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Sprinkled with healthy dose of Doxygen
Also refactored the visualization tool out. Signed-off-by: Arjo Chakravarty <arjoc@intrinsic.ai>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,211 @@ | ||
| /* | ||
| * Copyright (C) 2022 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
|
||
| #include "VisualizationTool.hh" | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| EnvironmentVisualizationTool::EnvironmentVisualizationTool() | ||
| { | ||
| this->pcPub = | ||
| this->node.Advertise<gz::msgs::PointCloudPacked>("/point_cloud"); | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| void EnvironmentVisualizationTool::CreatePointCloudTopics( | ||
| const std::shared_ptr<components::EnvironmentalData> _data) { | ||
| this->pubs.clear(); | ||
| this->sessions.clear(); | ||
|
|
||
| for (auto key : _data->frame.Keys()) | ||
| { | ||
| this->pubs.emplace(key, node.Advertise<gz::msgs::Float_V>(key)); | ||
| gz::msgs::Float_V msg; | ||
| this->floatFields.emplace(key, msg); | ||
| this->sessions.emplace(key, _data->frame[key].CreateSession()); | ||
| } | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| void EnvironmentVisualizationTool::FileReloaded() | ||
| { | ||
| this->finishedTime = false; | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| void EnvironmentVisualizationTool::Step( | ||
| const UpdateInfo &_info, | ||
| const EntityComponentManager& _ecm, | ||
| const std::shared_ptr<components::EnvironmentalData> _data, | ||
| double _xSamples, double _ySamples, double _zSamples) | ||
| { | ||
|
|
||
| auto now = std::chrono::steady_clock::now(); | ||
| std::chrono::duration<double> dt(now - this->lastTick); | ||
|
|
||
| if (this->resample) | ||
| { | ||
| this->CreatePointCloudTopics(_data); | ||
| this->ResizeCloud(_data, _ecm, _xSamples, _ySamples, _zSamples); | ||
| this->resample = false; | ||
| this->lastTick = now; | ||
| } | ||
|
|
||
| for (auto &it : this->sessions) | ||
| { | ||
| auto res = | ||
| _data->frame[it.first].StepTo(it.second, | ||
| std::chrono::duration<double>(_info.simTime).count()); | ||
| if (res.has_value()) | ||
| { | ||
| it.second = res.value(); | ||
| } | ||
| else | ||
| { | ||
| this->finishedTime = true; | ||
| return; | ||
| } | ||
| } | ||
|
|
||
| // Publish at 2 hz for now. In future make reconfigureable. | ||
| if (dt.count() > 0.5 && !this->finishedTime) | ||
| { | ||
| this->Visualize(_data, _xSamples, _ySamples, _zSamples); | ||
| this->Publish(); | ||
| lastTick = now; | ||
| } | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| void EnvironmentVisualizationTool::Visualize( | ||
| const std::shared_ptr<components::EnvironmentalData> data, | ||
| double _xSamples, double _ySamples, double _zSamples) | ||
| { | ||
|
|
||
| for (auto key : data->frame.Keys()) | ||
| { | ||
| const auto session = this->sessions[key]; | ||
| auto frame = data->frame[key]; | ||
| auto [lower_bound, upper_bound] = frame.Bounds(session); | ||
| auto step = upper_bound - lower_bound; | ||
| auto dx = step.X() / _xSamples; | ||
| auto dy = step.Y() / _ySamples; | ||
| auto dz = step.Z() / _zSamples; | ||
| std::size_t idx = 0; | ||
| for (std::size_t x_steps = 0; x_steps < ceil(_xSamples); x_steps++) | ||
| { | ||
