| Directory: | ./ |
|---|---|
| File: | test/octree.cpp |
| Date: | 2025-04-13 14:25:19 |
| Exec | Total | Coverage | |
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| Lines: | 93 | 130 | 71.5% |
| Branches: | 207 | 518 | 40.0% |
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| 1 | /* | ||
| 2 | * Software License Agreement (BSD License) | ||
| 3 | * | ||
| 4 | * Copyright (c) 2019, CNRS-LAAS. | ||
| 5 | * Copyright (c) 2023, INRIA. | ||
| 6 | * All rights reserved. | ||
| 7 | * | ||
| 8 | * Redistribution and use in source and binary forms, with or without | ||
| 9 | * modification, are permitted provided that the following conditions | ||
| 10 | * are met: | ||
| 11 | * | ||
| 12 | * * Redistributions of source code must retain the above copyright | ||
| 13 | * notice, this list of conditions and the following disclaimer. | ||
| 14 | * * Redistributions in binary form must reproduce the above | ||
| 15 | * copyright notice, this list of conditions and the following | ||
| 16 | * disclaimer in the documentation and/or other materials provided | ||
| 17 | * with the distribution. | ||
| 18 | * * Neither the name of Willow Garage, Inc. nor the names of its | ||
| 19 | * contributors may be used to endorse or promote products derived | ||
| 20 | * from this software without specific prior written permission. | ||
| 21 | * | ||
| 22 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 23 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 24 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| 25 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| 26 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| 27 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| 28 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| 29 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| 30 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| 31 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| 32 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| 33 | * POSSIBILITY OF SUCH DAMAGE. | ||
| 34 | */ | ||
| 35 | |||
| 36 | /** \author Florent Lamiraux <florent@laas.fr> */ | ||
| 37 | |||
| 38 | #define BOOST_TEST_MODULE COAL_OCTREE | ||
| 39 | #include <fstream> | ||
| 40 | #include <boost/test/included/unit_test.hpp> | ||
| 41 | #include <boost/filesystem.hpp> | ||
| 42 | |||
| 43 | #include "coal/BVH/BVH_model.h" | ||
| 44 | #include "coal/collision.h" | ||
| 45 | #include "coal/distance.h" | ||
| 46 | #include "coal/hfield.h" | ||
| 47 | #include "coal/shape/geometric_shapes.h" | ||
| 48 | #include "coal/shape/geometric_shapes_utility.h" | ||
| 49 | #include "coal/internal/BV_splitter.h" | ||
| 50 | |||
| 51 | #include "utility.h" | ||
| 52 | #include "fcl_resources/config.h" | ||
| 53 | |||
| 54 | namespace utf = boost::unit_test::framework; | ||
| 55 | |||
| 56 | using namespace coal; | ||
| 57 | |||
| 58 | 3 | void makeMesh(const std::vector<Vec3s>& vertices, | |
| 59 | const std::vector<Triangle>& triangles, BVHModel<OBBRSS>& model) { | ||
| 60 | 3 | coal::SplitMethodType split_method(coal::SPLIT_METHOD_MEAN); | |
| 61 |
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3 | model.bv_splitter.reset(new BVSplitter<OBBRSS>(split_method)); |
| 62 |
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3 | model.bv_splitter.reset(new BVSplitter<OBBRSS>(split_method)); |
| 63 | |||
| 64 | 3 | model.beginModel(); | |
| 65 | 3 | model.addSubModel(vertices, triangles); | |
| 66 | 3 | model.endModel(); | |
| 67 | 3 | } | |
| 68 | |||
| 69 | ✗ | coal::OcTree makeOctree(const BVHModel<OBBRSS>& mesh, | |
| 70 | const Scalar& resolution) { | ||
| 71 | ✗ | Vec3s m(mesh.aabb_local.min_); | |
| 72 | ✗ | Vec3s M(mesh.aabb_local.max_); | |
| 73 | ✗ | coal::Box box(resolution, resolution, resolution); | |
