void test_voxel_grid_serialization()
{
VoxelGrid::VoxelGrid<int> test_grid(1.0, 20.0, 20.0, 20.0, 0);
// Load with special values
int check_val = 1;
std::vector<int> check_vals;
for (int64_t x_index = 0; x_index < test_grid.GetNumXCells(); x_index++)
{
for (int64_t y_index = 0; y_index < test_grid.GetNumYCells(); y_index++)
{
for (int64_t z_index = 0; z_index < test_grid.GetNumZCells(); z_index++)
{
test_grid.SetValue(x_index, y_index, z_index, check_val);
check_vals.push_back(check_val);
check_val++;
}
}
}
std::vector<uint8_t> buffer;
VoxelGrid::VoxelGrid<int>::Serialize(test_grid, buffer, arc_utilities::SerializeFixedSizePOD<int>);
const VoxelGrid::VoxelGrid<int> read_grid = VoxelGrid::VoxelGrid<int>::Deserialize(buffer, 0, arc_utilities::DeserializeFixedSizePOD<int>).first;
// Check the values
int check_index = 0;
bool pass = true;
for (int64_t x_index = 0; x_index < read_grid.GetNumXCells(); x_index++)
{
for (int64_t y_index = 0; y_index < read_grid.GetNumYCells(); y_index++)
{
for (int64_t z_index = 0; z_index < read_grid.GetNumZCells(); z_index++)
{
int ref_val = read_grid.GetImmutable(x_index, y_index, z_index).first;
//std::cout << "Value in grid: " << ref_val << " Value should be: " << check_vals[check_index] << std::endl;
if (ref_val == check_vals[check_index])
{
//std::cout << "Check pass" << std::endl;
}
else
{
std::cout << "Check fail" << std::endl;
pass = false;
}
check_index++;
}
}
}
if (pass)
{
std::cout << "VG-I de/serialize - All checks pass" << std::endl;
}
else
{
std::cout << "*** VG-I de/serialize - Checks failed ***" << std::endl;
}
}
inline std::pair<double, bool> EstimateDistance(const Eigen::Vector3d& location) const
{
const std::vector<int64_t> indices = LocationToGridIndex(location);
if (indices.size() == 3)
{
const Eigen::Vector3d gradient = EigenHelpers::StdVectorDoubleToEigenVector3d(GetGradient(indices[0], indices[1], indices[2], true));
const std::vector<double> cell_location = GridIndexToLocation(indices[0], indices[1], indices[2]);
const Eigen::Vector3d cell_location_to_our_location(location.x() - cell_location[0], location.y() - cell_location[1], location.z() - cell_location[2]);
const double nominal_distance = (double)distance_field_.GetImmutable(indices[0], indices[1], indices[2]).first;
const double corrected_nominal_distance = (nominal_distance >= 0.0) ? nominal_distance - (GetResolution() * 0.5) : nominal_distance + (GetResolution() * 0.5);
const double cell_location_to_our_location_dot_gradient = cell_location_to_our_location.dot(gradient);
//const double gradient_dot_gradient = gradient.dot(gradient); // == squared norm of gradient
//const Eigen::Vector3d cell_location_to_our_location_projected_on_gradient = (cell_location_to_our_location_dot_gradient / gradient.dot(gradient)) * gradient;
//const double distance_adjustment = cell_location_to_our_location_projected_on_gradient.norm();
const double distance_adjustment = cell_location_to_our_location_dot_gradient / gradient.norm();
const double distance_estimate = corrected_nominal_distance + distance_adjustment;
if ((corrected_nominal_distance >= 0.0) == (distance_estimate >= 0.0))
{
return std::make_pair(distance_estimate, true);
}
else if (corrected_nominal_distance >= 0.0)
{
const double fudge_distance = GetResolution() * 0.0625;
return std::make_pair(fudge_distance, true);
}
else
{
const double fudge_distance = GetResolution() * -0.0625;
return std::make_pair(fudge_distance, true);
}
// else
// {
// const double real_distance_adjustment = GetResolution() * 0.20710678118654757;
// const double revised_corrected_nominal_distance = (nominal_distance >= 0.0) ? nominal_distance - real_distance_adjustment : nominal_distance + real_distance_adjustment;
// const double revised_distance_estimate = revised_corrected_nominal_distance + distance_adjustment;
// return std::make_pair(revised_distance_estimate, true);
// }
}
else
{
return std::make_pair((double)distance_field_.GetOOBValue(), false);
}
}
inline bool Set(const int64_t x_index, const int64_t y_index, const int64_t z_index, const float value)
{
if (!locked_)
{
return distance_field_.SetValue(x_index, y_index, z_index, value);
}
else
{
std::cerr << "Attempt to set value in locked SDF" << std::endl;
return false;
}
}
/*
* Setter functions MUST be used carefully - If you arbitrarily change SDF values, it is not a proper SDF any more!
