Using the Simulator Template
(Fig.7) Simulator Template
- General
- Template Name
- Simulator timeout - the maximum time the simulation should run for
- Output Settings
- User data path - path relative to the Output path set in the config file.
- Descriptor path - path that the output data will be saved to, relative to the User Data Path
- Pass Duration - how long each pass will take in simulation time.
- Capture Settings
- Capture screen size - all cameras in the simulator will output at this size
- Frame rate - in simulation frame rate of the placed cameras
- Interval - the number of frames between each capture
- Delay capture by (seconds) - a delay to allow the simulator to run before capturing, this allows for action to be captured.
- Simulation Settings
- Simulation date
- Location - longitude and latitude
- Output Data Settings
- Segment - check to output segmentation images
- Normal - check to output normal images
- Distance - check to output distance images
- LiDAR - check to output LiDAR data
- Masks - check to output mask images
- Min Mask Size - size of the smallest mask to be captured
- Keypoint Settings
- Minimal Skeleton - shows top and bottom keypoints on humans
- Basic Skeleton - tracks the body and basic facial facial features
- Hand Skeleton - captures the position of each joint in a humans hands
- Face Skeleton - uses the Dilib 68 standard
Simulator template
The simulator template is how you can control what data is produced when you process your scenario. We advise you to be aware of the settings here and what they can produce. You can create and edit the simulator templates in both the Editor and the Simulator.
Simulation Settings
The simulation setting allow you to set the time/date and location the scenario takes place. These setting will change the natural lighting of the scene by altering the height and location of the sun.
Location
The location is set using longitude latitude. You can use https://www.latlong.net to turn your desired location in to this format.
Output Data Settings
Segment
The segment image is created from the Masks captured. The colours used for segmentation are automatically set but can be set in the Editor scene view in the editor (Fig.3 - 15).
Normal
The world normal rgb is a 32 bit, 8 bit per channel output. The normal of the pixel surface converts x to r, y to g, z to b. All this means that the way a pixel is facing si represented by the colour shown.
Distance
This is an output in a Hierarchical Data Format (.hdf). It is a byte array of 32 bit each floating values. What this give you is the distance of the floating value between the position of the pixel and the camera, This is represented in grey scale. The regions get darker the further away they are.
LiDAR
If you scenario contains a LiDAR camera this will need to be turned on so that the LiDAR data is captured. You have a choice of how the data is out put, this has to be set in the editor. There is a JSON format (MLAS) or XYZ which can be converted in to images (below). You can learn more about using a LiDAR camera in the scenario on this page Editor - LiDAR.
Masks
Masks are used to create the segmentation images but masks are split in to layers so one image will just contain one element.
Keypoint Settings
Keypoints are mainly used for tracking human positions.
Minimal skeleton
The minimal skeleton shows the keypoints of the top of the head and the bottom of the feet.
You can learn more about what data is produced here.
Basic skeleton
The basic skeleton give more joint keypoints and basic facial keypoints (eyes and nose).
You can learn more about what data is produced here.
Hand skeleton
The hand skeleton creates keypoints for every joint in the hand.
You can learn more about what data is produced here.
Face skeleton
The face skeleton uses the Dilib 68 standard, which uses 68 points to map the jaw line, mouth, eyes and eye brows.
You can learn more about what data is produced here.
