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Merge pull request #432 from albertoesmp/devel
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Swap on repeat
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@albertoesmp
albertoesmp authored Apr 2, 2024
2 parents 17b7e44 + f842a9b commit 9eda8c2
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Showing 68 changed files with 3,563 additions and 203 deletions.
2 changes: 2 additions & 0 deletions cmake/CMakeBuildExec.cmake
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Expand Up @@ -59,6 +59,8 @@ if(WIN32 OR MSVC) # Windows compilation
endif()
else() # Linux compilation
target_link_libraries(helios ${HELIOS_TARGET_LIBRARIES})
# target_link_libraries below is for profiling/debugging only
#target_link_libraries(helios ${HELIOS_TARGET_LIBRARIES} -fsanitize=address)
if(PYTHON_BINDING)
target_link_libraries(libhelios ${HELIOS_TARGET_LIBRARIES})
target_link_libraries(pyhelios libhelios)
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6 changes: 1 addition & 5 deletions cmake/CMakeConfig.cmake
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Expand Up @@ -9,11 +9,7 @@ if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE RELEASE)
endif()
# Common flags
if(PCL_BINDING)
set(CMAKE_CXX_STANDARD 14)
else()
set(CMAKE_CXX_STANDARD 11)
endif()
set(CMAKE_CXX_STANDARD 14)
if(WIN32 OR MSVC) # Windows flags
set(CMAKE_CXX_FLAGS_RELEASE "/MD /O2 /Ob2 /DNDEBUG")
set(CMAKE_CXX_FLAGS_DEBUG "")
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167 changes: 167 additions & 0 deletions data/scenes/dyn/dyn_geom_swap_scene.xml
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<?xml version="1.0" encoding="UTF-8"?>
<document>
<scene id="dyn_geom_swap_scene" name="DynGeomSwapScene">


<!-- Ground plane -->
<!-- ************ -->
<part id="1">
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/basic/groundplane/groundplane.obj" />
</filter>
<filter type="scale">
<param type="double" key="scale" value="120" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="50.0;0;0" />
</filter>
</part>




<!-- Small cube goes sphere for two repetitions then goes big cube -->
<!-- ************************************************************* -->
<part id="2">
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
</filter>
<filter type="rotate">
<param key="rotation" type="rotation">
<rot angle_deg="45" axis="z"/>
</param>
</filter>
<filter type="scale">
<param type="double" key="scale" value="0.75" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-40.0;-50.0;0" />
</filter>
<!-- Swap small cube by sphere -->
<swap swapStep="2">
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/toyblocks/sphere.obj" />
</filter>
<filter type="scale">
<param type="double" key="scale" value="1.25" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-30.0;-60.0;0" />
</filter>
</swap>
<!-- Swap sphere by big cube -->
<swap swapStep="1">
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
</filter>
<filter type="rotate">
<param key="rotation" type="rotation">
<rot angle_deg="45" axis="z"/>
</param>
</filter>
<filter type="scale">
<param type="double" key="scale" value="1.5" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-20.0;-60.0;0" />
</filter>
</swap>
</part>




<!-- Sphere goes cube goes nothing -->
<!-- ***************************** -->
<part id="3">
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/toyblocks/sphere.obj" />
</filter>
<filter type="scale">
<param type="double" key="scale" value="1.25" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-10.0;-20.0;0" />
</filter>
<!-- Swap sphere by cube -->
<swap>
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
</filter>
<filter type="scale">
<param type="double" key="scale" value="2.0" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-40.0;40.0;0" />
</filter>
</swap>
<!-- Swap cube by nothing -->
<swap force_null="true">
</swap>
</part>




