sequence_generator.cc

   1
   2 /*
   3  *  dyncnn is a deep-learning algorithm for the prediction of
   4  *  interacting object dynamics
   5  *
   6  *  Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
   7  *  Written by Francois Fleuret <francois.fleuret@idiap.ch>
   8  *
   9  *  This file is part of dyncnn.
  10  *
  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.
  14  *
  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.
  19  *
  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/>.
  22  *
  23  */
  24
  25 #include <iostream>
  26 #include <fstream>
  27 #include <cmath>
  28 #include <stdio.h>
  29 #include <stdlib.h>
  30 #include <stdint.h>
  31 #include <errno.h>
  32 #include <string.h>
  33 #include <sys/stat.h>
  34 #include <sys/time.h>
  35
  36 using namespace std;
  37
  38 #include "misc.h"
  39 #include "universe.h"
  40 #include "canvas_cairo.h"
  41
  42 //////////////////////////////////////////////////////////////////////
  43
  44 void draw_universe_on_canvas(CanvasCairo *canvas, scalar_t scaling,
  45                              Universe *universe) {
  46   canvas->set_line_width(1.0 / scaling);
  47   universe->draw(canvas);
  48 }
  49
  50 void draw_grabbing_point_on_canvas(CanvasCairo *canvas, scalar_t scaling,
  51                                    scalar_t xg, scalar_t yg,
  52                                    scalar_t r, scalar_t g, scalar_t b) {
  53   scalar_t radius = 1/scaling;
  54   int n = 36;
  55   scalar_t xp[n], yp[n];
  56   for(int k = 0; k < n; k++) {
  57     scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
  58     xp[k] = xg + radius * cos(alpha);
  59     yp[k] = yg + radius * sin(alpha);
  60   }
  61   canvas->set_drawing_color(r, g, b);
  62   canvas->set_line_width(2.0);
  63   canvas->draw_polygon(1, n, xp, yp);
  64 }
  65
  66 //////////////////////////////////////////////////////////////////////
  67
  68 extern "C" void fl_generate_sequences(int nb_sequences,
  69                                       int nb_images_per_sequence,
  70                                       int width, int height,
  71                                       unsigned char *output) {
  72
  73   const scalar_t world_width = width * 8;
  74   const scalar_t world_height = height * 8;
  75   const scalar_t scaling = 0.125;
  76
  77   const scalar_t dt = 0.1;
  78   const int nb_iterations_per_steps = 5;
  79
  80   //////////////////////////////////////////////////////////////////////
  81
  82   // We will generate images { 0, every_nth, 2 * every_nth, ..., k * every_nth < nb_simulated_frames }
  83
  84   // The framerate every_nth may be set to smaller value to generate
  85   // nice materials for presentations or papers.