| 74 | ✗ | CollisionRequest request(coal::CONTACT | coal::DISTANCE_LOWER_BOUND, 1); | |
| 75 | ✗ | CollisionResult result; | |
| 76 | ✗ | Transform3s tfBox; | |
| 77 | ✗ | octomap::OcTreePtr_t octree(new octomap::OcTree(resolution)); | |
| 78 | |||
| 79 | ✗ | for (Scalar x = resolution * floor(m[0] / resolution); x <= M[0]; | |
| 80 | ✗ | x += resolution) { | |
| 81 | ✗ | for (Scalar y = resolution * floor(m[1] / resolution); y <= M[1]; | |
| 82 | ✗ | y += resolution) { | |
| 83 | ✗ | for (Scalar z = resolution * floor(m[2] / resolution); z <= M[2]; | |
| 84 | ✗ | z += resolution) { | |
| 85 | ✗ | const Scalar half = Scalar(0.5); | |
| 86 | ✗ | Vec3s center(x + half * resolution, y + half * resolution, | |
| 87 | ✗ | z + half * resolution); | |
| 88 | ✗ | tfBox.setTranslation(center); | |
| 89 | ✗ | coal::collide(&box, tfBox, &mesh, Transform3s(), request, result); | |
| 90 | ✗ | if (result.isCollision()) { | |
| 91 | ✗ | octomap::point3d p((float)center[0], (float)center[1], | |
| 92 | ✗ | (float)center[2]); | |
| 93 | ✗ | octree->updateNode(p, true); | |
| 94 | ✗ | result.clear(); | |
| 95 | } | ||
| 96 | } | ||
| 97 | } | ||
| 98 | } | ||
| 99 | |||
| 100 | ✗ | octree->updateInnerOccupancy(); | |
| 101 | ✗ | octree->writeBinary("./env.octree"); | |
| 102 | ✗ | return OcTree(octree); | |
| 103 | } | ||
| 104 | |||
| 105 |
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4 | BOOST_AUTO_TEST_CASE(octree_mesh) { |
| 106 | Eigen::IOFormat tuple(Eigen::FullPrecision, Eigen::DontAlignCols, "", ", ", | ||
| 107 |
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4 | "", "", "(", ")"); |
| 108 | 2 | Scalar resolution(10.); | |
| 109 | 2 | std::vector<Vec3s> pRob, pEnv; | |
| 110 | 2 | std::vector<Triangle> tRob, tEnv; | |
| 111 |
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2 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 112 |
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2 | loadOBJFile((path / "rob.obj").string().c_str(), pRob, tRob); |
| 113 |
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2 | loadOBJFile((path / "env.obj").string().c_str(), pEnv, tEnv); |
| 114 | |||
| 115 |
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2 | BVHModel<OBBRSS> robMesh, envMesh; |
| 116 | // Build meshes with robot and environment | ||
| 117 |
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2 | makeMesh(pRob, tRob, robMesh); |
| 118 |
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2 | makeMesh(pEnv, tEnv, envMesh); |
| 119 | // Build octomap with environment | ||
| 120 |
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2 | envMesh.computeLocalAABB(); |
| 121 | // Load octree built from envMesh by makeOctree(envMesh, resolution) | ||
| 122 | OcTree envOctree( | ||
| 123 |
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4 | coal::loadOctreeFile((path / "env.octree").string(), resolution)); |
| 124 | |||
| 125 |
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2 | std::cout << "Finished loading octree." << std::endl; |
| 126 | |||
| 127 | // Test operator== | ||
| 128 | { | ||
| 129 |
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2 | BOOST_CHECK(envOctree == envOctree); |
| 130 |
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2 | BOOST_CHECK(envOctree == OcTree(envOctree)); |
| 131 | |||
| 132 |
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4 | const OcTree envOctree_from_tree(envOctree.getTree()); |
| 133 |
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2 | BOOST_CHECK(envOctree == envOctree_from_tree); |
| 134 | 2 | } | |
| 135 | |||
| 136 | // Test tobytes() | ||
| 137 | { | ||
| 138 |
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2 | const std::vector<uint8_t> bytes = envOctree.tobytes(); |
| 139 |