<!-- Small cube goes mid goes big goes bigger -->
<!-- **************************************** -->
<part id="4">
<filter type="objloader">
<param type="string" key="filepath" value="data/sceneparts/toyblocks/cube.obj" />
</filter>
<filter type="rotate">
<param key="rotation" type="rotation">
<rot angle_deg="45" axis="z"/>
</param>
</filter>
<filter type="scale">
<param type="double" key="scale" value="0.75" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-20.0;10.0;0" />
</filter>
<!-- Swap small cube by mid cube -->
<swap swapStep="1">
<filter type="rotate">
<param key="rotation" type="rotation">
<rot angle_deg="45" axis="z"/>
</param>
</filter>
<filter type="scale">
<param type="double" key="scale" value="2.0" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-22.0;12.0;0" />
</filter>
</swap>
<!-- Swap mid cube by big cube -->
<swap swapStep="1">
<filter type="rotate">
<param key="rotation" type="rotation">
<rot angle_deg="45" axis="z"/>
</param>
</filter>
<filter type="scale">
<param type="double" key="scale" value="3.0" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-18.0;11.0;0.0" />
</filter>
</swap>
<!-- Swap big cube by bigger cube -->
<swap swapStep="1">
<filter type="rotate">
<param key="rotation" type="rotation">
<rot angle_deg="45" axis="z"/>
</param>
</filter>
<filter type="scale">
<param type="double" key="scale" value="3.5" />
</filter>
<filter type="translate">
<param type="vec3" key="offset" value="-42.0;12.0;0.0" />
</filter>
</swap>
</part>
</scene>
</document>
21 changes: 21 additions & 0 deletions data/surveys/dyn/als_dyn_geom_swap.xml
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<?xml version="1.0" encoding="UTF-8"?>
<document>
<survey name="dyn_geom_swap_als" scene="data/scenes/dyn/dyn_geom_swap_scene.xml#dyn_geom_swap_scene" platform="data/platforms.xml#sr22" scanner="data/scanners_als.xml#leica_als50">
<leg>
<platformSettings x="100" y="100.0" z="400" onGround="false" movePerSec_m="5" />
<scannerSettings active="true" pulseFreq_hz="83000" scanFreq_hz="70" scanAngle_deg="60" />
</leg>
<leg>
<platformSettings x="-100" y="-100.0" z="400" onGround="false" movePerSec_m="5" />
<scannerSettings active="false" pulseFreq_hz="83000" scanFreq_hz="70" scanAngle_deg="60" />
</leg>
<leg>
<platformSettings x="-100" y="100.0" z="400" onGround="false" movePerSec_m="5" />
<scannerSettings active="true" pulseFreq_hz="83000" scanFreq_hz="70" scanAngle_deg="60" />
</leg>
<leg>
<platformSettings x="100" y="-100.0" z="400" onGround="false" movePerSec_m="5" />
<scannerSettings active="false" pulseFreq_hz="83000" scanFreq_hz="70" scanAngle_deg="60" />
</leg>
</survey>
</document>
24 changes: 24 additions & 0 deletions data/surveys/dyn/interp_dyn_geom_swap.xml
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<?xml version="1.0" encoding="UTF-8"?>
<document>
<survey name="dyn_geom_swap_interp"
scene="data/scenes/dyn/dyn_geom_swap_scene.xml#dyn_geom_swap_scene"
platform="interpolated" basePlatform="data/platforms.xml#sr22"
scanner="data/scanners_als.xml#leica_als50"
>
<leg>
<platformSettings
trajectory="data/trajectories/swap_on_repeat_trajectory.txt"
tIndex="0" xIndex="1" yIndex="2" zIndex="3" rollIndex="4" pitchIndex="5" yawIndex="6"
tStart="0" teleportToStart="true" trajectory_separator="," interpolationDomain="position"
/>
<scannerSettings active="true" pulseFreq_hz="83000" scanFreq_hz="70" scanAngle_deg="60" trajectoryTimeInterval_s="0.033" />
</leg>
<leg>
<platformSettings
trajectory="data/trajectories/swap_on_repeat_trajectory.txt"
tStart="0" teleportToStart="true" trajectory_separator="," interpolationDomain="position"
/>
<scannerSettings active="true" pulseFreq_hz="83000" scanFreq_hz="70" scanAngle_deg="30" trajectoryTimeInterval_s="0.033" />
</leg>
</survey>
</document>
13 changes: 13 additions & 0 deletions data/surveys/dyn/tls_dyn_geom_swap.xml
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<?xml version="1.0" encoding="UTF-8"?>
<document>
<survey name="dyn_geom_swap_tls" scene="data/scenes/dyn/dyn_geom_swap_scene.xml#dyn_geom_swap_scene" platform="data/platforms.xml#tripod" scanner="data/scanners_tls.xml#riegl_vz400">
<leg>
<platformSettings x="-30" y="-30.0" z="0" onGround="true"/>
<scannerSettings active="true" pulseFreq_hz="100000" verticalAngleMin_deg="-40.0" verticalAngleMax_deg="60.0" scanFreq_hz="120" headRotatePerSec_deg="-5.00" headRotateStart_deg="360.0" headRotateStop_deg="120.0"/>
</leg>
<leg>
<platformSettings x="-30" y="-30.0" z="0" onGround="true"/>
<scannerSettings active="true" pulseFreq_hz="100000" verticalAngleMin_deg="-50.0" verticalAngleMax_deg="70.0" scanFreq_hz="120" headRotatePerSec_deg="-15.00" headRotateStart_deg="360.0" headRotateStop_deg="90.0"/>
</leg>
</survey>
</document>
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