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map generating is optional

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This commit is contained in:
Lu Junjie 2024-10-22 17:56:24 +08:00
parent e9aa4e406d
commit 90f00a16ad
3 changed files with 9 additions and 1 deletions
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1
flightlib/configs/quadrotor_ros.yaml
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@ -24,6 +24,7 @@ rgb_camera_right:
unity: unity:
spawn_trees: true spawn_trees: true
save_pointcloud: true # set to 'false' to save startup time, if visualization is not needed.
avg_tree_spacing: 4.0 avg_tree_spacing: 4.0
bounding_box: [80.0, 80.0, 11.0] # spawn objects within this bounding box bounding_box: [80.0, 80.0, 11.0] # spawn objects within this bounding box
bounding_box_origin: [-10, 20, 2.5] bounding_box_origin: [-10, 20, 2.5]

2
flightlib/include/flightlib/ros_nodes/flight_pilot.hpp
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@ -69,6 +69,8 @@ class FlightPilot {
SceneID scene_id_{UnityScene::WAREHOUSE}; SceneID scene_id_{UnityScene::WAREHOUSE};
bool unity_ready_{false}; bool unity_ready_{false};
bool unity_render_{false}; bool unity_render_{false};
bool spawn_tree_{true};
bool save_pointcloud_{true};
RenderMessage_t unity_output_; RenderMessage_t unity_output_;
uint16_t receive_id_{0}; uint16_t receive_id_{0};
FrameID frameID{0}; FrameID frameID{0};

7
flightlib/src/ros_nodes/flight_pilot.cpp
View File

@ -44,6 +44,7 @@ FlightPilot::FlightPilot(const ros::NodeHandle& nh, const ros::NodeHandle& pnh)
spawnTreesAndSavePointCloud(); spawnTreesAndSavePointCloud();
timer_main_loop_ = nh_.createTimer(ros::Rate(main_loop_freq_), &FlightPilot::mainLoopCallback, this); timer_main_loop_ = nh_.createTimer(ros::Rate(main_loop_freq_), &FlightPilot::mainLoopCallback, this);
std::cout<<"[FlightRos] Ros Node is Ready!"<<std::endl;
} }
FlightPilot::~FlightPilot() { disconnectUnity(); } FlightPilot::~FlightPilot() { disconnectUnity(); }
@ -153,11 +154,13 @@ bool FlightPilot::setUnity(const bool render) {
} }
bool FlightPilot::spawnTreesAndSavePointCloud() { bool FlightPilot::spawnTreesAndSavePointCloud() {
if (!unity_ready_ || unity_bridge_ptr_ == nullptr) if (!unity_ready_ || unity_bridge_ptr_ == nullptr || !spawn_tree_)
return false; return false;
unity_bridge_ptr_->spawnTrees(bounding_box_, bounding_box_origin_, avg_tree_spacing_); unity_bridge_ptr_->spawnTrees(bounding_box_, bounding_box_origin_, avg_tree_spacing_);
if (!save_pointcloud_)
return true;
// Saving point cloud during the testing is much time-consuming, but can be used for evaluation. // Saving point cloud during the testing is much time-consuming, but can be used for evaluation.
// The following can be commented if evaluation is not needed. // The following can be commented if evaluation is not needed.
Vector<3> min_corner = bounding_box_origin_ - 0.5 * bounding_box_; Vector<3> min_corner = bounding_box_origin_ - 0.5 * bounding_box_;
@ -195,6 +198,8 @@ bool FlightPilot::loadParams(const YAML::Node& cfg) {
unity_render_ = cfg["unity_render"].as<bool>(); unity_render_ = cfg["unity_render"].as<bool>();
Scalar quad_size_i = cfg["quad_size"].as<Scalar>(); Scalar quad_size_i = cfg["quad_size"].as<Scalar>();
quad_size_ = Vector<3>(quad_size_i, quad_size_i, quad_size_i); quad_size_ = Vector<3>(quad_size_i, quad_size_i, quad_size_i);
spawn_tree_ = cfg["unity"]["spawn_trees"].as<bool>();
save_pointcloud_ = cfg["unity"]["save_pointcloud"].as<bool>();
avg_tree_spacing_ = cfg["unity"]["avg_tree_spacing"].as<Scalar>(); avg_tree_spacing_ = cfg["unity"]["avg_tree_spacing"].as<Scalar>();
for (int i = 0; i < 3; ++i) { for (int i = 0; i < 3; ++i) {
bounding_box_(i) = cfg["unity"]["bounding_box"][i].as<Scalar>(); bounding_box_(i) = cfg["unity"]["bounding_box"][i].as<Scalar>();