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2 | BOOST_CHECK(bytes.size() > 0 && bytes.size() <= envOctree.toBoxes().size() * |
| 140 | 3 * sizeof(Scalar)); | ||
| 141 | 2 | } | |
| 142 | |||
| 143 | 2 | std::vector<Transform3s> transforms; | |
| 144 | 2 | Scalar extents[] = {-2000, -2000, 0, 2000, 2000, 2000}; | |
| 145 | #ifndef NDEBUG // if debug mode | ||
| 146 | 2 | std::size_t N = 100; | |
| 147 | #else | ||
| 148 | std::size_t N = 10000; | ||
| 149 | #endif | ||
| 150 |
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2 | N = coal::getNbRun(utf::master_test_suite().argc, |
| 151 |
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2 | utf::master_test_suite().argv, N); |
| 152 | |||
| 153 |
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2 | generateRandomTransforms(extents, transforms, 2 * N); |
| 154 | |||
| 155 |
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2 | CollisionRequest request(coal::CONTACT | coal::DISTANCE_LOWER_BOUND, 1); |
| 156 |
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202 | for (std::size_t i = 0; i < N; ++i) { |
| 157 |
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200 | CollisionResult resultMesh; |
| 158 |
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200 | CollisionResult resultOctree; |
| 159 |
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200 | Transform3s tf1(transforms[2 * i]); |
| 160 |
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200 | Transform3s tf2(transforms[2 * i + 1]); |
| 161 | ; | ||
| 162 | // Test collision between meshes with random transform for robot. | ||
| 163 |
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200 | coal::collide(&robMesh, tf1, &envMesh, tf2, request, resultMesh); |
| 164 | // Test collision between mesh and octree for the same transform. | ||
| 165 |
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200 | coal::collide(&robMesh, tf1, &envOctree, tf2, request, resultOctree); |
| 166 | 200 | bool resMesh(resultMesh.isCollision()); | |
| 167 | 200 | bool resOctree(resultOctree.isCollision()); | |
| 168 |
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200 | BOOST_CHECK(!resMesh || resOctree); |
| 169 |
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200 | if (!resMesh && resOctree) { |
| 170 | ✗ | coal::DistanceRequest dreq; | |
| 171 | ✗ | coal::DistanceResult dres; | |
| 172 | ✗ | coal::distance(&robMesh, tf1, &envMesh, tf2, dreq, dres); | |
| 173 | ✗ | std::cout << "distance mesh mesh: " << dres.min_distance << std::endl; | |
| 174 | ✗ | BOOST_CHECK(dres.min_distance < sqrt(2.) * resolution); | |
| 175 | } | ||
| 176 | 200 | } | |
| 177 | 2 | } | |
| 178 | |||
| 179 |
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4 | BOOST_AUTO_TEST_CASE(octree_height_field) { |
| 180 | Eigen::IOFormat tuple(Eigen::FullPrecision, Eigen::DontAlignCols, "", ", ", | ||
| 181 |
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4 | "", "", "(", ")"); |
| 182 | 2 | Scalar resolution(10.); | |
| 183 | 2 | std::vector<Vec3s> pEnv; | |
| 184 | 2 | std::vector<Triangle> tEnv; | |
| 185 |
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2 | boost::filesystem::path path(TEST_RESOURCES_DIR); |
| 186 |
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2 | loadOBJFile((path / "env.obj").string().c_str(), pEnv, tEnv); |
| 187 | |||
| 188 |
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2 | BVHModel<OBBRSS> envMesh; |
| 189 | // Build meshes with robot and environment | ||
| 190 |
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2 | makeMesh(pEnv, tEnv, envMesh); |
| 191 | // Build octomap with environment | ||
| 192 |
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2 | envMesh.computeLocalAABB(); |
| 193 | // Load octree built from envMesh by makeOctree(envMesh, resolution) | ||
| 194 | OcTree envOctree( | ||
| 195 |
