SESGen 1.3.0.0 User Guide
Contents
1. EGO 0 0 0 0 0 3 0 1 3 0 0 0 Figure 3 Editor Window Using the editor window you can load and save scripts that define scenes If you press Prepare button a scene defined in the editor window not in file will be gener ated Information about the number of frames and the number of scene objects will be displayed In the editing windows Baseline Focal length you can define baseline of the stereovison system i e the distance between cameras in opengl distance unit and the focal length of the camera correspondingly Note hovever that by changing image reso lution the selection the focal length of the camera given in pixels will be also changed This is because angle view of the camera changes accordingly The current colour pallete is displayed directly above the editing script field By selecting a colour or greyscale rectangle colour or grayscale identification number will be displayed This feature helps in defining scenes Piotr Skulimowski and Pawel Strumillo Lodz University of Technology Institute of Electronics2. JP SESGen Scene editor P D ASESGenExamplestsceneexample txt Select File Movement generator Save Ea a Start 1025 Number of Frames 5 Z G Step 0 25 Number of Objects 9 M Retum frame No Frames 120 El Baseline 0 12 Generate Hint Angles in degrees _ _ Focal length 389 0 LAA Background SPHERE id 254 texture 1 colour 1 0 11 0 11 0 position 0 0 0 0 0 0 1 0 0 0 0 0 dim 24 65 SPHERE id 25 texture 9 colour 1 0 1 0 1 0 position 0 0 1 0 0 2 0 0 0 0 0 0 dim 0 65 CUBOID id 40 texture 5 colour 1 0 1 0 1 0 position 1 5 0 5 0 5 0 0 0 0 0 0 dim 0 2 0 2 2 CUBOID id 45 texture 5 colour 1 0 1 0 1 0 position 1 5 2 5 0 5 0 0 0 0 0 0 dim 0 2 0 2 2 CYLINDER id 50 texture 1 colour 1 0 1 0 1 0 position 0 0 0 3 1 4 0 0 0 0 0 0 dim 0 45 0 1 2 m QUAD id 100 texture 10 colour 1 0 1 0 1 0 vertices 1 6 2 0 1 4 1 6 6 0 1 4 1 6 6 0 2 4 1 6 2 0 2 4 QUAD id 120 texture 10 colour 1 0 1 0 1 0 vertices 1 6 2 0 1 4 1 6 6 0 1 4 1 6 6 0 2 4 1 6 2 0 2 4 QUAD id 140 texture 10 colour 1 0 1 0 1 0 vertices 1 6 6 0 1 4 1 6 6 0 1 4 1 6 6 0 2 4 1 6 6 0 2 4 QUAD id 160 texture 0 colour 1 0 1 0 0 5 vertices 1 6 2 0 1 4 1 6 2 0 1 4 1 6 6 0 1 4 1 6 6 0 1 4 EGO 0 0 0 0 0 1 0 1 0 0 0 0 EGO 0 0 0 0 0 2 0 1 0 0 0 0
3. Gen s main window is shown in figure 2 fa luti Choose resolution ron Folder C 800 x 600 C Stemp Select C 1024 x 768 Apply po y Background color Sepence n 0 E R 0 Select camera Left I Subpixel Disparity G 255 lx B 255 H C Right iat pte rd of Lodz I Color pallete in segmentation Preview oniy Institute of Electronics Anti liasing Filter http www eletel p lodz pl pskul Start pskul p lodz pl Figure 2 SESGen Main Window Using the main window you can select resolution of the images and specify a folder where images and other data files will be stored along with the sequence number The program automatically creates a subfolder named with the selected sequence number Note however that if the earlier defined sequence number is displayed it will be over written by a new sequence You can select also which camera images left or right will be generated and you can set scene background colour If you choose Preview only no Piotr Skulimowski and Pawel Strumillo Lodz University of Technology Institute of Electronics files will be saved to the folder If Color pallete in segmentation is checked a pseudo color pallete will be used instead of grayscale in the segmentation map You can also turn on the antialiasing filter Press Start to start generating sequence progress bar will be displayed 4 2 Editor window SESGen s editor window is shown in figure 3 r
