/*
- * 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/>.
- *
- */
+
+ flatland is a simple 2d physical simulator
+
+ Copyright (c) 2016 Idiap Research Institute, http://www.idiap.ch/
+ Written by Francois Fleuret <francois.fleuret@idiap.ch>
+
+ This file is part of flatland
+
+ flatland 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.
+
+ flatland 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 flatland. If not, see <http://www.gnu.org/licenses/>.
+
+*/
#include <iostream>
#include <fstream>
//////////////////////////////////////////////////////////////////////
-extern "C" void fl_generate_sequences(int nb_sequences,
- int nb_images_per_sequence,
- int width, int height,
- unsigned char *output) {
+extern "C" void fl_generate_sequence(int nb_images,
+ int width, int height,
+ int nb_shapes,
+ int random_shape_size, int random_colors,
+ int pulling,
+ 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 super_definition = 8;
+ const scalar_t world_width = width * super_definition;
+ const scalar_t world_height = height * super_definition;
+ const scalar_t scaling = 1 / super_definition;
- const scalar_t dt = 0.1;
- const int nb_iterations_per_steps = 5;
+ int nb_iterations_per_dt = 50;
+ scalar_t dt = 5.0 / scalar_t(nb_iterations_per_dt);
//////////////////////////////////////////////////////////////////////
- // We will generate images { 0, every_nth, 2 * every_nth, ..., k * every_nth < nb_simulated_frames }
+ // We will generate images { 0, nb_iterations_per_dt, 2 * nb_iterations_per_dt, ..., k * nb_iterations_per_dt < nb_simulated_frames }
- // The framerate every_nth may be set to smaller value to generate
+ // The framerate nb_iterations_per_dt 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 nb_simulated_frames = 1 + (nb_images - 1) * nb_iterations_per_dt;
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 *universe;
- Polygon *grabbed_polygon;
+ universe = new Universe(nb_shapes, world_width, world_height);
- universe = new Universe(nb_shapes, world_width, world_height);
+ const int nb_saved_frames = (nb_simulated_frames + nb_iterations_per_dt - 1) / nb_iterations_per_dt;
+ if(nb_saved_frames != nb_images) {
+ cerr << "It makes no sense." << endl;
+ abort();
+ }
- 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];
- 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());
+ }
- for(int s = 0; s < 2 * nb_saved_frames; s++) {
- canvases[s] = new CanvasCairo(scaling, universe->width(), universe->height());
- }
+ scalar_t gravity_fx = 0.0;
+ scalar_t gravity_fy = 1.0;
+
+ scalar_t grab_start_x, grab_start_y;
- scalar_t grab_start_x, grab_start_y;
+ int failed;
- 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;
+ int total_nb_attempts = 0;
+ const int max_total_nb_attempts = 1000000;
+
+ do {
+ if(pulling) {
+ 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 {
scalar_t shape_size;
if(random_shape_size) {
- shape_size = 40 + 80 * drand48();
+ shape_size = 80 + 80 * drand48();
+ } else {
+ shape_size = 120;
+ }
+
+ scalar_t red, green, blue;
+
+ if(random_colors) {
+ do {
+ red = drand48();
+ green = drand48();
+ blue = drand48();
+ } while(red < 0.9 and green < 0.9 and blue < 0.9 and
+ red > 0.1 and green > 0.1 and blue > 0.1);
} else {
- shape_size = 80;
+ red = 1.0;
+ green = 1.0;
+ blue = 1.0;
}
do {
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();
+ scalar_t object_center_x = world_width * drand48();
+ scalar_t object_center_y = world_height * drand48();
delete pol;
- pol = new Polygon(0.5, 1.0, 1.0, 1.0, x, y, sizeof(x)/sizeof(scalar_t));
+ pol = new Polygon(0.5, red, green, blue, 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));
+ } while(nb_attempts < nb_attempts_max &&
+ (universe->collide(pol) || universe->collide_with_borders(pol, 2.0 / scaling)));
if(nb_attempts == nb_attempts_max) {
delete pol;
}
}
- grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
- } while(!grabbed_polygon);
+ if(pulling) {
+ grabbed_polygon = universe->pick_polygon(grab_start_x, grab_start_y);
+ }
+ } while(pulling and !grabbed_polygon);
- if(skip < 0 || n >= skip) {
+ failed = 0;
- 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);
+ scalar_t grab_relative_x, grab_relative_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);
+ if(pulling) {
+ grab_relative_x = grabbed_polygon->relative_x(grab_start_x, grab_start_y);
+ grab_relative_y = grabbed_polygon->relative_y(grab_start_x, grab_start_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);
+ for(int s = 0; !failed && s < nb_simulated_frames; s++) {
+ if(s % nb_iterations_per_dt == 0) {
+ int t = s / nb_iterations_per_dt;
- canvases[t]->clear();
- draw_universe_on_canvas(canvases[t], 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) {
- 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);
- }
- }
- }
+ // Run the simulation
- 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)];
- }
+ if(pulling) {
+ // Pulling the grabbed rectangle
+ 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);
+ if (xf < 0 || xf >= world_width || yf < 0 || yf >= world_height) {
+ failed = 1;
}
+ grabbed_polygon->apply_force(dt, xf, yf, 0.0, -1.0);
+ } else {
+ // Gravity
+ universe->apply_gravity(dt, gravity_fx, gravity_fy);
}
+
+ universe->update(dt, 1.0 / scaling);
}
}
- for(int t = 0; t < 2 * nb_saved_frames; t++) {
- delete canvases[t];
+ total_nb_attempts++;
+
+ if(total_nb_attempts >= max_total_nb_attempts) {
+ cerr << "There was "
+ << max_total_nb_attempts
+ << " attempts at generating the sequences, aborting." << endl;
+ abort();
}
- delete universe;
+ } while(failed);
+
+ for(int t = 0; t < nb_images; t++) {
+ unsigned char *src = canvases[t]->_data;
+ unsigned char *dst = output + 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