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https://gitlab.com/LIRS_Projects_archives/LIRS-WCT

The tool for creating 3D solid models from a 2D-image.
https://gitlab.com/LIRS_Projects_archives/LIRS-WCT

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The tool for creating 3D solid models from a 2D-image.

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# 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

# Installation

Clone the repository:

```sh

git clone https://gitlab.com/LIRS_Projects/LIRS-WCT lirs-wct

```

Run the script:

```sh

./deploy.sh

```

Compilation is done.

Enter to a ``` release ``` directory:

```sh

cd release

```

It 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:

#### GUI version:

```sh

./lirs_wct_gui

```

-----------------

#### Command-Line version:

```sh

./lirs_wct_console

```

# Usage

## GUI version

![Alt text](https://gitlab.com/LIRS_Projects/LIRS-WCT/raw/master/example/screenshots/LIRS-WCTv2.png?raw=true?raw=true "LIRS-WCT GUI")



Run the GUI version:

```sh

./lirs_wct_gui

```



## Command-Line version

### Parameters



| 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)  |



## Testing



In the ```example``` folder you can find some materials for the model making.



#### PNG to DAE

##### Convert the PNG file to the DAE 3D-model

```

./lirs_wct_console -i ../example/map4.png -o map4 -f ../test4 -t ../example/texture3.jpg -k -z 0.15 -l 0.05

```

![Alt text](https://gitlab.com/LIRS_Projects/LIRS-WCT/raw/master/example/screenshots/game.png?raw=true "The game")



#### PNG to STL

##### 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

```sh

./lirs_wct_console -i ../example/map1.png -o map1 -f ../test2 -p -z 0.15

```

![Alt text](https://gitlab.com/LIRS_Projects/LIRS-WCT/raw/master/example/screenshots/labyrinth_stl.png?raw=true "The naked labyrinth")



#### STL to DAE

##### Convert the the STL 3D-model to the DAE 3D-model

```sh

./lirs_wct_console -i ../test2/map1.stl -o map3 -f ../test3 -t ../example/texture8.jpg -s -z 0.15 -l 0.05

```

![Alt text](https://gitlab.com/LIRS_Projects/LIRS-WCT/raw/master/example/screenshots/textured_labyrinth_dae.png?raw=true "The textured labyrinth")



The generated WORLD file can be loaded into Gazebo by the following command:

```sh

gazebo generated_world.world

```

# Examples

## The maze

![Alt text](https://gitlab.com/LIRS_Projects/LIRS-WCT/raw/master/example/screenshots/maze.png?raw=true "The maze")

## The arctic terrain

![Alt text](https://gitlab.com/LIRS_Projects/LIRS-WCT/raw/master/example/screenshots/arctic_terrain.png?raw=true "The arctic terrain")



# [Wiki](https://gitlab.com/LIRS_Projects/LIRS-WCT/-/wikis/home)