├── .gitattributes ├── .gitignore ├── LICENSE ├── config_gen.py ├── images ├── area.png ├── island.png └── test.png ├── model_gen.py ├── readme.md ├── textures ├── grass.jpg ├── sand.jpg └── water.jpg ├── wizard.py └── world_gen.py /.gitattributes: -------------------------------------------------------------------------------- 1 | *.png filter=lfs diff=lfs merge=lfs -text 2 | *.jpg filter=lfs diff=lfs merge=lfs -text 3 | *.jpeg filter=lfs diff=lfs merge=lfs -text 4 | *.svg filter=lfs diff=lfs merge=lfs -text 5 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | *.pyc 2 | *.world 3 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /config_gen.py: -------------------------------------------------------------------------------- 1 | #!usr/bin/env python 2 | from lxml import etree as ET 3 | 4 | def configGenerator(): 5 | model = ET.Element("model") 6 | 7 | name = ET.SubElement(model,"name") 8 | name.text = "AutoGen Terrain" 9 | 10 | version = ET.SubElement(model,"version") 11 | version.text = "1.0" 12 | 13 | sdf = ET.SubElement(model,"sdf",version="1.4") 14 | sdf.text = "model.sdf" 15 | 16 | author = ET.SubElement(model,"author") 17 | 18 | name = ET.SubElement(author,"name") 19 | name.text = "Sarathkrishnan Ramesh" 20 | 21 | email = ET.SubElement(author,"email") 22 | email.text = "---" 23 | 24 | description = ET.SubElement(model,"description") 25 | description.text = "Auto Generated Terrain for Gazebo" 26 | 27 | 28 | #print ET.tostring(model,pretty_print=True,xml_declaration=True) 29 | 30 | tree = ET.ElementTree(model) 31 | tree.write('model.config', pretty_print=True, xml_declaration=True) 32 | -------------------------------------------------------------------------------- /images/area.png: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:bbc5cc3e95b24bc65e9e1985d2dd69faf18bbb0ab6262181eae5e152b3c71ce9 3 | size 5897 4 | -------------------------------------------------------------------------------- /images/island.png: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:5c719eb3a7ed0ec966947422567055626d1c03ef6576d2961e94c18695b2fb83 3 | size 84736 4 | -------------------------------------------------------------------------------- /images/test.png: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:70e6ef6c1b4305e479240ddacad2b718234d907043d527355178a641257fdff7 3 | size 358368 4 | -------------------------------------------------------------------------------- /model_gen.py: -------------------------------------------------------------------------------- 1 | #!usr/bin/env python 2 | """ 3 | HIERARCHY: 4 | 5 | sdf 6 | model 7 | static 8 | link 9 | collision 10 | geometry 11 | heightmap 12 | uri 13 | size 14 | pos 15 | 16 | visual 17 | geometry 18 | heightmap 19 | texture -- number of textures you want 20 | diffuse 21 | normal 22 | size 23 | blend -- number of textures - 1 24 | min_height 25 | fade_dist 26 | uri 27 | size 28 | pos 29 | """ 30 | from lxml import etree as ET 31 | 32 | def modelGenerator(): 33 | sdf = ET.Element("sdf",version="1.4") 34 | 35 | model = ET.SubElement(sdf,"model",name="AutoGen Terrain") 36 | 37 | static = ET.SubElement(model,"static") 38 | static.text = "true" 39 | 40 | link = ET.SubElement(model,"link",name="link") 41 | 42 | #Collision element of the model 43 | collision = ET.SubElement(link,"collision",name="collision") 44 | 45 | geometry_collision = ET.SubElement(collision,"geometry") 46 | 47 | heightmap_collision = ET.SubElement(geometry_collision,"heightmap") 48 | 49 | uri = ET.SubElement(heightmap_collision,"uri") 50 | uri.text = "model://autogen_terrain/materials/textures/heightmap.png" 51 | 52 | size = ET.SubElement(heightmap_collision,"size") 53 | size.text = "129 129 12" 54 | 55 | pos = ET.SubElement(heightmap_collision,"pos") 56 | pos.text = "0 0 0" 57 | 58 | 59 | #Visual element of the model 60 | visual = ET.SubElement(link,"visual",name="visual") 61 | 62 | geometry_visual = ET.SubElement(visual,"geometry") 63 | 64 | heightmap_visual = ET.SubElement(geometry_visual,"heightmap") 65 | 66 | #Texture1 67 | texture1 = ET.SubElement(heightmap_visual,"texture") 68 | diffuse = ET.SubElement(texture1,"diffuse") 69 | diffuse.text = "model://autogen_terrain/materials/textures/water.jpg" 70 | normal = ET.SubElement(texture1,"normal") 71 | normal.text = "file://media/materials/textures/flat_normal.png" 72 | size = ET.SubElement(texture1,"size") 73 | size.text = "5" 74 | 75 | #Texture2 76 | texture2 = ET.SubElement(heightmap_visual,"texture") 77 | diffuse = ET.SubElement(texture2,"diffuse") 78 | diffuse.text = "model://autogen_terrain/materials/textures/sand.jpg" 79 | normal = ET.SubElement(texture2,"normal") 80 | normal.text = "file://media/materials/textures/flat_normal.png" 81 | size = ET.SubElement(texture2,"size") 82 | size.text = "5" 83 | 84 | #Texture3 85 | texture3 = ET.SubElement(heightmap_visual,"texture") 86 | diffuse = ET.SubElement(texture3,"diffuse") 87 | diffuse.text = "model://autogen_terrain/materials/textures/grass.jpg" 88 | normal = ET.SubElement(texture3,"normal") 89 | normal.text = "file://media/materials/textures/flat_normal.png" 90 | size = ET.SubElement(texture3,"size") 91 | size.text = "5" 92 | 93 | #Texture4 94 | texture4 = ET.SubElement(heightmap_visual,"texture") 95 | diffuse = ET.SubElement(texture4,"diffuse") 96 | diffuse.text = "file://media/materials/textures/dirt_diffusespecular.png" 97 | normal = ET.SubElement(texture4,"normal") 98 | normal.text = "file://media/materials/textures/flat_normal.png" 99 | size = ET.SubElement(texture4,"size") 100 | size.text = "5" 101 | 102 | #Blending Textures 1 and 2 103 | blend = ET.SubElement(heightmap_visual,"blend") 104 | min_height = ET.SubElement(blend,"min_height") 105 | min_height.text = "0" 106 | fade_dist = ET.SubElement(blend,"fade_dist") 107 | fade_dist.text = "0.8" 108 | 109 | #Blending Textures 2 and 3 110 | blend = ET.SubElement(heightmap_visual,"blend") 111 | min_height = ET.SubElement(blend,"min_height") 112 | min_height.text = "0.1" 113 | fade_dist = ET.SubElement(blend,"fade_dist") 114 | fade_dist.text = "1.5" 115 | 116 | #Blending Textures 3 and 4 117 | blend = ET.SubElement(heightmap_visual,"blend") 118 | min_height = ET.SubElement(blend,"min_height") 119 | min_height.text = "3" 120 | fade_dist = ET.SubElement(blend,"fade_dist") 121 | fade_dist.text = "6" 122 | 123 | 124 | uri = ET.SubElement(heightmap_visual,"uri") 125 | uri.text = "model://autogen_terrain/materials/textures/heightmap.png" 126 | 127 | size = ET.SubElement(heightmap_visual,"size") 128 | size.text = "129 129 12" 129 | 130 | pos = ET.SubElement(heightmap_visual,"pos") 131 | pos.text = "0 0 0" 132 | 133 | 134 | #print ET.tostring(sdf,pretty_print=True,xml_declaration=True) 135 | tree = ET.ElementTree(sdf) 136 | tree.write('model.sdf', pretty_print=True, xml_declaration=True) 137 | -------------------------------------------------------------------------------- /readme.md: -------------------------------------------------------------------------------- 1 | # Terrain Generator 2 | A wizard written in python that helps in creating realistic terrains for *Gazebo* with appropriate textures and lighting. 3 | Terrains are generated using the heightmap provided by the user which is stored either on disk or as a URL. 4 | 5 | Heightmaps are basically rasterized images that contain information about *surface elevations*. Using this elevation information we can create beautiful terrains. 