*
* Use of these functions can be prevented by calling SignedDistanceField::Lock() on the SDF, at which point these functions
* will fail with a warning printed to std_err.
*/
inline bool Set(const double x, const double y, const double z, float value)
{
if (!locked_)
{
return distance_field_.SetValue(x, y, z, value);
}
else
{
std::cerr << "Attempt to set value in locked SDF" << std::endl;
return false;
}
}
inline bool Set(const Eigen::Vector3d& location, float value)
{
if (!locked_)
{
return distance_field_.SetValue(location, value);
}
else
{
std::cerr << "Attempt to set value in locked SDF" << std::endl;
return false;
}
}
inline bool Set(const VoxelGrid::GRID_INDEX& index, const float value)
{
if (!locked_)
{
return distance_field_.SetValue(index, value);
}
else
{
std::cerr << "Attempt to set value in locked SDF" << std::endl;
return false;
}
}
inline float GetOOBValue() const
{
return distance_field_.GetDefaultValue();
}
inline double GetResolution() const
{
return distance_field_.GetCellSizes()[0];
}
inline double GetZSize() const
{
return distance_field_.GetZSize();
}
inline bool CheckInBounds(const int64_t x_index, const int64_t y_index, const int64_t z_index) const
{
return distance_field_.GetImmutable(x_index, y_index, z_index).second;
}
inline float Get(const double x, const double y, const double z) const
{
return distance_field_.GetImmutable(x, y, z).first;
}
inline std::vector<double> GridIndexToLocation(const int64_t x_index, const int64_t y_index, const int64_t z_index) const
{
return distance_field_.GridIndexToLocation(x_index, y_index, z_index);
}
inline float Get(const int64_t x_index, const int64_t y_index, const int64_t z_index) const
{
return distance_field_.GetImmutable(x_index, y_index, z_index).first;
}
inline Eigen::Affine3d GetOriginTransform() const
{
return distance_field_.GetOriginTransform();
}
inline std::pair<float, bool> GetSafe(const int64_t x_index, const int64_t y_index, const int64_t z_index) const
{
return distance_field_.GetImmutable(x_index, y_index, z_index);
}
inline std::pair<float, bool> GetSafe(const Eigen::Vector3d& location) const
{
return distance_field_.GetImmutable(location);
}
inline std::pair<float, bool> GetSafe(const double x, const double y, const double z) const
{
return distance_field_.GetImmutable(x, y, z);
}
inline int64_t GetNumZCells() const
{
return distance_field_.GetNumZCells();
}
inline std::vector<int64_t> LocationToGridIndex(const double x, const double y, const double z) const
{
return distance_field_.LocationToGridIndex(x, y, z);
}
inline float Get(const Eigen::Vector3d& location) const
{
return distance_field_.GetImmutable(location).first;
}
inline std::vector<int64_t> LocationToGridIndex(const Eigen::Vector3d& location) const
{
return distance_field_.LocationToGridIndex(location);
}
inline bool CheckInBounds(const Eigen::Vector3d& location) const
{
return distance_field_.GetImmutable(location.x(), location.y(), location.z()).second;
}
inline std::vector<double> GridIndexToLocation(const VoxelGrid::GRID_INDEX& index) const
{
return distance_field_.GridIndexToLocation(index);
}
inline bool CheckInBounds(const double x, const double y, const double z) const
{
return distance_field_.GetImmutable(x, y, z).second;
}
void test_compute_convex_segments(
const std::function<void(
const visualization_msgs::MarkerArray&)>& display_fn)
{
const double res = 1.0;
const int64_t x_size = 100;
const int64_t y_size = 100;
const int64_t z_size = 50;
const Eigen::Isometry3d origin_transform
= Eigen::Translation3d(0.0, 0.0, 0.0) * Eigen::Quaterniond(
Eigen::AngleAxisd(0.0, Eigen::Vector3d::UnitZ()));
sdf_tools::TaggedObjectCollisionMapGrid tocmap(origin_transform, "world", res, x_size, y_size, z_size, sdf_tools::TAGGED_OBJECT_COLLISION_CELL(0.0, 0u));
