initial commit

event_camera_simulator/esim_rendering/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(esim_rendering)
+
+find_package(catkin_simple REQUIRED)
+find_package(OpenCV REQUIRED)
+include_directories(${OpenCV_INCLUDE_DIRS})
+catkin_simple()
+
+set(HEADERS
+    include/esim/rendering/renderer_base.hpp
+    include/esim/rendering/simple_renderer_base.hpp
+)
+
+set(SOURCES
+    src/renderer_base.cpp
+    src/simple_renderer_base.cpp
+)
+
+cs_add_library(${PROJECT_NAME} ${SOURCES} ${HEADERS})
+
+cs_install()
+cs_export()

event_camera_simulator/esim_rendering/include/esim/rendering/renderer_base.hpp

@@ -0,0 +1,49 @@
+#pragma once
+
+#include <ze/common/macros.hpp>
+#include <esim/common/types.hpp>
+
+namespace event_camera_simulator {
+
+//! Represents a rendering engine that generates images (and other outputs,
+//! such as depth maps, or optical flow maps) given a scene and a camera position.
+class Renderer
+{
+public:
+  ZE_POINTER_TYPEDEFS(Renderer);
+
+  Renderer() {}
+
+  //! Render an image at a given pose.
+  virtual void render(const Transformation& T_W_C,
+                      const std::vector<Transformation>& T_W_OBJ,
+                      const ImagePtr& out_image,
+                      const DepthmapPtr& out_depthmap) const = 0;
+
+
+  //! Returns true if the rendering engine can compute optic flow, false otherwise
+  virtual bool canComputeOpticFlow() const = 0;
+
+  //! Render an image + depth map + optic flow map at a given pose,
+  //! given the camera linear and angular velocity
+  virtual void renderWithFlow(const Transformation& T_W_C,
+                      const LinearVelocity& v_WC,
+                      const AngularVelocity& w_WC,
+                      const std::vector<Transformation>& T_W_OBJ,
+                      const std::vector<LinearVelocity>& linear_velocity_obj,
+                      const std::vector<AngularVelocity>& angular_velocity_obj,
+                      const ImagePtr& out_image,
+                      const DepthmapPtr& out_depthmap,
+                      const OpticFlowPtr& optic_flow_map) const {}
+
+  //! Sets the camera
+  virtual void setCamera(const ze::Camera::Ptr& camera) = 0;
+
+  //! Get the camera rig
+  const ze::Camera::Ptr& getCamera() const { return camera_; }
+
+protected:
+  ze::Camera::Ptr camera_;
+};
+
+} // namespace event_camera_simulator

event_camera_simulator/esim_rendering/include/esim/rendering/simple_renderer_base.hpp

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <ze/common/macros.hpp>
+#include <esim/common/types.hpp>
+
+namespace event_camera_simulator {
+
+//! Represents a rendering engine that generates images + optic flow maps
+//! The rendering engine takes care of managing the environment and camera trajectory in the environment
+class SimpleRenderer
+{
+public:
+  ZE_POINTER_TYPEDEFS(SimpleRenderer);
+
+  SimpleRenderer() {}
+
+  //! Render an image + optic flow map at a given time t.
+  //! The rendering engine takes care of generating the camera trajectory, etc.
+  virtual bool render(const Time t,
+                      const ImagePtr& out_image,
+                      const OpticFlowPtr& optic_flow_map) const = 0;
+
+  //! Get the height of the image plane
+  virtual int getWidth() const = 0;
+
+  //! Get the width of the image plane
+  virtual int getHeight() const = 0;
+
+protected:
+};
+
+} // namespace event_camera_simulator

event_camera_simulator/esim_rendering/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>esim_rendering</name>
+  <version>0.0.0</version>
+  <description>Rendering engines for the event camera simulator.</description>
+
+  <maintainer email="rebecq@ifi.uzh.ch">Henri Rebecq</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>catkin_simple</buildtool_depend>
+
+  <depend>esim_common</depend>
+  <depend>ze_common</depend>
+  <depend>ze_cameras</depend>
+  <depend>gflags_catkin</depend>
+  <depend>glog_catkin</depend>
+
+</package>

event_camera_simulator/esim_rendering/src/renderer_base.cpp

@@ -0,0 +1,5 @@
+#include <esim/rendering/renderer_base.hpp>
+
+namespace event_camera_simulator {
+
+} // namespace event_camera_simulator

event_camera_simulator/esim_rendering/src/simple_renderer_base.cpp

@@ -0,0 +1,5 @@
+#include <esim/rendering/simple_renderer_base.hpp>
+
+namespace event_camera_simulator {
+
+} // namespace event_camera_simulator