astoeckel / cylinder_world

Python one-dimensional omnidirectional panorama renderer for a toy "cylinder world"

Cylinder World Renderer

Renders one-dimensional panoramic images in a toy "cylinder world". An agent is located on the plane in an environment consisting of a randomly textured cylinder. The agent measures the light intensity of its surroundings in a 360° range, resulting in a one-dimensional panoramic image.

This code is mostly meant to generate toy-datasets for machine learning experiments.

Features

• Analytic anti-aliasing
  The random cylinder texture is automatically filtered to avoid aliasing artefacts.
• Analytic gradient
  Can compute the image-space gradient. This is useful when testing optical flow algorithms.
• Depth
  Can compute a ground-truth depth-map.

How to use

import numpy as np
from cylinder_world import CylinderWorld

world = CylinderWorld(
	resolution=256,    # Number of pixels to render
	n_coeffs=32,       # Number of Fourier coefficients for the texture
	radius=2,          # Radius of the cylinder
	rng=np.random)

# Render the view at location (0.5, -0.4) with orientation np.pi / 2.
# Note all points must be located within the cylinder. The x-, y-, and theta-
# coordinates can be an array to render the view at multiple locations.
world.render(0.5, -0.4, np.pi / 2)

Installation and Testing

This package depends on numpy. Simply install this package using pip.

git clone https://github.com/astoeckel/cylinder_world
cd cylinder_world
pip install -e .

For unit-tests, install pytest and simply run pytest from the repository root directory.

License

Cylinder World Renderer
Copyright (C) 2021 Andreas Stöckel

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see https://www.gnu.org/licenses/.