for (int64_t x_idx = 0; x_idx < tocmap.GetNumXCells(); x_idx++)
{
for (int64_t y_idx = 0; y_idx < tocmap.GetNumYCells(); y_idx++)
{
for (int64_t z_idx = 0; z_idx < tocmap.GetNumZCells(); z_idx++)
{
if ((x_idx < 10) || (y_idx < 10) || (x_idx >= tocmap.GetNumXCells() - 10) || (y_idx >= tocmap.GetNumYCells() - 10))
{
tocmap.SetValue(x_idx, y_idx, z_idx, sdf_tools::TAGGED_OBJECT_COLLISION_CELL(1.0, 1u));
}
else if ((x_idx >= 40) && (y_idx >= 40) && (x_idx < 60) && (y_idx < 60))
{
tocmap.SetValue(x_idx, y_idx, z_idx, sdf_tools::TAGGED_OBJECT_COLLISION_CELL(1.0, 2u));
}
if (((x_idx >= 45) && (x_idx < 55)) || ((y_idx >= 45) && (y_idx < 55)))
{
tocmap.SetValue(x_idx, y_idx, z_idx, sdf_tools::TAGGED_OBJECT_COLLISION_CELL(0.0, 0u));
}
}
}
}
visualization_msgs::MarkerArray display_markers;
visualization_msgs::Marker env_marker = tocmap.ExportForDisplay();
env_marker.id = 1;
env_marker.ns = "environment";
display_markers.markers.push_back(env_marker);
visualization_msgs::Marker components_marker = tocmap.ExportConnectedComponentsForDisplay(false);
components_marker.id = 1;
components_marker.ns = "environment_components";
display_markers.markers.push_back(components_marker);
const double connected_threshold = 1.75;
const uint32_t number_of_convex_segments_manual_border = tocmap.UpdateConvexSegments(connected_threshold, false);
std::cout << "Identified " << number_of_convex_segments_manual_border
<< " convex segments via SDF->maxima map->connected components (no border added)"
<< std::endl;
for (uint32_t object_id = 0u; object_id <= 4u; object_id++)
{
for (uint32_t convex_segment = 1u; convex_segment <= number_of_convex_segments_manual_border; convex_segment++)
{
visualization_msgs::Marker segment_marker = tocmap.ExportConvexSegmentForDisplay(object_id, convex_segment);
if (segment_marker.points.size() > 0)
{
segment_marker.ns += "_no_border";
display_markers.markers.push_back(segment_marker);
}
}
}
const uint32_t number_of_convex_segments_virtual_border = tocmap.UpdateConvexSegments(connected_threshold, true);
std::cout << "Identified " << number_of_convex_segments_virtual_border
<< " convex segments via SDF->maxima map->connected components (virtual border added)"
<< std::endl;
for (uint32_t object_id = 0u; object_id <= 4u; object_id++)
{
for (uint32_t convex_segment = 1u; convex_segment <= number_of_convex_segments_virtual_border; convex_segment++)
{
visualization_msgs::Marker segment_marker = tocmap.ExportConvexSegmentForDisplay(object_id, convex_segment);
if (segment_marker.points.size() > 0)
{
segment_marker.ns += "_virtual_border";
display_markers.markers.push_back(segment_marker);
}
}
}
const auto sdf_result
= tocmap.ExtractSignedDistanceField(std::numeric_limits<float>::infinity(), std::vector<uint32_t>(), true, false);
std::cout << "(no border) SDF extrema: " << PrettyPrint::PrettyPrint(sdf_result.second) << std::endl;
const sdf_tools::SignedDistanceField& sdf = sdf_result.first;
visualization_msgs::Marker sdf_marker = sdf.ExportForDisplay(1.0f);
sdf_marker.id = 1;
sdf_marker.ns = "environment_sdf_no_border";
display_markers.markers.push_back(sdf_marker);
const auto virtual_border_sdf_result
= tocmap.ExtractSignedDistanceField(std::numeric_limits<float>::infinity(), std::vector<uint32_t>(), true, true);
std::cout << "(virtual border) SDF extrema: " << PrettyPrint::PrettyPrint(virtual_border_sdf_result.second) << std::endl;
const sdf_tools::SignedDistanceField& virtual_border_sdf = virtual_border_sdf_result.first;
visualization_msgs::Marker virtual_border_sdf_marker = virtual_border_sdf.ExportForDisplay(1.0f);
virtual_border_sdf_marker.id = 1;
