merged upstream and event camera works, normal camera not yet

.gitignore

@@ -1,13 +1,30 @@
-.sass-cache
-_posts
-_site
-.vscode/*
-!.vscode/extensions.json
-externals/*
+# Python
 dist
 *.egg-info
 *.so
 __pycache__
 build
 
 flightros/params/local.yaml
+
+
+# Gitignore
+
+# VScode
+.vscode/
+.vscode/*
+**/.vscode/*
+!.vscode/extensions.json
+
+# General
+build/
+_build/
+.sass-cache
+_posts
+_site
+externals/*
+
+#Flightmare
+flightlib
+flightrl
+flighros

README.md

@@ -1,33 +1,36 @@
-# Flightmare
+# Flightmare - 左青龙
 
 ![Build Status](https://github.com/uzh-rpg/flightmare/workflows/CPP_CI/badge.svg) ![clang format](https://github.com/uzh-rpg/flightmare/workflows/clang_format/badge.svg)
+![License](https://img.shields.io/badge/License-MIT-blue.svg) ![website]( https://img.shields.io/website-up-down-green-red/https/naereen.github.io.svg)
 
 **Flightmare** is a flexible modular quadrotor simulator.
 Flightmare is composed of two main components: a configurable rendering engine built on Unity and a flexible physics engine for dynamics simulation.
 Those two components are totally decoupled and can run independently from each other. 
 Flightmare comes with several desirable features: (i) a large multi-modal sensor suite, including an interface to extract the 3D point-cloud of the scene; (ii) an API for reinforcement learning which can simulate hundreds of quadrotors in parallel; and (iii) an integration with a virtual-reality headset for interaction with the simulated environment.
 Flightmare can be used for various applications, including path-planning, reinforcement learning, visual-inertial odometry, deep learning, human-robot interaction, etc.
 
-**[Website](https://uzh-rpg.github.io/flightmare/)** 
+**[Website](https://uzh-rpg.github.io/flightmare/)** & 
+**[Documentation](https://flightmare.readthedocs.io/)** 
 
 [![IMAGE ALT TEXT HERE](./docs/flightmare_main.png)](https://youtu.be/m9Mx1BCNGFU)
 
 ## Installation
 Installation instructions can be found in our [Wiki](https://github.com/uzh-rpg/flightmare/wiki).
 
 ## Updates
+ *  17.11.2020 [Spotlight](https://youtu.be/8JyrjPLt8wo) Talk at CoRL 2020 
  *  04.09.2020 Release Flightmare
 
 ## Publication
 
-If you use this code in a publication, please cite the following paper **[PDF](https://arxiv.org/abs/2009.00563)**
+If you use this code in a publication, please cite the following paper **[PDF](http://rpg.ifi.uzh.ch/docs/CoRL20_Yunlong.pdf)**
 
 ```
-@article{yunlong2020flightmare,
-  title={Flightmare: A Flexible Quadrotor Simulator},
-  author={Song, Yunlong and Naji, Selim and Kaufmann, Elia and Loquercio, Antonio and Scaramuzza, Davide},
-  journal={arXiv preprint arXiv:2009.00563},
-  year={2020}
+@article{song2020flightmare,
+    title={Flightmare: A Flexible Quadrotor Simulator},
+    author={Song, Yunlong and Naji, Selim and Kaufmann, Elia and Loquercio, Antonio and Scaramuzza, Davide},
+    booktitle={Conference on Robot Learning},
+    year={2020}
 }
 ```
 

docs/Makefile

@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = source
+BUILDDIR      = build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)

docs/make.bat

@@ -0,0 +1,35 @@
+@ECHO OFF
+
+pushd %~dp0
+
+REM Command file for Sphinx documentation
+
+if "%SPHINXBUILD%" == "" (
+	set SPHINXBUILD=sphinx-build
+)
+set SOURCEDIR=source
+set BUILDDIR=build
+
+if "%1" == "" goto help
+
+%SPHINXBUILD% >NUL 2>NUL
+if errorlevel 9009 (
+	echo.
+	echo.The 'sphinx-build' command was not found. Make sure you have Sphinx
+	echo.installed, then set the SPHINXBUILD environment variable to point
+	echo.to the full path of the 'sphinx-build' executable. Alternatively you
+	echo.may add the Sphinx directory to PATH.
+	echo.
+	echo.If you don't have Sphinx installed, grab it from
+	echo.http://sphinx-doc.org/
+	exit /b 1
+)
+
+%SPHINXBUILD% -M %1 %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+goto end
+
+:help
+%SPHINXBUILD% -M help %SOURCEDIR% %BUILDDIR% %SPHINXOPTS% %O%
+
+:end
+popd

docs/source/_static/theme_overrides.css

@@ -0,0 +1,16 @@
+/* 
+override table width restrictions 
+https://rackerlabs.github.io/docs-rackspace/tools/rtd-tables.html
+*/
+@media screen and (min-width: 767px) {
+
+   .wy-table-responsive table td {
+      /* !important prevents the common CSS stylesheets from overriding
+         this as on RTD they are loaded after this stylesheet */
+      white-space: normal !important;
+   }
+
+   .wy-table-responsive {
+      overflow: visible !important;
+   }
+}

docs/source/_templates/button.rst

@@ -0,0 +1,30 @@
+.. raw:: html
+
+    <html>
+    <head>
+    <style>
+    .button {
+      background-color: #2980B9;
+      border: none;
+      color: white;
+      padding: 15px 32px;
+      text-align: center;
+      text-decoration: none;
+      display: inline-block;
+      font-size: 16px;
+      margin: 4px 2px;
+      cursor: pointer;
+      transition-duration: 0.4s;
+    }
+    .button:hover {
+      background-color: white; 
+      color: #2980B9;
+      border: 2px solid #2980B9;
+    }
+    </style>
+    </head>
+    <body>
+    <center><a href="#" class="button">Download</a></center>
+    </body>
+    </html>
+

