static std::vector<ImageRequest> from(
const std::vector<msr::airlib::VehicleCameraBase::ImageRequest>& request
) {
std::vector<ImageRequest> request_adaptor;
for (const auto& item : request)
request_adaptor.push_back(ImageRequest(item));
return request_adaptor;
}
int generate(int num_samples)
{
msr::airlib::MultirotorRpcLibClient client;
client.confirmConnection();
msr::airlib::ClockBase* clock = msr::airlib::ClockFactory::get();
RandomPointPoseGenerator pose_generator(static_cast<int>(clock->nowNanos()));
std::fstream file_list(FileSystem::combine(storage_dir_, "files_list.txt"),
std::ios::out | std::ios::in | std::ios_base::app);
int sample = getImageCount(file_list);
common_utils::ProsumerQueue<ImagesResult> results;
std::thread result_process_thread(processImages, & results);
try {
while(sample < num_samples) {
//const auto& collision_info = client.getCollisionInfo();
//if (collision_info.has_collided) {
// pose_generator.next();
// client.simSetPose(pose_generator.position, pose_generator.orientation);
// std::cout << "Collison at " << VectorMath::toString(collision_info.position)
// << "Moving to next pose: " << VectorMath::toString(pose_generator.position)
// << std::endl;
// continue;
//}
++sample;
auto start_nanos = clock->nowNanos();
std::vector<ImageRequest> request = {
ImageRequest(0, ImageType::Scene),
ImageRequest(1, ImageType::Scene),
ImageRequest(1, ImageType::DisparityNormalized, true)
};
const std::vector<ImageResponse>& response = client.simGetImages(request);
if (response.size() != 3) {
std::cout << "Images were not recieved!" << std::endl;
start_nanos = clock->nowNanos();
continue;
}
ImagesResult result;
result.file_list = &file_list;
result.response = response;
result.sample = sample;
result.render_time = clock->elapsedSince(start_nanos);;
result.storage_dir_ = storage_dir_;
result.position = pose_generator.position;
result.orientation = pose_generator.orientation;
results.push(result);
pose_generator.next();
client.simSetPose(Pose(pose_generator.position, pose_generator.orientation), true);
}
} catch (rpc::timeout &t) {
// will display a message like
// rpc::timeout: Timeout of 50ms while calling RPC function 'sleep'
std::cout << t.what() << std::endl;
}
results.setIsDone(true);
result_process_thread.join();
return 0;
}
void GDALWMSMiniDriver_AGS::TiledImageRequest(CPLString *url,
const GDALWMSImageRequestInfo &iri,
CPL_UNUSED const GDALWMSTiledImageRequestInfo &tiri)
{
ImageRequest(url, iri);
}
