def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
gpuId = 0
# objects
objectHeight = [0.007, 0.013]
objectRadius = [0.030, 0.045]
nObjects = 1000
# view
viewCenter = array([0, 0, 0])
viewKeepout = 0.60
viewWorkspace = [(-1.0, 1.0), (-1.0, 1.0), (-1.0, 1.0)]
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
rlEnv = RlEnvironment(showViewer, removeTable=True)
rlAgent = RlAgent(rlEnv, gpuId)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
obj = rlEnv.PlaceCylinderAtOrigin(objectHeight, objectRadius,
"cylinder-{}".format(objIdx), True)
cloud, normals = rlAgent.GetFullCloudAndNormals(
viewCenter, viewKeepout, viewWorkspace)
point_cloud.SaveMat("cylinder-{}.mat".format(objIdx), cloud, normals)
rlAgent.PlotCloud(cloud)
if plotImages:
point_cloud.Plot(cloud, normals, 2)
if showSteps:
raw_input("Placed cylinder-{}.".format(objIdx))
rlEnv.RemoveObjectSet([obj])
def main():
'''Entrypoint to the program.'''
# PARAMETERS =====================================================================================
# system
gpuId = 0
# objects
objectScale = [0.09, 0.17]
nObjects = 1000
directory = "/home/mgualti/Data/3DNet/Cat200_ModelDatabase/plate/"
# view
viewCenter = array([0, 0, 0])
viewKeepout = 0.60
viewWorkspace = [(-1.0, 1.0), (-1.0, 1.0), (-1.0, 1.0)]
# visualization/saving
showViewer = False
showSteps = False
plotImages = False
# INITIALIZATION =================================================================================
rlEnv = RlEnvironment(showViewer, removeTable=True)
rlAgent = RlAgent(rlEnv, gpuId)
# RUN TEST =======================================================================================
for objIdx in xrange(nObjects):
obj = rlEnv.Place3DNetObjectAtOrigin(directory, objectScale,
"plate-{}".format(objIdx), True)
cloud, normals = rlAgent.GetFullCloudAndNormals(
viewCenter, viewKeepout, viewWorkspace, False)
point_cloud.SaveMat("plate-{}.mat".format(objIdx), cloud, normals)
rlAgent.PlotCloud(cloud)
if plotImages:
point_cloud.Plot(cloud, normals, 2)
if showSteps:
raw_input("Placed plate-{}.".format(objIdx))
rlEnv.RemoveObjectSet([obj])
