This plugin is a port of the old ModelPropShop plugin from gazebo classic. It generates 5 pictures of a model: perspective, top, front, side and back. It can do it using the default position or moving the joint to random positions. It allows saving the camera and joint poses so it can be replicated in other systems. More...

#include <ModelPhotoShoot.hh>

Public Member Functions
	ModelPhotoShoot ()
	Constructor.

	~ModelPhotoShoot () override=default
	Destructor.

void	Configure (const Entity &_id, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override
	Configure the system.

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

Detailed Description

This plugin is a port of the old ModelPropShop plugin from gazebo classic. It generates 5 pictures of a model: perspective, top, front, side and back. It can do it using the default position or moving the joint to random positions. It allows saving the camera and joint poses so it can be replicated in other systems.

System Parameters

<translation_data_file> - Location to save the camera and joint poses. [Optional]
<random_joints_pose> - Set to true to take pictures with the joints in random poses instead of the default ones. This option only supports single axis joints. [Optional]
A camera sensor must be set in the SDF file as it will be used by the plugin to take the pictures. This allows the plugin user to set the camera parameters as needed. [Required]

Example

An example configuration is installed with Gazebo. The example uses the Ogre2 rendering plugin to set the background color of the pictures. It also includes the camera sensor that will be used along with the corresponding parameters so they can be easily tunned.

To run the example:

gz sim model_photo_shoot.sdf -s -r --iterations 50

This will start gazebo, load the model take the pictures and shutdown after 50 iterations. You will find the pictures in the same location you run the command.

System that takes snapshots of an sdf model

Constructor & Destructor Documentation

◆ ModelPhotoShoot()

ModelPhotoShoot ( )

Constructor.

◆ ~ModelPhotoShoot()

~ModelPhotoShoot ( )

overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure	(	const Entity &	_entity,
		const std::shared_ptr< const sdf::Element > &	_sdf,
		EntityComponentManager &	_ecm,
		EventManager &	_eventMgr
	)

overridevirtual

Configure the system.

Parameters

[in]	_entity	The entity this plugin is attached to.
[in]	_sdf	The SDF Element associated with this system plugin.
[in]	_ecm	The EntityComponentManager of the given simulation instance.
[in]	_eventMgr	The EventManager of the given simulation instance.