6 | 7 |         8 | 9 | 10 | ### Working 11 | The wizard basically does the following: 12 | - Asks you simple questions regarding the model 13 | - Resizes the input image to *2n+1 x 2n+1* pixels and converts it into grayscale 14 | - Creates the model and saves it in your `.gazebo/models ` folder 15 | - Creates a `.world` file at the destination path provided by the user 16 | 17 | ### Requirements 18 | - Python 19 | - Gazebo 7.0 or higher 20 | - lxml 21 | - urllib 22 | 23 | ### Installation 24 | Install the required files to run on your local system: 25 | 26 | - Cloning the repository 27 | 28 | git clone https://github.com/Sarath18/terrain_generator 29 | 30 | - lxml 31 | 32 | sudo pip install lxml 33 | 34 | - urllib 35 | 36 | sudo pip install urllib 37 | -------------------------------------------------------------------------------- /textures/grass.jpg: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:297bae0d7be5679f7041fafbac9283df375a9abd23a69cd5339c8d00d0fbfef8 3 | size 125009 4 | -------------------------------------------------------------------------------- /textures/sand.jpg: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:693c66f970c56501c5a09aa5bedabbc6cce58c3e55fa2c0c689fcd8e4fdc18d9 3 | size 3504741 4 | -------------------------------------------------------------------------------- /textures/water.jpg: -------------------------------------------------------------------------------- 1 | version https://git-lfs.github.com/spec/v1 2 | oid sha256:7a8b5b6377864a6ad29451c1d96b714b06ccb0e417a05028eb3a35202033f768 3 | size 244216 4 | -------------------------------------------------------------------------------- /wizard.py: -------------------------------------------------------------------------------- 1 | #!usr/bin/env python 2 | import os 3 | import shutil 4 | from config_gen import * 5 | from model_gen import * 6 | from world_gen import * 7 | from subprocess import call 8 | import time 9 | import cv2 10 | from urllib import urlretrieve 11 | 12 | class worldSettings(object): 13 | def __init__(self): 14 | self.ambient = "120 120 120 255" 15 | self.time = "10:00" 16 | 17 | def worldScene(self): 18 | self.time = raw_input("Enter time of day[24 hrs](hh:mm): ") 19 | time = self.time[0:2] 20 | time = int(time) 21 | 22 | #Night / Early Morning 23 | if time<6 or time>=21: 24 | self.ambient = "20 40 50 255" 25 | #Dawn 26 | elif time<7 and time>=6: 27 | self.ambient = "120 80 60 255" 28 | #After Dawn 29 | elif time<8 and time>=7: 30 | self.ambient = "120 70 80 255" 31 | #Before Dusk 32 | elif time<20 and time>19: 33 | self.ambient = "120 70 80 255" 34 | #Dusk 35 | elif time<21 and time>=20: 36 | self.ambient = "120 80 60 255" 37 | 38 | 39 | def modelFolderGenerator(heightmap): 40 | 41 | #Creating our auto generated terrain model directory 42 | os.chdir(os.path.expanduser("~/.gazebo/models/")) 43 | path = os.getcwd() 44 | items = os.listdir(path) 45 | 46 | for item in items: 47 | if "autogen_terrain" == item: 48 | shutil.rmtree("autogen_terrain") 49 | 50 | os.mkdir("autogen_terrain") 51 | 52 | #Changing the current working directory 53 | os.chdir("autogen_terrain") 54 | 55 | #Creating the model.config file 56 | configGenerator() 57 | 58 | #Creatinf the model.sdf file 59 | modelGenerator() 60 | 61 | #Creating the model materials folder 62 | os.mkdir("materials") 63 | os.chdir("materials") 64 | os.mkdir("textures") 65 | os.chdir("textures") 66 | 67 | #Saving the heightmap inside terrain model textures 68 | cv2.imwrite("heightmap.png",heightmap) 69 | 70 | 71 | def imageResizer(path): 72 | hm = cv2.imread(path) 73 | hm_resize = cv2.resize(hm,(129,129)) 74 | 75 | return hm_resize 76 | 77 | 78 | 79 | if __name__ == "__main__": 80 | 81 | #Welcome text 82 | cwd = os.getcwd() 83 | print cwd 84 | print "WELCOME TO AUTOMATIC TERRAIN GENEREATOR" 85 | 86 | #Choice Menu 87 | check = False 88 | while check == False: 89 | print "1. Insert Heightmap from disk" 