Merge pull request #447 from 3dgeo-heidelberg/resolution

Bring latest dev changes to alpha-dev
3dgeo-heidelberg · May 22, 2024 · e576163 · e576163
2 parents 6cc3373 + 26e3a67
commit e576163
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -50,12 +50,13 @@ jobs:
       - name: Install Helios
         run: |
           python -m pip install -v .
-      
+        env:
+          SETUPTOOLS_SCM_SUBPROCESS_TIMEOUT: "120"
+
       - name: Run tests
+        # Disable MacOS for now - we do not yet officially support it and we need to invest a bit
+        # more efforts into investigating broken LAZ files written by Helios on MacOS.
         if: runner.os != 'macOS' 
-         # Disable MacOS for now - we do not yet officially support it and we need to invest a bit
-          # more efforts into investigating broken LAZ files written by Helios on MacOS.
-          # - macos-latest
         run: |
           python -m pytest -m exe
           python -m pytest -m pyh
diff --git a/data/scenes/dyn/dyn_geom_swap_scene_by_indices.xml b/data/scenes/dyn/dyn_geom_swap_scene_by_indices.xml
@@ -0,0 +1,167 @@
+<?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 sphere by big cube -->
+			<swap swapIndices="[3]">
+				<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>
+			<!-- Swap small cube by sphere -->
+			<swap swapIndices="[1, 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>
+        </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 swapIndices="[1]">
+				<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 swapIndices="[2]" 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 big cube by bigger cube -->
+			<swap swapIndices="[3]">
+				<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>
+			<!-- Swap small cube by mid cube -->
+			<swap swapIndices="[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 swapIndices="[2]">
+				<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>
+        </part>
+    </scene>
+</document>
diff --git a/data/surveys/dyn/tls_tree1_dyn.xml b/data/surveys/dyn/tls_tree1_dyn.xml
@@ -3,30 +3,30 @@
         <scannerSettings id="tls" active="true" pulseFreq_hz="600000" verticalResolution_deg="0.04" horizontalResolution_deg="0.04"/>
         <survey name="tls_tree1_dyn" platform="data/platforms.xml#tripod" scanner="data/scanners_tls.xml#riegl_vz400" scene="data/scenes/dyn/tree1_dyn.xml#tree1">
             <leg>
-            <platformSettings x="3.0000" y="0.0000" z="0" onGround="true"/>
+            <platformSettings x="3.0000" y="0.0000" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="45.0000" headRotateStop_deg="135.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="1.5000" y="2.5981" z="0" onGround="true"/>
+            <platformSettings x="1.5000" y="2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="105.0000" headRotateStop_deg="195.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="-1.5000" y="2.5981" z="0" onGround="true"/>
+            <platformSettings x="-1.5000" y="2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-195.0000" headRotateStop_deg="-105.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="-3.0000" y="0.0000" z="0" onGround="true"/>
+            <platformSettings x="-3.0000" y="0.0000" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-135.0000" headRotateStop_deg="-45.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="-1.5000" y="-2.5981" z="0" onGround="true"/>
+            <platformSettings x="-1.5000" y="-2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-75.0000" headRotateStop_deg="15.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="1.5000" y="-2.5981" z="0" onGround="true"/>
+            <platformSettings x="1.5000" y="-2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-15.0000" headRotateStop_deg="75.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
 
         </survey>
     </document>
-
+
diff --git a/data/surveys/dyn/tls_tree1_static.xml b/data/surveys/dyn/tls_tree1_static.xml
@@ -3,30 +3,30 @@
         <scannerSettings id="tls" active="true" pulseFreq_hz="600000" verticalResolution_deg="0.04" horizontalResolution_deg="0.04"/>
         <survey name="tls_tree1_static" platform="data/platforms.xml#tripod" scanner="data/scanners_tls.xml#riegl_vz400" scene="data/scenes/dyn/tree1_static.xml#tree1">
             <leg>
-            <platformSettings x="3.0000" y="0.0000" z="0" onGround="true"/>
+            <platformSettings x="3.0000" y="0.0000" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="45.0000" headRotateStop_deg="135.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="1.5000" y="2.5981" z="0" onGround="true"/>
+            <platformSettings x="1.5000" y="2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="105.0000" headRotateStop_deg="195.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="-1.5000" y="2.5981" z="0" onGround="true"/>
+            <platformSettings x="-1.5000" y="2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-195.0000" headRotateStop_deg="-105.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="-3.0000" y="0.0000" z="0" onGround="true"/>
+            <platformSettings x="-3.0000" y="0.0000" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-135.0000" headRotateStop_deg="-45.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="-1.5000" y="-2.5981" z="0" onGround="true"/>
+            <platformSettings x="-1.5000" y="-2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-75.0000" headRotateStop_deg="15.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
         <leg>
-            <platformSettings x="1.5000" y="-2.5981" z="0" onGround="true"/>
+            <platformSettings x="1.5000" y="-2.5981" z="0" onGround="false"/>
             <scannerSettings template="tls" headRotateStart_deg="-15.0000" headRotateStop_deg="75.0000" trajectoryTimeInterval_s="0.05"/>
         </leg>
 
