/ISAACS-RadiationVisualization

Primary LanguageC#

Radiation Visualization

How to Clone This Repository

In the terminal, run:

git clone --recurse-submodules -j8 https://github.com/jeshlee121/ISAACS-RadiationVisualization

In the case of “Error: Permission denied (publickey)”

For Windows:

First make sure you have a key that is being used.

If ssh-add -l or ssh-add -l -E md5 returns "The agent has no identities.”:

Use the command ssh-keygen -t rsa to generate the keys and ssh-add /path/to/my-ssh-folder/id_rsa (e.g. path: ~/.ssh/id_rsa ) to add them. Then try ssh-add again.

Now follow this link to add a new SSH key to your GitHub account. Make sure to delete the old repo you had downloaded, and try cloning again.

How to Use the Python Scripts in ‘LBL’ Folder (HD5 Data Over Network)

Unity Side - An example of this has been created and saved in “Scenes/Visualization.unity”.

  • DataServer: Create an empty GameObject and attach Scripts/DataServer.cs.

  • PointCloud: Create another empty GameObject and attach Scripts/Visualization/CloudDataSubscriber.cs and drag the earlier 'DataServer' GameObject onto the 'Server' field.

  • Drone: Create one of the 'GameObjects/drone_model' from the Assets folder and attach Scripts/Visualization/DronePositionSubscriber.cs and drag the same 'DataServer' GameObject onto the 'Server' field.

  • Radiation: Create another empty GameObject and attach Scripts/Visualization/DronePositionSubscriber.cs and drag the same ‘DataServer’ GameObject onto the ‘Server’ field.

For both of the PointCloud and Drone object, check the "Flip YZ" on the script tab.

For the DataServer object, go to the "Listen Ports" and change the size to 3 and for each element, choose an arbitrary PORT number (e.g. 50007, 50008, 50009).

Make sure you click the check box in the Inspector for each of the above GameObjects.

Python scripts Change the HOST and PORT accordingly in the scripts:

  • host_address: Get the IP address from your terminal with the command ipconfig and replace the HOST variable with this IP address in the field Wireless LAN adapter Wi-Fi: IPv4 Address: . If you are trying to send it to your own computer, you can use HOST =LOCALHOST.
  • port_number: Make sure the PORT numbers are the same as the ones that you wrote on the DataServer object.

Press play on Unity, and then run the scripts in the folder ‘LBL’ on a command prompt with the commands,

python GeneratePosData.py --HOST <host_address> --PORT <ELEMENT0>
python GenerateRadiation.py --HOST <host_address> --PORT <ELEMENT2>
python GenerateCloud.py --HOST <host_address> --PORT <ELEMENT1>

RUN GenerateRadiation.py before GenerateCloud.py

If the flags for HOST and PORT are not provided, the default values for HOST and PORT are LOCALHOST and 50007/50008/50009 respectively.

Go back to Unity, and you’ll see the visualizations start.

Resources

On Google Drive inside ISAACS/Spring 2019/Radiation Visulization. https://drive.google.com/open?id=18_KtS9UtNDZLGDmeRgFtmxaSC26-FbCR

  • /camp_roberts

    • /roberts_recon_in_bag or data.bag contains the ros bag and the h5 data. We will be extracting drone position, radiation data from RunData.h5. (Note this RunData.h5 file is included in our git repo. No need to download and replace.)
    • /data.bag_points.ply point cloud data

  • /Dataset Information google doc contains the information for the data inside RunData.h5. (Need to understand and read carefully.)