  86
  87   int every_nth = 16;
  88   int nb_simulated_frames = 1 + (nb_images_per_sequence - 1) * every_nth;
  89   int random_grasp = 1;
  90   int random_shape_size = 0;
  91   int nb_shapes = 10;
  92   int skip = -1;
  93
  94   for(int n = 0; n < nb_sequences; n++) {
  95
  96     Universe *universe;
  97     Polygon *grabbed_polygon;
  98
  99     universe = new Universe(nb_shapes, world_width, world_height);
 100
 101     const int nb_saved_frames = (nb_simulated_frames + every_nth - 1) / every_nth;
 102     if(nb_saved_frames != nb_images_per_sequence) {
 103       cerr << "It makes no sense." << endl;
 104       abort();
 105     }
 106
 107     CanvasCairo *canvases[nb_saved_frames * 2];
 108
 109     for(int s = 0; s < 2 * nb_saved_frames; s++) {
 110       canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height());
 111     }
 112
 113     scalar_t grab_start_x, grab_start_y;
 114
 115     if(random_grasp) {
 116       grab_start_x = world_width * (0.1 + 0.8 * drand48());
 117       grab_start_y = world_height * (0.1 + 0.8 * drand48());
 118     } else {
 119       grab_start_x = world_width * 0.5;
 120       grab_start_y = world_height * 0.75;
 121     }
 122
 123     do {
 124       universe->clear();
 125
 126       const int nb_attempts_max = 100;
 127       int nb_attempts = 0;
 128
 129       for(int u = 0; u < nb_shapes; u++) {
 130         Polygon *pol = 0;
 131
 132         nb_attempts = 0;
 133
 134         scalar_t shape_size;
 135
 136         if(random_shape_size) {
 137           shape_size = 40 + 80 * drand48();
 138         } else {
 139           shape_size = 80;
 140         }
 141
 142         do {
 143           scalar_t x[] = { - shape_size * 0.4, + shape_size * 0.4,
 144                            + shape_size * 0.4, - shape_size * 0.4 };
 145
 146           scalar_t y[] = { - shape_size * 0.6, - shape_size * 0.6,
 147                            + shape_size * 0.6, + shape_size * 0.6 };
 148
 149           scalar_t delta = shape_size / sqrt(2.0);
 150
 151           scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
 152           scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
 153
 154           delete pol;
 155           pol = new Polygon(0.5, 1.0, 1.0, 1.0, x, y, sizeof(x)/sizeof(scalar_t));
 156           pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
 157           pol->set_speed(0, 0, 0);
 158
 159           universe->initialize_polygon(pol);
 160
 161           nb_attempts++;
 162         } while(nb_attempts < nb_attempts_max && universe->collide(pol));
 163
 164         if(nb_attempts == nb_attempts_max) {
 165           delete pol;
 166           u = -1;
 167           universe->clear();
 168           nb_attempts = 0;
 169         } else {
 170           universe->add_polygon(pol);
 171         }
 172       }
 173
 174       grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
 175     } while(!grabbed_polygon);
 176
 177     if(skip < 0 || n >= skip) {
 178
 179       scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
 180       scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
 181
 182       for(int s = 0; s < nb_simulated_frames; s++) {
 183         if(s % every_nth == 0) {
 184           int t = s / every_nth;
 185           // scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
 186           // scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
 187
 188           // canvases[2 * t + 0]->clear();
 189           // draw_grabbing_point_on_canvas(canvases[2 * t + 0], scaling,
 190           // xf, yf, 0.0, 0.0, 0.0);
 191           // canvases[2 * t + 1]->clear();
 192           // draw_universe_on_canvas(canvases[2 * t + 1], scaling, universe);
 193
 194           canvases[t]->clear();
 195           draw_universe_on_canvas(canvases[t], scaling, universe);
 196
 197           // if(show_grabbing_point) {
 198           // draw_grabbing_point_on_canvas(canvases[2 * t + 1], scaling,
 199           // xf, yf, 1.0, 0.0, 0.0);
 200           // }
 201         }
 202
 203         if(s < nb_simulated_frames - 1) {
 204           // Run the simulation
 205           for(int i = 0; i < nb_iterations_per_steps; i++) {
 206             scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
 207             scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
 208             grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
 209             universe->update(dt, 1.0 / scaling);
 210           }
 211         }
 212       }
 213
 214       for(int t = 0; t < nb_images_per_sequence; t++) {
 215         unsigned char *src = canvases[t]->_data;
 216         unsigned char *dst = output + (n * nb_images_per_sequence + t) * width * height * 3;
 217         for(int d = 0; d < 3; d++) {
 218           for(int y = 0; y < height; y++) {
 219             for(int x = 0; x < width; x++) {
 220               dst[x + width * (y + height * d)] = src[d + 4 * (x + width * y)];
 221             }
 222           }
 223         }
 224       }
 225     }
 226
 227     for(int t = 0; t < 2 * nb_saved_frames; t++) {
 228       delete canvases[t];
 229     }
 230
 231     delete universe;
 232   }
 233 }