docs/source/_templates/collabsable.rst

@@ -0,0 +1,15 @@
+Title
+-----
+
+.. raw:: html
+
+   <details>
+   <summary>Show command line summary for the quick start installation</summary>
+
+.. code-block::
+
+   lots_of_code = "this text block"
+
+.. raw:: html
+
+   </details>

docs/source/_templates/function.rst

@@ -0,0 +1,13 @@
+Function
+========
+
+.. function:: format_exception(etype, value, tb[, limit=None])
+
+   Format the exception with a traceback.
+
+   :param etype: exception type
+   :param value: exception value
+   :param tb: traceback object
+   :param limit: maximum number of stack frames to show
+   :type limit: integer or None
+   :rtype: list of strings

docs/source/_templates/slideshow.rst

@@ -0,0 +1,171 @@
+.. raw:: html
+
+  <!DOCTYPE html>
+  <html>
+  <head>
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <style>
+  * {box-sizing: border-box}
+  body {font-family: Verdana, sans-serif; margin:0}
+  .mySlides {display: none}
+  img {vertical-align: middle;}
+
+  /* Slideshow container */
+  .slideshow-container {
+    max-width: 1000px;
+    position: relative;
+    margin: auto;
+  }
+
+  /* Next & previous buttons */
+  .prev, .next {
+    cursor: pointer;
+    position: absolute;
+    top: 50%;
+    width: auto;
+    padding: 16px;
+    margin-top: -22px;
+    color: white;
+    font-weight: bold;
+    font-size: 18px;
+    transition: 0.6s ease;
+    border-radius: 0 3px 3px 0;
+    user-select: none;
+  }
+
+  /* Position the "next button" to the right */
+  .next {
+    right: 0;
+    border-radius: 3px 0 0 3px;
+  }
+
+  /* On hover, add a black background color with a little bit see-through */
+  .prev:hover, .next:hover {
+    background-color: rgba(0,0,0,0.8);
+  }
+
+  /* Caption text */
+  .text {
+    color: #f2f2f2;
+    font-size: 15px;
+    padding: 8px 12px;
+    position: absolute;
+    bottom: 8px;
+    width: 100%;
+    text-align: center;
+  }
+
+  /* Number text (1/3 etc) */
+  .numbertext {
+    color: #f2f2f2;
+    font-size: 12px;
+    padding: 8px 12px;
+    position: absolute;
+    top: 0;
+  }
+
+  /* The dots/bullets/indicators */
+  .dot {
+    cursor: pointer;
+    height: 15px;
+    width: 15px;
+    margin: 0 2px;
+    background-color: #bbb;
+    border-radius: 50%;
+    display: inline-block;
+    transition: background-color 0.6s ease;
+  }
+
+  .active, .dot:hover {
+    background-color: #717171;
+  }
+
+  /* Fading animation */
+  .fade {
+    -webkit-animation-name: fade;
+    -webkit-animation-duration: 1.5s;
+    animation-name: fade;
+    animation-duration: 1.5s;
+  }
+
+  @-webkit-keyframes fade {
+    from {opacity: .4} 
+    to {opacity: 1}
+  }
+
+  @keyframes fade {
+    from {opacity: .4} 
+    to {opacity: 1}
+  }
+
+  /* On smaller screens, decrease text size */
+  @media only screen and (max-width: 300px) {
+    .prev, .next,.text {font-size: 11px}
+  }
+  </style>
+  </head>
+  <body>
+
+  <div class="slideshow-container">
+
+  <div class="mySlides fade">
+    <div class="numbertext">1 / 3</div>
+    <img src="img_nature_wide.jpg" style="width:100%">
+    <div class="text">Caption Text</div>
+  </div>
+
+  <div class="mySlides fade">
+    <div class="numbertext">2 / 3</div>
+    <img src="img_snow_wide.jpg" style="width:100%">
+    <div class="text">Caption Two</div>
+  </div>
+
+  <div class="mySlides fade">
+    <div class="numbertext">3 / 3</div>
+    <img src="img_mountains_wide.jpg" style="width:100%">
+    <div class="text">Caption Three</div>
+  </div>
+
+  <a class="prev" onclick="plusSlides(-1)">&#10094;</a>
+  <a class="next" onclick="plusSlides(1)">&#10095;</a>
+
+  </div>
+  <br>
+
+  <div style="text-align:center">
+    <span class="dot" onclick="currentSlide(1)"></span> 
+    <span class="dot" onclick="currentSlide(2)"></span> 
+    <span class="dot" onclick="currentSlide(3)"></span> 
+  </div>
+
+  <script>
+  var slideIndex = 1;
+  showSlides(slideIndex);
+
+  function plusSlides(n) {
+    showSlides(slideIndex += n);
+  }
+
+  function currentSlide(n) {
+    showSlides(slideIndex = n);
+  }
+
+  function showSlides(n) {
+    var i;
+    var slides = document.getElementsByClassName("mySlides");
+    var dots = document.getElementsByClassName("dot");
+    if (n > slides.length) {slideIndex = 1}    
+    if (n < 1) {slideIndex = slides.length}
+    for (i = 0; i < slides.length; i++) {
+        slides[i].style.display = "none";  
+    }
+    for (i = 0; i < dots.length; i++) {
+        dots[i].className = dots[i].className.replace(" active", "");
+    }
+    slides[slideIndex-1].style.display = "block";  
+    dots[slideIndex-1].className += " active";
+  }
+  </script>
+
+  </body>
+  </html>