--- /dev/null
+
+/*
+ * dyncnn is a deep-learning algorithm for the prediction of
+ * interacting object dynamics
+ *
+ * Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
+ * Written by Francois Fleuret <francois.fleuret@idiap.ch>
+ *
+ * This file is part of dyncnn.
+ *
+ * dyncnn is free software: you can redistribute it and/or modify it
+ * under the terms of the GNU General Public License version 3 as
+ * published by the Free Software Foundation.
+ *
+ * dyncnn is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with dyncnn. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#include <iostream>
+#include <fstream>
+#include <cmath>
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <errno.h>
+#include <string.h>
+#include <sys/stat.h>
+#include <sys/time.h>
+
+using namespace std;
+
+#include "misc.h"
+#include "universe.h"
+#include "canvas_cairo.h"
+
+//////////////////////////////////////////////////////////////////////
+
+void draw_universe_on_canvas(CanvasCairo *canvas, scalar_t scaling,
+ Universe *universe) {
+ canvas->set_line_width(1.0 / scaling);
+ universe->draw(canvas);
+}
+
+void draw_grabbing_point_on_canvas(CanvasCairo *canvas, scalar_t scaling,
+ scalar_t xg, scalar_t yg,
+ scalar_t r, scalar_t g, scalar_t b) {
+ scalar_t radius = 1/scaling;
+ int n = 36;
+ scalar_t xp[n], yp[n];
+ for(int k = 0; k < n; k++) {
+ scalar_t alpha = 2 * M_PI * scalar_t(k) / scalar_t(n);
+ xp[k] = xg + radius * cos(alpha);
+ yp[k] = yg + radius * sin(alpha);
+ }
+ canvas->set_drawing_color(r, g, b);
+ canvas->set_line_width(2.0);
+ canvas->draw_polygon(1, n, xp, yp);
+}
+
+//////////////////////////////////////////////////////////////////////
+
+extern "C" void fl_generate_sequences(int nb_sequences,
+ int nb_images_per_sequence,
+ int width, int height,
+ unsigned char *output) {
+
+ const scalar_t world_width = width * 8;
+ const scalar_t world_height = height * 8;
+ const scalar_t scaling = 0.125;
+
+ const scalar_t dt = 0.1;
+ const int nb_iterations_per_steps = 5;
+
+ //////////////////////////////////////////////////////////////////////
+
+ // We will generate images { 0, every_nth, 2 * every_nth, ..., k * every_nth < nb_simulated_frames }
+
+ // The framerate every_nth may be set to smaller value to generate
+ // nice materials for presentations or papers.
+
+ int every_nth = 16;
+ int nb_simulated_frames = 1 + (nb_images_per_sequence - 1) * every_nth;
+ int random_grasp = 1;
+ int random_shape_size = 0;
+ int nb_shapes = 10;
+ int skip = -1;
+
+ for(int n = 0; n < nb_sequences; n++) {
+
+ Universe *universe;
+ Polygon *grabbed_polygon;
+
+ universe = new Universe(nb_shapes, world_width, world_height);
+
+ const int nb_saved_frames = (nb_simulated_frames + every_nth - 1) / every_nth;
+ if(nb_saved_frames != nb_images_per_sequence) {
+ cerr << "It makes no sense." << endl;
+ abort();
+ }
+
+ CanvasCairo *canvases[nb_saved_frames * 2];
+
+ for(int s = 0; s < 2 * nb_saved_frames; s++) {
+ canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height());
+ }
+
+ scalar_t grab_start_x, grab_start_y;
+
+ if(random_grasp) {
+ grab_start_x = world_width * (0.1 + 0.8 * drand48());
+ grab_start_y = world_height * (0.1 + 0.8 * drand48());
+ } else {
+ grab_start_x = world_width * 0.5;
+ grab_start_y = world_height * 0.75;
+ }
+
+ do {
+ universe->clear();
+
+ const int nb_attempts_max = 100;
+ int nb_attempts = 0;
+
+ for(int u = 0; u < nb_shapes; u++) {
+ Polygon *pol = 0;
+
+ nb_attempts = 0;
+
+ scalar_t shape_size;
+
+ if(random_shape_size) {
+ shape_size = 40 + 80 * drand48();
+ } else {
+ shape_size = 80;
+ }
+
+ do {
+ scalar_t x[] = { - shape_size * 0.4, + shape_size * 0.4,
+ + shape_size * 0.4, - shape_size * 0.4 };
+
+ scalar_t y[] = { - shape_size * 0.6, - shape_size * 0.6,
+ + shape_size * 0.6, + shape_size * 0.6 };
+
+ scalar_t delta = shape_size / sqrt(2.0);
+
+ scalar_t object_center_x = delta + (world_width - 2 * delta) * drand48();
+ scalar_t object_center_y = delta + (world_height - 2 * delta) * drand48();
+
+ delete pol;
+ pol = new Polygon(0.5, 1.0, 1.0, 1.0, x, y, sizeof(x)/sizeof(scalar_t));
+ pol->set_position(object_center_x, object_center_y, M_PI * 2 * drand48());
+ pol->set_speed(0, 0, 0);
+
+ universe->initialize_polygon(pol);
+
+ nb_attempts++;
+ } while(nb_attempts < nb_attempts_max && universe->collide(pol));
+
+ if(nb_attempts == nb_attempts_max) {
+ delete pol;
+ u = -1;
+ universe->clear();
+ nb_attempts = 0;
+ } else {
+ universe->add_polygon(pol);
+ }
+ }
+
+ grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
+ } while(!grabbed_polygon);
+
+ if(skip < 0 || n >= skip) {
+
+ scalar_t grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
+ scalar_t grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_y);
+
+ for(int s = 0; s < nb_simulated_frames; s++) {
+ if(s % every_nth == 0) {
+ int t = s / every_nth;
+ // scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
+ // scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
+
+ // canvases[2 * t + 0]->clear();
+ // draw_grabbing_point_on_canvas(canvases[2 * t + 0], scaling,
+ // xf, yf, 0.0, 0.0, 0.0);
+ // canvases[2 * t + 1]->clear();
+ // draw_universe_on_canvas(canvases[2 * t + 1], scaling, universe);
+
+ canvases[t]->clear();
+ draw_universe_on_canvas(canvases[t], scaling, universe);
+
+ // if(show_grabbing_point) {
+ // draw_grabbing_point_on_canvas(canvases[2 * t + 1], scaling,
+ // xf, yf, 1.0, 0.0, 0.0);
+ // }
+ }
+
+ if(s < nb_simulated_frames - 1) {
+ // Run the simulation
+ for(int i = 0; i < nb_iterations_per_steps; i++) {
+ scalar_t xf = grabbed_polygon->absolute_x(grab_relative_x, grab_relative_y);
+ scalar_t yf = grabbed_polygon->absolute_y(grab_relative_x, grab_relative_y);
+ grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
+ universe->update(dt, 1.0 / scaling);
+ }
+ }
+ }
+
+ for(int t = 0; t < nb_images_per_sequence; t++) {
+ unsigned char *src = canvases[t]->_data;
+ unsigned char *dst = output + (n * nb_images_per_sequence + t) * width * height * 3;
+ for(int d = 0; d < 3; d++) {
+ for(int y = 0; y < height; y++) {
+ for(int x = 0; x < width; x++) {
+ dst[x + width * (y + height * d)] = src[d + 4 * (x + width * y)];
+ }
+ }
+ }
+ }
+ }
+
+ for(int t = 0; t < 2 * nb_saved_frames; t++) {
+ delete canvases[t];
+ }
+
+ delete universe;
+ }
+}
projects / flatland.git / blobdiff