90 | print "2. Insert Heightmap from URL" 91 | print "3. Use Earth's Terrain" 92 | 93 | choice = int(raw_input("Enter a choice: ")) 94 | 95 | #Heightmpa on Disk 96 | if choice == 1: 97 | path = raw_input("Enter the location of the heightmap:") 98 | check = True 99 | 100 | #Heightmap from URL 101 | elif choice == 2: 102 | link = raw_input("Enter the url of heightmap:") 103 | urlretrieve(link,"img.png") 104 | path = "./img.png" 105 | check = True 106 | 107 | #HeightMap of Earth's terrain 108 | elif choice == 3: 109 | print "\nUnder Development, choose something else!\n" 110 | check = False 111 | 112 | #Default Case 113 | else: 114 | print "\nPlase enter a valid choice.!\n" 115 | check = False 116 | 117 | ''' 118 | #Ask user for heightmap input 119 | check = raw_input("Do you have a heightmap?(y/n):") 120 | 121 | #Take in heightmap as a url or as file on disk 122 | if check=="y" or check=="Y": 123 | path = raw_input("Enter the location of the heightmap:") 124 | else: 125 | link = raw_input("Enter the url of heightmap:") 126 | urlretrieve(link,"img.png") 127 | path = "./img.png" 128 | ''' 129 | 130 | #Resizing the image to 2*n+1 dimention: (129x129) 131 | heightmap = imageResizer(path) 132 | 133 | #Creating a autogen_terrain folder with terrain information and also the world file 134 | modelFolderGenerator(heightmap) 135 | 136 | #Saving Textures into the terrain model 137 | os.chdir(os.path.expanduser(cwd)) 138 | os.chdir("textures") 139 | texture_path = os.getcwd() 140 | imgfiles = os.listdir(texture_path) 141 | for imgfile in imgfiles: 142 | command = "cp "+str(imgfile)+" ~/.gazebo/models/autogen_terrain/materials/textures/" 143 | os.system(command) 144 | 145 | #Changing the directory to the output path for the .world 146 | destination = raw_input("World file destination(Press Enter to pass):") 147 | if destination=="": 148 | destination=cwd 149 | os.chdir(destination) 150 | 151 | 152 | #Creating our world file 153 | w = worldSettings() 154 | w.worldScene() 155 | worldGenerator(w) 156 | 157 | 158 | #Success output 159 | print "Terrain successully generated" 160 | 161 | #Opening the generated world in Gazebo 162 | time.sleep(1) 163 | print "Loading World..." 164 | 165 | call(["gazebo","terrain.world"]) 166 | 167 | os.chdir(os.path.expanduser(cwd)) 168 | -------------------------------------------------------------------------------- /world_gen.py: -------------------------------------------------------------------------------- 1 | #!usr/bin/env python 2 | from lxml import etree as ET 3 | from wizard import worldSettings 4 | 5 | 6 | def worldGenerator(w): 7 | sdf = ET.Element("sdf",version="1.4") 8 | 9 | world = ET.SubElement(sdf,"world",name="AutoGen Terrain World") 10 | 11 | #setting up the scene 12 | scene = ET.SubElement(world,"scene") 13 | 14 | ambient = ET.SubElement(scene,"ambient") 15 | ambient.text = w.ambient 16 | 17 | #Day: 120 120 120 255 18 | #Night: 20 40 50 255 19 | #Dawm/Dusk: 120 80 60 255 20 | #AfterDawn/BeforeDusk: 120 70 80 255 21 | 22 | sky = ET.SubElement(scene,"sky") 23 | 24 | clouds = ET.SubElement(sky,"clouds") 25 | 26 | speed = ET.SubElement(clouds,"speed") 27 | speed.text = "12" 28 | 29 | time = ET.SubElement(sky,"time") 30 | time.text = w.time 31 | 32 | 33 | #including models 34 | include = ET.SubElement(world,"include") 35 | uri = ET.SubElement(include,"uri") 36 | uri.text = "model://autogen_terrain" 37 | 38 | include = ET.SubElement(world,"include") 39 | uri = ET.SubElement(include,"uri") 40 | uri.text = "model://sun" 41 | 42 | #print ET.tostring(sdf,pretty_print=True,xml_declaration=True) 43 | tree = ET.ElementTree(sdf) 44 | tree.write('terrain.world', pretty_print=True, xml_declaration=True) 45 | --------------------------------------------------------------------------------