C++ VoxelGrid::GetImmutable方法代码示例

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);
            }
        }

//.........这里部分代码省略.........
    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 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 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 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;
 }