         </survey>
     </document>
-
+
diff --git a/pytests/test_demo_scenes.py b/pytests/test_demo_scenes.py
@@ -114,7 +114,7 @@ def test_arbaro_tls_pyh():
 
 def eval_arbaro_tls(dirname):
     assert (dirname / 'leg000_points.las').exists()
-    assert abs((dirname / 'leg000_points.las').stat().st_size - 22_704_249) < MAX_DIFFERENCE_BYTES
+    assert abs((dirname / 'leg000_points.las').stat().st_size - 22_698_181) < MAX_DIFFERENCE_BYTES
     assert (dirname / 'leg001_points.las').exists()
     assert abs((dirname / 'leg001_points.las').stat().st_size - 14_381_469) < MAX_DIFFERENCE_BYTES
     with open(dirname / 'leg000_trajectory.txt', 'r') as f:
@@ -290,7 +290,9 @@ def eval_quadcopter(dirname):
                          [-7.00000e+01, -2.87225e+01, 7.13900e-03],
                          [-7.00000e+01, -2.84326e+01, 8.83900e-03],
                          [-7.00000e+01, -2.81384e+01, 1.53900e-03]])
-    np.testing.assert_allclose(data[100:120, :], expected, atol=1e-12)
+    # atol for numpy assert moved to 1e-3 from 1e-12 due to discrepancies
+    # between local and remote (GitHub action) results
+    np.testing.assert_allclose(data[100:120, :], expected, atol=1e-3)
     assert speed_from_traj(dirname / 'leg000_trajectory.txt') == pytest.approx(10.0, 0.001)
     assert speed_from_traj(dirname / 'leg002_trajectory.txt') == pytest.approx(7.0, 0.001)
     assert speed_from_traj(dirname / 'leg004_trajectory.txt') == pytest.approx(4.0, 0.001)
@@ -448,7 +450,7 @@ def test_dyn_exe():
 
 def eval_dyn(dirname):
     assert (dirname / 'leg000_points.laz').exists()
-    assert abs((dirname / 'leg000_points.laz').stat().st_size - 4_181_700) < MAX_DIFFERENCE_BYTES
+    assert abs((dirname / 'leg000_points.laz').stat().st_size - 4_174_789) < MAX_DIFFERENCE_BYTES
     # clean up
     if DELETE_FILES_AFTER:
         shutil.rmtree(dirname)
diff --git a/pytests/test_pyhelios.py b/pytests/test_pyhelios.py
@@ -368,7 +368,7 @@ def test_output(export_to_file):
     measurements_array, trajectory_array = pyhelios.outputToNumpy(output)
 
     np.testing.assert_allclose(measurements_array[0, :3], np.array([474500.3, 5473580.0, 107.0001]), rtol=0.000001)
-    assert measurements_array.shape == (2412, 17)
+    assert measurements_array.shape == (2407, 17)
     assert trajectory_array.shape == (9, 7)
     if export_to_file:
         assert Path(output.outpath).parent.parent == Path(WORKING_DIR) / "output" / "als_hd_demo"

diff --git a/src/assetloading/SpectralLibrary.h b/src/assetloading/SpectralLibrary.h
@@ -84,4 +84,10 @@ class SpectralLibrary {
 	 * @param scene Scene with materials which reflectance must be setted
 	 */
 	void setReflectances(Scene* scene);
+
+    /**
+     * @brief Obtain the default reflectance of the spectral library.
+     * @see SpectralLibrary::defaultReflectance
+     */
+    inline double getDefaultReflectance(){return defaultReflectance;}
 };
diff --git a/src/assetloading/SwapOnRepeatHandler.cpp b/src/assetloading/SwapOnRepeatHandler.cpp
@@ -11,6 +11,7 @@ SwapOnRepeatHandler::SwapOnRepeatHandler() :
     discardOnReplay(false),
     holistic(false),
     onSwapFirstPlay(false),
+    keepCRS(true),
     baseline(nullptr)
 {}
 