| auto x = lower_bound.X() + x_steps * dx; | ||
| for (std::size_t y_steps = 0; y_steps < ceil(_ySamples); y_steps++) | ||
| { | ||
| auto y = lower_bound.Y() + y_steps * dy; | ||
| for (std::size_t z_steps = 0; z_steps < ceil(_zSamples); z_steps++) | ||
| { | ||
| auto z = lower_bound.Z() + z_steps * dz; | ||
| auto res = frame.LookUp(session, math::Vector3d(x, y, z)); | ||
|
|
||
| if (res.has_value()) | ||
| { | ||
| this->floatFields[key].mutable_data()->Set(idx, | ||
| static_cast<float>(res.value())); | ||
| } | ||
| else | ||
| { | ||
| this->floatFields[key].mutable_data()->Set(idx, std::nanf("")); | ||
| } | ||
| idx++; | ||
| } | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| void EnvironmentVisualizationTool::Publish() | ||
| { | ||
| pcPub.Publish(this->pcMsg); | ||
| for(auto &[key, pub] : this->pubs) | ||
| { | ||
| pub.Publish(this->floatFields[key]); | ||
| } | ||
| } | ||
|
|
||
| ///////////////////////////////////////////////// | ||
| void EnvironmentVisualizationTool::ResizeCloud( | ||
| const std::shared_ptr<components::EnvironmentalData> _data, | ||
| const EntityComponentManager& _ecm, | ||
| unsigned int _xSamples, unsigned int _ySamples, unsigned int _zSamples) | ||
| { | ||
| assert (pubs.size() > 0); | ||
|
|
||
| // Assume all data have same point cloud. | ||
| gz::msgs::InitPointCloudPacked(pcMsg, "some_frame", true, | ||
| {{"xyz", gz::msgs::PointCloudPacked::Field::FLOAT32}}); | ||
| auto numberOfPoints = _xSamples * _ySamples * _zSamples; | ||
| std::size_t dataSize{ | ||
| static_cast<std::size_t>(numberOfPoints * pcMsg.point_step())}; | ||
| pcMsg.mutable_data()->resize(dataSize); | ||
| pcMsg.set_height(1); | ||
| pcMsg.set_width(numberOfPoints); | ||
|
|
||
| auto session = this->sessions[this->pubs.begin()->first]; | ||
| auto frame = _data->frame[this->pubs.begin()->first]; | ||
| auto [lower_bound, upper_bound] = | ||
| frame.Bounds(session); | ||
|
|
||
| auto step = upper_bound - lower_bound; | ||
| auto dx = step.X() / _xSamples; | ||
| auto dy = step.Y() / _ySamples; | ||
| auto dz = step.Z() / _zSamples; | ||
|
|
||
| // Populate point cloud | ||
| gz::msgs::PointCloudPackedIterator<float> xIter(pcMsg, "x"); | ||
| gz::msgs::PointCloudPackedIterator<float> yIter(pcMsg, "y"); | ||
| gz::msgs::PointCloudPackedIterator<float> zIter(pcMsg, "z"); | ||
|
|
||
| for (std::size_t x_steps = 0; x_steps < _xSamples; x_steps++) | ||
| { | ||
| auto x = lower_bound.X() + x_steps * dx; | ||
| for (std::size_t y_steps = 0; y_steps < _ySamples; y_steps++) | ||
| { | ||
| auto y = lower_bound.Y() + y_steps * dy; | ||
| for (std::size_t z_steps = 0; z_steps < _zSamples; z_steps++) | ||
| { | ||
| auto z = lower_bound.Z() + z_steps * dz; | ||
| auto coords = getGridFieldCoordinates( | ||
| _ecm, math::Vector3d{x, y, z}, | ||
| _data); | ||
|
|
||
| if (!coords.has_value()) | ||
| { | ||
| continue; | ||
| } | ||
|
|
||
| auto pos = coords.value(); | ||
| *xIter = pos.X(); | ||
| *yIter = pos.Y(); | ||
| *zIter = pos.Z(); | ||
| ++xIter; | ||
| ++yIter; | ||
| ++zIter; | ||
| } | ||
| } | ||
| } | ||
| for (auto key : _data->frame.Keys()) | ||
| { | ||
| this->floatFields[key].mutable_data()->Resize( | ||
| numberOfPoints, std::nanf("")); | ||
| } | ||
| } |
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