int random_shape_size = 0;
102 char data_dir[1024] = "/tmp/";
103 int multi_images = 0;
104 int show_grabbing_point = 0;
107 //////////////////////////////////////////////////////////////////////
113 int nb_sequences = atoi(argv[1]);
117 if(strcmp(argv[i], "--dir") == 0) {
119 if(i == argc) { print_help(argv[0]);}
120 strncpy(data_dir, argv[i], sizeof(data_dir) / sizeof(char) - 1);
124 else if(strcmp(argv[i], "--seed") == 0) {
126 if(i == argc) { print_help(argv[0]); }
127 srand48(atoi(argv[i]));
131 else if(strcmp(argv[i], "--nb_shapes") == 0) {
133 if(i == argc) { print_help(argv[0]);}
134 nb_shapes = atoi(argv[i]);
138 else if(strcmp(argv[i], "--random_grasp") == 0) {
143 else if(strcmp(argv[i], "--random_shape_size") == 0) {
144 random_shape_size = 1;
148 else if(strcmp(argv[i], "--every_nth") == 0) {
150 if(i == argc) { print_help(argv[0]);}
151 every_nth = atoi(argv[i]);
155 else if(strcmp(argv[i], "--nb_frames") == 0) {
157 if(i == argc) { print_help(argv[0]);}
158 nb_frames = atoi(argv[i]);
162 else if(strcmp(argv[i], "--multi_images") == 0) {
167 else if(strcmp(argv[i], "--show_grabbing_point") == 0) {
168 show_grabbing_point = 1;
172 else if(strcmp(argv[i], "--skip") == 0) {
174 if(i == argc) { print_help(argv[0]);}
175 skip = atoi(argv[i]);
180 cerr << "Unknown option " << argv[i] << "." << endl;
185 if(nb_shapes < 1 || nb_shapes > 10) {
186 cerr << "nb_shapes has to be in {1, ..., 10}" << endl;
190 if(nb_frames < 0 || nb_frames > 50) {
191 cerr << "nb_frames has to be in {0, ..., 50}" << endl;
195 struct timeval start_time, current_time;
197 gettimeofday(&start_time, 0);
199 for(int n = 0; n < nb_sequences; n++) {
202 Polygon *grabbed_polygon;
204 universe = new Universe(nb_shapes, world_width, world_height);
206 const int nb_saved_frames = (nb_frames + every_nth - 1) / every_nth;
208 CanvasCairo *canvases[nb_saved_frames * 2];
210 for(int s = 0; s < 2 * nb_saved_frames; s++) {
211 canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height());
214 scalar_t grab_start_x, grab_start_y;
217 grab_start_x = world_width * (0.1 + 0.8 * drand48());
218 grab_start_y = world_height * (0.1 + 0.8 * drand48());
220 grab_start_x = world_width * 0.5;
221 grab_start_y = world_height * 0.75;
225 gettimeofday(¤t_time, 0);
226 int estimated_remaining_time =
227 ((nb_sequences - n) * (current_time.tv_sec - start_time.tv_sec)) / n;
229 << n+1 << "/" << nb_sequences << " sequences in "
232 << estimated_remaining_time/60 << "min"
233 << estimated_remaining_time%60 << "s remaining)."
240 const int nb_attempts_max = 100;
243 for(int u = 0; u < nb_shapes; u++) {
250 if(random_shape_size) {
251 shape_size = 40 + 80 * drand48();
257 scalar_t x[] = { - shape_size * 0.4, + shape_size * 0.4,
258 + shape_size * 0.4, - shape_size * 0.4 };
260 scalar_t y[] = { - shape_size * 0.6, - shape_size * 0.6,
261 + shape_size * 0.6, + shape_size * 0.6 };
263 scalar_t delta = shape_size / sqrt(2.0);
265 scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
266 scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
269 pol = new Polygon(0.5, 1.0, 1.0, 1.0, x, y, sizeof(x)/sizeof(scalar_t));
270 pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
271 pol->set_speed(0, 0, 0);
273 universe->initialize_polygon(pol);
276 } while(nb_attempts < nb_attempts_max && universe->collide(pol));
278 if(nb_attempts == nb_attempts_max) {
284 universe->add_polygon(pol);
288 grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
289 } while(!grabbed_polygon);
293 sprintf(buffer, "%s/%03d/", data_dir, n / 1000);
297 if(skip < 0 || n >= skip) {
299 scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
300 scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
302 for(int s = 0; s < nb_frames; s++) {
303 if(s % every_nth == 0) {
304 int t = s / every_nth;
305 scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
306 scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
308 canvases[2 * t + 0]->clear();
309 draw_grabbing_point_on_canvas(canvases[2 * t + 0], scaling,
310 xf, yf, 0.0, 0.0, 0.0);
311 canvases[2 * t + 1]->clear();
312 draw_universe_on_canvas(canvases[2 * t + 1], scaling, universe);
314 if(show_grabbing_point) {
315 draw_grabbing_point_on_canvas(canvases[2 * t + 1], scaling,
316 xf, yf, 1.0, 0.0, 0.0);
320 if(s < nb_frames - 1) {
321 // Run the simulation
322 for(int i = 0; i < nb_iterations_per_steps; i++) {
323 scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
324 scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
325 grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
326 universe->update(dt);
334 for(int j = 0; j < nb_saved_frames; j++) {
336 sprintf(buffer, "%s/%03d/dyn_%06d_grab_%02d.png", data_dir, n / 1000, n, j);
337 file = safe_fopen(buffer, "w");
338 canvases[j * 2 + 0]->write_png(file);
340 sprintf(buffer, "%s/%03d/dyn_%06d_state_%02d.png", data_dir, n / 1000, n, j);
341 file = safe_fopen(buffer, "w");
342 canvases[j * 2 + 1]->write_png(file);
346 CanvasCairo main_canvas(scaling, nb_saved_frames, 2, canvases);
347 sprintf(buffer, "%s/%03d/dyn_%06d.png", data_dir, n / 1000, n);
348 FILE *file = safe_fopen(buffer, "w");
349 main_canvas.write_png(file);
354 for(int t = 0; t < 2 * nb_saved_frames; t++) {