@@ -58,7 +59,7 @@ void SwapOnRepeatHandler::doSwap(ScenePart &sp){
     std::deque<AbstractGeometryFilter *> filters = swapFilters.front();
     swapFilters.pop_front();
     currentTimeToLive = timesToLive.front();
-    timesToLive.pop_front();
+   timesToLive.pop_front();
 
     // Apply filters
     bool firstIter = true;

diff --git a/src/assetloading/SwapOnRepeatHandler.h b/src/assetloading/SwapOnRepeatHandler.h
@@ -59,6 +59,11 @@ class SwapOnRepeatHandler {
      *  swap.
      */
     bool onSwapFirstPlay;
+    /**
+     * @brief True if the handler requires to keep the current scene's CRS
+     *  bounding box (default), False otherwise.
+     */
+    bool keepCRS;
 
 public:
     /**
@@ -179,6 +184,19 @@ class SwapOnRepeatHandler {
      * @see SwapOnRepeatHandler::mPrimitives
      */
     std::vector<Primitive *> & getBaselinePrimitives();
+    /**
+     * @brief Set the keepCRS flag.
+     * @param keepCRS The new keepCRS flag for the handler.
+     * @see SwapOnRepeatHandler::keepCRS
+     */
+    inline void setKeepCRS(bool const keepCRS) {this->keepCRS = keepCRS;}
+    /**
+     * @brief Check whether the current keepCRS flag.
+     * @return True if the handler requires to keep the current scene's CRS,
+     *  False otherwise.
+     * @see SwapOnRepeatHandler::keepCRS
+     */
+    inline bool isKeepCRS() const {return keepCRS;}
 
 protected:
     // ***  UTIL METHODS  *** //

diff --git a/src/assetloading/XmlSceneLoader.cpp b/src/assetloading/XmlSceneLoader.cpp
@@ -236,7 +236,14 @@ shared_ptr<SwapOnRepeatHandler> XmlSceneLoader::loadScenePartSwaps(
             "int",
             1
         ));
+        bool const keepCRS = boost::get<bool>(XmlUtils::getAttribute(
+            swapNodes,
+            "keepCRS",
+            "bool",
+            sorh->isKeepCRS()
+        ));
         sorh->pushTimeToLive(swapStep);
+        sorh->setKeepCRS(keepCRS);
         tinyxml2::XMLElement *filterNodes =
             swapNodes->FirstChildElement("filter");
         std::deque<AbstractGeometryFilter *> swapFilters;
@@ -578,7 +585,7 @@ void XmlSceneLoader::handleDynamicSceneAttributes(
         ))
     );
     // Apply automatic CRS translation when requested
-    glm::dvec3 const &shift = scene->getBBoxCRS()->getMin();
+    glm::dvec3 const &shift = scene->getBBoxCRS()->getCentroid();
     size_t const numDynObjects = scene->numDynObjects();
     for (size_t i = 0; i < numDynObjects; ++i) {
         std::shared_ptr<DynSequentiableMovingObject> dsmo =

diff --git a/src/assetloading/XmlSurveyLoader.cpp b/src/assetloading/XmlSurveyLoader.cpp
@@ -90,6 +90,9 @@ XmlSurveyLoader::createSurveyFromXml(
       (float)survey->scanner->getWavelength(), assetsDir, "spectra");
   spectralLibrary.readReflectances();
   spectralLibrary.setReflectances(survey->scanner->platform->scene.get());
+  survey->scanner->platform->scene->setDefaultReflectance(
+      spectralLibrary.getDefaultReflectance()
+  );
 
   // Update materials for all swap on repeat handlers
   for(std::shared_ptr<ScenePart> sp : survey->scanner->platform->scene->parts){