coverage_benchmark

This repository contains a set of 16 static and 16 dynamic test scenes for dynamic multi-target coverage maximization.

Overview

Each scene (see folder scenes) is a *.json files with the following components:

• boundary: simple time-invariant polygon which contains all targets, obstacles, and cameras at all times
• targets: array of targets, each containing:
  • shape: simple time-invariant polygon
  • path: simple polygon describing the path the target is moving on; can consist of a single point if the target is static
  • velocity: (optional) Speed the target is moving on the given path, in meters per second
• obstacles: array of obstacles with the same properties as a target
• cameraFoV: field of view of all cameras (half-angle), in degrees
• cameras: array of cameras, each containing:
  • pos: initial position of the camera
  • angle: initial yaw of the camera, in degrees
  • maxVelocity: maximum translational speed, in m/s
  • maxAngularVelocity: maximum rotational speed, in rad/s

The polygons and points are in WKT format.

Building

You need cmake and boost.

Use the following steps to build:

mkdir build
cd build
cmake ..
make

It should create a sample application which converts the json files to svg images.

Usage

The resulting binary json2svg can be used on a single file:

json2svg --scene static1.json --output static1.svg

For convenience, there is also a bash script (all.sh) running the program on all scenes.

Scenes

Static

Dynamic