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nathanhhughesnathanhhughes
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Feature/khronos active window (#321)
* start on active window interface * (wip) reorg and rename reconstruction module pieces * fix compilation and add graph update field * rename InputQueue to MessageQueue * update reconstruction shutdown logic * add num blocks archived to return * add generic update class for putting nodes in graph * add graph config declaration * rename FrontendModule * rename frontend queue method * udpate config field name * reshuffle map and map config * push layer flags to config in VolumetricMap * update volumetric map section * fix shutdown bug * fix graph update config slightly * avoid pgmo warning and move print * match khronos verbosity control for projective integrator * (wip) start on graph interlayer edge code for arbitrary layers * start testing graph connector * clean up and fix connector * fix active flags * add graph connector to frontend * fix active and config issues * document packet fields and methods * add default graph update config for objects * fix active window sink parsing * clean up printInfo and sink printing * maybe avoid yamlcpp warning * fix compilation error Co-authored-by: Nathan Hughes <[email protected]>
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‎config/datasets/d455_outdoor.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 15.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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interpolation_method: bilinear
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semantic_integrator:

‎config/datasets/habitat.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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full_update_separation_s: 1.0
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tsdf:
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interpolation_method: bilinear

‎config/datasets/kitti_360.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.35
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truncation_distance: 1.0
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map_window:
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type: spatial
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max_radius_m: 30.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.35
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truncation_distance: 1.0
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tsdf:
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use_constant_weight: true
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interpolation_method: bilinear

‎config/datasets/pennquad.yaml

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---
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num_poses_per_update: 1
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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interpolation_method: bilinear
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semantic_integrator:

‎config/datasets/sidpac.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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interpolation_method: adaptive
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semantic_integrator:

‎config/datasets/simmons_a1.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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interpolation_method: bilinear
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semantic_integrator:

‎config/datasets/simmons_jackal.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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interpolation_method: bilinear
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semantic_integrator:

‎config/datasets/spot.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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semantic_integrator:

‎config/datasets/uhumans2.yaml

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---
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map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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map_window:
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type: spatial
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max_radius_m: 8.0
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reconstruction:
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active_window:
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volumetric_map:
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voxels_per_side: 16
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voxel_size: 0.1
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truncation_distance: 0.3
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tsdf:
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interpolation_method: bilinear
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semantic_integrator:

‎include/hydra/active_window/active_window_module.h

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/* -----------------------------------------------------------------------------
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* Copyright 2022 Massachusetts Institute of Technology.
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* All Rights Reserved
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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* Research was sponsored by the United States Air Force Research Laboratory and
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* the United States Air Force Artificial Intelligence Accelerator and was
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* accomplished under Cooperative Agreement Number FA8750-19-2-1000. The views
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* and conclusions contained in this document are those of the authors and should
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* not be interpreted as representing the official policies, either expressed or
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* implied, of the United States Air Force or the U.S. Government. The U.S.
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* Government is authorized to reproduce and distribute reprints for Government
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* purposes notwithstanding any copyright notation herein.
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* -------------------------------------------------------------------------- */
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#pragma once
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#include <atomic>
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#include <memory>
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#include <thread>
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#include "hydra/active_window/active_window_output.h"
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#include "hydra/active_window/volumetric_window.h"
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#include "hydra/common/message_queue.h"
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#include "hydra/common/module.h"
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#include "hydra/common/output_sink.h"
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#include "hydra/input/input_packet.h"
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#include "hydra/reconstruction/volumetric_map.h"
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namespace hydra {
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class ActiveWindowModule : public Module {
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public:
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using Ptr = std::shared_ptr<ActiveWindowModule>;
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using InputQueue = MessageQueue<InputPacket::Ptr>;
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using OutputQueue = MessageQueue<ActiveWindowOutput::Ptr>;
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using Sink = OutputSink<uint64_t, const VolumetricMap&, const ActiveWindowOutput&>;
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struct Config {
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size_t max_input_queue_size;
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VolumetricMap::Config volumetric_map;
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config::VirtualConfig<VolumetricWindow> map_window;
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std::vector<Sink::Factory> sinks;
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// construct to allow downstream modules to set defaults
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Config(bool with_semantics = true, bool with_tracking = false);
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} const config;
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ActiveWindowModule(const Config& config, const OutputQueue::Ptr& output_queue);
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virtual ~ActiveWindowModule() = default;
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void start() override;
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void stop() override;
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void save(const LogSetup& log_setup) override;
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std::string printInfo() const override;
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void spin();
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bool step(const InputPacket::Ptr& input);
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void addSink(const Sink::Ptr& sink);
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InputQueue::Ptr queue() const { return input_queue_; }
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const VolumetricMap& map() const { return map_; }
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protected:
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virtual ActiveWindowOutput::Ptr spinOnce(const InputPacket& input) = 0;
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void stopImpl();
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InputQueue::Ptr input_queue_;
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OutputQueue::Ptr output_queue_;
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std::atomic<bool> should_shutdown_{false};
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std::unique_ptr<std::thread> spin_thread_;
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Sink::List sinks_;
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VolumetricMap map_;
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std::unique_ptr<VolumetricWindow> map_window_;
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};
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void declare_config(ActiveWindowModule::Config& config);
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} // namespace hydra

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