4. Images for the right camera are generated by translating virtual camera by a defined in program base value in x direction 2 Scene and motion description language 2 1 Paremeters 2 1 1 Setting focal length If focal length is not declared in the script it s value is taken from the GUI To set focal length value use FOCALLENGTH keyword 1 e FOCALLENGTH 300 2 1 2 Setting baseline If baseline is not declared in the script it s value is taken from the GUI To set baseline value use BASELINE keyword i e BASELINE 0 12 2 1 3 Noise Gaussian noise can be added to the left and right images Standard deviation can be defined in the script 1 e NOISE 2 0 If NOISE keyword is not used the noise will not be added to the images 2 1 4 Fog To enable fog effect use FOG keyword FOG Piotr Skulimowski and Pawel Strumillo Lodz University of Technology Institute of Electronics 2 2 Objects Each object in the scene is described by a single line described by a keyword and a set of parameters for example CYLINDER id 50 texture 1 colour 1 0 1 0 1 0 position 0 0 0 3 1 4 0 0 0 0 0 0 dim 0 45 0 1 2 Parameter names and their values are separated by semicolon Parameters names can be ommited so you can rewrite the command defining the CYLINDER object to the following script CYLINDER 50 1 1 0 1 0 1 0 0 0 0 3 1 4 0 0 0 0 0 0 0 45 0 1 2 e idis the id of an object in the segmented
5. SESGen 1 3 0 0 User Guide Piotr Skulimowski and Pawel Strumillo March 9 2015 pskulp lodz pl Contents 3 3 AA gs kd eh Bee eR EER EER EE REE REE RES 3 2 1 1 Setting focal length 1 502 264 25 iris HS 3 DP Sig oh eae ok ee Pee a ee eee 3 ALS NDS os a s Beek eRe eK eS ee ee eh ee 3 CAA A 3 Oe Ae ok ee amp AG RE RK A Kee RE ERAGE EE 4 2 2 1 Primitive specific parameters 4 4 a ae ee ee aa 5 eee eee eee e aa 5 3 Images format 6 3 0 1 bindisp_XXXX dat and Ibindisp_XXXX dat 6 3 0 2 disp XXXX bmp Idisp XXXX bmp 6 3 0 3 disp p XXXX bmp Idisp_p_XXXX bmp 7 3 0 4 right XXXX bmp left XXXX bmp 7 3 0 5 seg_r XXXX bmp seg l XXXX bMPl 7 4 Other settings 7 4 1 NAUSEAS T Oe oe A E E A A DAS 8 Piotr Skulimowski and Pawel Strumillo Lodz University of Technology Institute of Electronics 1 Introduction SESGen is the software tool designed for generating stereoscopic image sequences of synthetic 3D scenes containing surfaces and textured objects Image sequences are recorded by a freely moving stereo rig along the motion path defined by the User For each of the generated frames the left and right stereovision images the corresponding ground truth disparity map and a segmentation map of scene image are producedTo facilitate scene generation task a simple script language and its interpreter are of help The reference camera is the left camera
6. enerator is included in the program Using checkboxes you can choose which ego motion com ponents will be changed from defined start value with defined step for example for the parameters set as shown in figure 1 the following listing will be automatically generated EGO 0 000 0 250 0 000 0 000 0 000 0 000 EGO 0 000 0 500 0 000 0 000 0 000 0 000 EGO 0 000 0 750 0 000 0 000 0 000 0 000 EGO 0 000 1 000 0 000 0 000 0 000 0 000 EGO 0 000 1 250 0 000 0 000 0 000 0 000 EGO 0 000 1 500 0 000 0 000 0 000 0 000 Piotr Skulimowski and Pawel Strumillo Lodz University of Technology Institute of Electronics Movement generator lit OR Start 0 25 lv Y TB mi iG Step 0 25 Return frame No Frames 6 a Generate i Hint Angles in degrees Figure 1 Movement Generator If Return frame is checked it allows to generate a set of forward backward move ment for example 1f you want to test your algorithms for different values of parameters but from the same start frame EGO 0 000 0 250 0 000 0 000 0 000 0 000 EGO 0 000 0 250 0 000 0 000 0 000 0 000 EGO 0 000 0 500 0 000 0 000 0 000 0 000 EGO 0 000 0 500 0 000 0 000 0 000 0 000 EGO 0 000 0 750 0 000 0 000 0 000 0 000 EGO 0 000 0 750 0 000 0 000 0 000 0 000 3 Images format SESGen generates a set of output files containing scene images disparity maps and segmentation maps Each file na
