LIRS World Construction Tool - Automatic tool for gazebo world construction: from a grayscale image to a 3d solid model
This utility provides automatic converting to DAE file format from PNG/JPG grayscale image
Full information about the utility with test results is published in the article:
B. Abbyasov, R. Lavrenov, A. Zakiev, K. Yakovlev, M. Svinin, and E. Magid, “Automatic tool for gazebo world construction: from a grayscale image to a 3d solid model”, International Conference on Robotics and Automation (ICRA), 2020, pp. 7226-7232.
Cite this article if you use the LIRS-WCT utility
This project fork from gitlab.
Clone the repository:
git clone https://gitlab.com/LIRS_Projects/LIRS-WCT lirs-wctRun the script:
./deploy.shCompilation is done.
Enter to a release directory:
cd releaseIt opens the release directory.
The release folder contains both the console (lirs_wct_console) and the GUI (lirs_wct_gui) versions of the utility.
Running of LIRS-WCT is straightforward and can be accomplished with two commands depending on the type of interaction interface:
./lirs_wct_gui./lirs_wct_console
Run the GUI version:
./lirs_wct_gui| Parameter | Description |
|---|---|
| -h, –help | Help screen |
| -i, –input-filepath= | Set an absolute path to a source grayscale image (required) |
| -o, –output-filename= | Set a filename for a generated mesh model (required) |
| -f, –output-folder= | Set a folder for output files (required) |
| -t, –texture | Set texture for generated mesh model (required) |
| -p, –png-to-stl | Convert a png file to stl model (optional) |
| -k, –png-to-dae | Convert a grayscale png image to dae model (optional-default) |
| -s, –stl-to-dae | Convert a stl file model to dae model (optional) |
| -c, –color-inverse | Using a preliminary image color inverse (optional) |
| -z, –z-scale= | Set z-axis scale factor (affects output model height) (optional) |
| -g, –grayscale= | Convert an arbitrary image to grayscale (optional) |
| -l, –scale= | Set xyz-axis scale factor (affects output model dimensions) (optional) |
| -x, –x-rotate= | Set x-axis rotate angle (default value is -90 degrees) |
In the example folder you can find some materials for the model making.
./lirs_wct_console -i ../example/map4.png -o map4 -f ../test4 -t ../example/texture3.jpg -k -z 0.15 -l 0.05
Convert the PNG file to the STL 3D-model. Note that the STL file does not support texture applying. Instead you could use the DAE model
./lirs_wct_console -i ../example/map1.png -o map1 -f ../test2 -p -z 0.15
./lirs_wct_console -i ../test2/map1.stl -o map3 -f ../test3 -t ../example/texture8.jpg -s -z 0.15 -l 0.05
The generated WORLD file can be loaded into Gazebo by the following command:
gazebo generated_world.world