virtual_border_sdf_marker.ns = "environment_sdf_virtual_border";
display_markers.markers.push_back(virtual_border_sdf_marker);
// Make extrema markers
const VoxelGrid::VoxelGrid<Eigen::Vector3d> maxima_map = virtual_border_sdf.ComputeLocalExtremaMap();
for (int64_t x_idx = 0; x_idx < maxima_map.GetNumXCells(); x_idx++)
{
for (int64_t y_idx = 0; y_idx < maxima_map.GetNumYCells(); y_idx++)
{
for (int64_t z_idx = 0; z_idx < maxima_map.GetNumZCells(); z_idx++)
{
const Eigen::Vector4d location
= maxima_map.GridIndexToLocation(x_idx, y_idx, z_idx);
const Eigen::Vector3d extrema = maxima_map.GetImmutable(x_idx, y_idx, z_idx).first;
if (!std::isinf(extrema.x())
&& !std::isinf(extrema.y())
&& !std::isinf(extrema.z()))
{
const double distance = (extrema - location.block<3, 1>(0, 0)).norm();
if (distance < sdf.GetResolution())
{
visualization_msgs::Marker maxima_rep;
// Populate the header
maxima_rep.header.frame_id = "world";
// Populate the options
maxima_rep.ns = "extrema";
maxima_rep.id = (int32_t)sdf.HashDataIndex(x_idx, y_idx, z_idx);
maxima_rep.action = visualization_msgs::Marker::ADD;
maxima_rep.lifetime = ros::Duration(0.0);
maxima_rep.frame_locked = false;
maxima_rep.pose.position = EigenHelpersConversions::EigenVector4dToGeometryPoint(location);
maxima_rep.pose.orientation = EigenHelpersConversions::EigenQuaterniondToGeometryQuaternion(Eigen::Quaterniond::Identity());
maxima_rep.type = visualization_msgs::Marker::SPHERE;
maxima_rep.scale.x = sdf.GetResolution();
maxima_rep.scale.y = sdf.GetResolution();
maxima_rep.scale.z = sdf.GetResolution();
maxima_rep.color = arc_helpers::RGBAColorBuilder<std_msgs::ColorRGBA>::MakeFromFloatColors(1.0, 0.5, 0.0, 1.0);
display_markers.markers.push_back(maxima_rep);
}
}
else
{
std::cout << "Encountered inf extrema @ (" << x_idx << "," << y_idx << "," << z_idx << ")" << std::endl;
}
}
}
}
std::cout << "(0,0,0) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetGradient((int64_t)0, (int64_t)0, (int64_t)0, true)) << std::endl;
std::cout << "(1,1,1) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetGradient((int64_t)1, (int64_t)1, (int64_t)1, true)) << std::endl;
std::cout << "(2,2,2) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetGradient((int64_t)2, (int64_t)2, (int64_t)2, true)) << std::endl;
std::cout << "(0,0,0) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetSmoothGradient((int64_t)0, (int64_t)0, (int64_t)0, res)) << std::endl;
std::cout << "(1,1,1) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetSmoothGradient((int64_t)1, (int64_t)1, (int64_t)1, res)) << std::endl;
std::cout << "(2,2,2) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetSmoothGradient((int64_t)2, (int64_t)2, (int64_t)2, res)) << std::endl;
std::cout << "(0,0,0) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetAutoDiffGradient((int64_t)0, (int64_t)0, (int64_t)0)) << std::endl;
std::cout << "(1,1,1) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetAutoDiffGradient((int64_t)1, (int64_t)1, (int64_t)1)) << std::endl;
std::cout << "(2,2,2) " << PrettyPrint::PrettyPrint(virtual_border_sdf.GetAutoDiffGradient((int64_t)2, (int64_t)2, (int64_t)2)) << std::endl;
std::cout << "(0,0,0) " << PrettyPrint::PrettyPrint(maxima_map.GetImmutable((int64_t)0, (int64_t)0, (int64_t)0).first) << std::endl;
std::cout << "(1,1,1) " << PrettyPrint::PrettyPrint(maxima_map.GetImmutable((int64_t)1, (int64_t)1, (int64_t)1).first) << std::endl;
std::cout << "(2,2,2) " << PrettyPrint::PrettyPrint(maxima_map.GetImmutable((int64_t)2, (int64_t)2, (int64_t)2).first) << std::endl;
display_fn(display_markers);
}
inline bool CheckInBounds(const VoxelGrid::GRID_INDEX& index) const
{
return distance_field_.GetImmutable(index.x, index.y, index.z).second;
}
