Multiple initializazion of GPU-Voxels

[giorgionicola]

Hi,
I have an application where it would be very useful the possibility to initialize 2 different "collision scenes" with different resolutions (= voxels length), one for the collisions between the two robots bodies and another to check the collision between the two robots' tools.
Although at the moment this is impossible since there some static elements in the libraries. Does exist any method to overcome this limitation? Will it be possible in future to initialize multiple times GPU-Voxels? Those static elements are absolutely necessary?
thanks

[cjue]

Hi,

it is already possible to directly construct a GpuVoxelsMap with custom parameters, using the same API as the addMap function:

https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/blob/master/packages/gpu_voxels/src/gpu_voxels/GpuVoxels.cpp#L189

voxellist::BitVectorVoxelList* orig_list = new voxellist::BitVectorVoxelList(m_dim, m_voxel_side_length, MT_BITVECTOR_VOXELLIST);

If you use this directly, your map will not be a "manged map" and you cannot interact with it through functions that take a map name.

Depending on your use-case this can still be useful, e.g. when performing collision checks:

https://github.com/fzi-forschungszentrum-informatik/gpu-voxels/blob/master/packages/gpu_voxels/src/gpu_voxels/test/testing_voxellist.cu#L44

Does this match your use-case?

[giorgionicola]

Ok but it is not clear to how I can interact with this new custom maps created.
In my application the 2 robots tools have 2 urdf files and at every collision check I update their position with the command "setRobotConfiguration" giving the cartesian coordinates (x,y,z,roll,pitch,yaw) and I use the commend "insertRobotIntoMap" . Although as you said I should not be able to use it since it requires the "map_name".

So if i have understood correctly in my case it should work in this way:

1. I initilaize my GPUVoxelsSharedPtr normally and I use the command "addRobot" for all 4 (2 robots and 2 tools) so i can parse my urdfs, but I use gvl->addMap only for the robots
2. I add the tools maps as you have shown
3. Then the commend "setRobotConfiguration" to update tools position does not change
4. Then instead of using "insertRobotIntoMap" i do
   ManagedRobotsIterator rob_it = m_managed_robots.find(robot_name); insertMetaPointCloud(*rob_it->second->getTransformedClouds(), voxel_meaning);
5. Then i should be able to do the collision checks similarly to the test file

Am I correct?

[giorgionicola]

I have tried to implement what I have written in the previous post, although i was not successful since m_managed_robots is a private variable.

Do you have any suggestions @cjue ?

[Squelsh]

Hi,

almost correct. But instead of interacting with m_managed_robots you should use

gpu-voxels/packages/gpu_voxels/src/gpu_voxels/GpuVoxels.cpp

Line 338 in 294e865

RobotInterfaceSharedPtr GpuVoxels::getRobot(const std::string &rob_name)

which you call on gvl.

On the returned RobotInterfaceSharedPtr you can then call getTransformedClouds()

Hope that helps,
Andy

[giorgionicola]

Hi,
it worked smoothly, thanks