This example intends to create a large dataset of randomized scenes of up to 10 objects, namely boxes, spheres and cylinders, collecting both fully simulated Full-HD images and each object's classification and bounding box.
Generate custom textures and have Gazebo load them at launch.
Gazebo expects custom scripts to be present in media/materials with the material descriptions in media/materials/scripts in a .material file, and it assumes the texture images mentioned in these files are in media/materials/textures/.
You can setup your own media directory in any location provided you export it to GAZEBO_RESOURCE_PATH:
# e.g. assuming you have a `/DATA/media` directory
export GAZEBO_RESOURCE_PATH=${GAZEBO_RESOURCE_PATH}:/DATA/The VisualUtils plugin is designed to randomly pick an available material in a round-robin fashion provided its name matches a given prefix (e.g Plugin/flat or Plugin/perlin). We provide a tool for random texture generation.
You may want to concatenate each resulting .material script into a single one, similarly to plugin.material.
Open up two terminals in the root directory of the repository. On terminal 1 run gazebo server:
cd ~/workspace/gap/ &&
source setup.sh &&
gzserver worlds/spawner.worldOn terminal 2 run the example client:
cd ~/workspace/gap/ &&
./build/bin/scene_example -s 200 -d ./train/SHAPES2018/dataset/ -i ./train/SHAPES2018/images/ This should generate a dataset with 200 images, spread across two subdirectories 000 and 100.
This is due to performance concerns.
You can use scene_example --help to obtain an explanation of each command-line argument.
We provide a debugging tool written in Python 3, which relies on Tkinter and Pillow to create the GUI, and shows the resulting dataset, one image at a time. To install Tkinter and Pillow in Ubuntu systems run
sudo apt install python3-tk &&
sudo pip3 install Pillow