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4 | coal::loadOctreeFile((path / "env.octree").string(), resolution)); |
| 196 | |||
| 197 |
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2 | std::cout << "Finished loading octree." << std::endl; |
| 198 | |||
| 199 | // Building hfield | ||
| 200 | 2 | const Scalar x_dim = 10, y_dim = 20; | |
| 201 | 2 | const int nx = 100, ny = 100; | |
| 202 | 2 | const Scalar max_altitude = 1., min_altitude = 0.; | |
| 203 |
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2 | const MatrixXs heights = MatrixXs::Constant(ny, nx, max_altitude); |
| 204 | |||
| 205 |
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2 | HeightField<AABB> hfield(x_dim, y_dim, heights, min_altitude); |
| 206 |
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2 | hfield.computeLocalAABB(); |
| 207 | |||
| 208 | 2 | std::vector<Transform3s> transforms; | |
| 209 | 2 | Scalar extents[] = {-2000, -2000, 0, 2000, 2000, 2000}; | |
| 210 | #ifndef NDEBUG // if debug mode | ||
| 211 | 2 | std::size_t N = 1000; | |
| 212 | #else | ||
| 213 | std::size_t N = 100000; | ||
| 214 | #endif | ||
| 215 |
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2 | N = coal::getNbRun(utf::master_test_suite().argc, |
| 216 |
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2 | utf::master_test_suite().argv, N); |
| 217 | |||
| 218 |
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2 | generateRandomTransforms(extents, transforms, 2 * N); |
| 219 | |||
| 220 |
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2 | CollisionRequest request(coal::CONTACT | coal::DISTANCE_LOWER_BOUND, 1); |
| 221 |
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2002 | for (std::size_t i = 0; i < N; ++i) { |
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2000 | CollisionResult resultBox; |
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2000 | CollisionResult resultHfield1, resultHfield2; |
| 224 |
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2000 | Transform3s tf1(transforms[2 * i]); |
| 225 |
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2000 | Transform3s tf2(transforms[2 * i + 1]); |
| 226 | |||
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2000 | Box box; |
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2000 | Transform3s box_tf; |
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2000 | constructBox(hfield.aabb_local, tf2, box, box_tf); |
| 230 | |||
| 231 | // Test collision between octree and equivalent box. | ||
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2000 | coal::collide(&envOctree, tf1, &box, box_tf, request, resultBox); |
| 233 | // Test collision between octree and hfield. | ||
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2000 | coal::collide(&envOctree, tf1, &hfield, tf2, request, resultHfield1); |
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2000 | coal::collide(&hfield, tf2, &envOctree, tf1, request, resultHfield2); |
| 236 | |||
| 237 | 2000 | bool resBox(resultBox.isCollision()); | |
| 238 | 2000 | bool resHfield(resultHfield1.isCollision()); | |
| 239 |
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2000 | BOOST_CHECK(resBox == resHfield); |
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2000 | BOOST_CHECK(resultHfield1.isCollision() == resultHfield2.isCollision()); |
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2000 | if (!resBox && resHfield) { |
| 242 | ✗ | coal::DistanceRequest dreq; | |
| 243 | ✗ | coal::DistanceResult dres; | |
| 244 | ✗ | coal::distance(&envMesh, tf1, &box, box_tf, dreq, dres); | |
| 245 | ✗ | std::cout << "distance mesh box: " << dres.min_distance << std::endl; | |
| 246 | ✗ | BOOST_CHECK(dres.min_distance < sqrt(2.) * resolution); | |
| 247 | } | ||
| 248 | 2000 | } | |
| 249 | 2 | } | |
| 250 |