7. image Hence you can build complicated objects using primitives defined in this application To choose proper id you can choose it from the color boxes above the editor window e texture id of the texture available in this application you can also use your own textures just replace texture files with your own file in the same format and reso lution if you do not want to define texture for an object just put negative value for example 1 e three values of color components texture pixels can by multiplied by this values if you do not want to change texture colour use unit values as in the given example e six values i e three translation parameters tr try tr and three rotation param eters rot roty rote define 6DoF movement of each primitive object except QUAD LTranslated tr_x tr_y tr_z LRotated rot_a 1 0 0 0 O LRotated rot_b 0 0 1 0 O Rotated rot_g 0 0 0 0 1 y OOO g g g g e primitive specific parameters 2 2 1 Primitive specific parameters SPHERE Draws a sphere of the given radius centered around the origin parameters e radius CYLINDER Draws a cylinder oriented along the z axis The base of the cylinder is placed at z 0 and the top at z height e baseRadius radius of the cylinder at z 0 e topRadius radius of the cylinder at z height e height height of the cylinder Piotr Skulimowski and Pawel Strumillo Lodz Univers
8. ity of Technology Institute of Electronics CUBOID Draws a cuboid oriented along the z axis the base of the cuboid is placed at z sz 2 and the top at sz 2 opposite vertices of the cuboid are at sx 2 sy 2 sz 2 and sx 2 sy 2 sz 2 e sx cuboid first dimension e sy cuboid second dimension e sz cuboid third dimension Note SPHERE CYLINDER and CUBOID can be rotated and translated 2 2 2 quadrangle QUAD Quadrangles cannot be rotated and translarted they are defined by their vertices in the scene Moreover the user additionally should take care of defining coordinates of the vertices to be coplanar but they don t have to be coplanar QAUD needs 12 parame ters 3 parameters per vertex 2 3 Camera movement definition The keyword EGO is used for defining frame to frame egomotion parameters In order to increase the precision of the camera movement the frame to frame motion is subdi vided into an arbitrarily selected number of in between frames e g S 256 according to the following OpenGL program code for int j3 0 5 lt S j glTranslated tr_x S tr_y S tr_z S glRotated rot_a S 1 0 0 0 0 0 glRotated rot_b S 0 0 1 0 0 0 glRotated rot_g S 0 0 0 0 1 0 where tr try trz is the translation vector and rot rots rotg is the rotation vector defining camera motion between two consecutive frames To generate a sequence of EGO descriptions simple but useful movement g
9. me contains frame number stored in 4 digits 3 0 1 bindisp_ XXXX dat and Ibindisp_XXXX dat Ground truth disparity map for the right and left images stored in plain text format first two lines contain image resolution next lines contain disparity values corresponding to a sequence of pixels starting from top left image pixel and scanned along consecutive image rows for example 1024 768 35 687587134066753 35 6178177919107384 35 5480484497547167 35 4782791075987021 35 408504282586712 3 0 2 disp_XXXX bmp Idisp_XXXX bmp Disparity map for the right and left image in the bmp format with subpixel accuracy Images are in grayscale R G B disp 255 70 where disp is float number Piotr Skulimowski and Pawel Strumillo Lodz University of Technology Institute of Electronics 3 0 3 disp_p_XXXX bmp Idisp_p_XXXX bmp Disparity map for the right and left image in the bmp format with pixel accuracy Images are in grayscale R G B disp 255 70 where disp is integer value 3 0 4 right_XXXX bmp left_XXXX bmp The right and left colour image in the bmp format 3 0 5 seg _r_ XXXX bmp seg _ _ XXXX bmp Segmentation maps for the right and left image in the bmp format If grayscale mode is selected R G B id where id identification number of the object If pseudo color mode is selected pixel value depends on pseudocolor map values for identification number of the object 4 Other settings 4 1 Main window SES
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