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PiotrMrozikprybicki
PiotrMrozik
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prybicki
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Feature/reflectivity (#341)
* Introduce new field * First working version of reflectivity calculation with hardcoded alpha. * Introduce alpha of reflectivity. * Cleanup * Fix tape call * Introduce separate test. * PR fixes v1 * minor formating fixes * Update test/src/scene/reflectivityTest.cpp Co-authored-by: Piotr Rybicki <[email protected]> * fix naming conflict --------- Co-authored-by: Piotr Rybicki <[email protected]>
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14 files changed

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-7
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14 files changed

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-7
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‎include/rgl/api/core.h‎

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Original file line numberDiff line numberDiff line change
@@ -441,6 +441,13 @@ typedef enum : int32_t
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*/
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RGL_FIELD_LASER_RETRO_F32,
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444+
/**
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* Reflectivity of the hit point.
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* Reflectivity is a scalar value that describes how much light is reflected by the hit point.
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* Reflectivity is a property of the material of the hit point.
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*/
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RGL_FIELD_REFLECTIVITY_F32,
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// Dummy fields
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RGL_FIELD_PADDING_8 = 1024,
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RGL_FIELD_PADDING_16,
@@ -892,6 +899,15 @@ RGL_API rgl_status_t rgl_node_raytrace_configure_beam_divergence(rgl_node_t node
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*/
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RGL_API rgl_status_t rgl_node_raytrace_configure_default_intensity(rgl_node_t node, float default_intensity);
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902+
/**
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* Modifies RaytraceNode to set reflectivity alpha.
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* Reflectivity alpha is used to calculate reflectivity of the hit point. This value is constant for every hit point.
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* Default reflectivity alpha is set to 0.1f.
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* @param node RaytraceNode to modify.
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* @param reflectivity_alpha Reflectivity alpha to set.
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*/
909+
RGL_API rgl_status_t rgl_node_raytrace_configure_reflectivity_alpha(rgl_node_t node, float reflectivity_alpha);
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/**
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* Modifies RaytraceNode to set return mode.
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* Point return types (RGL_FIELD_RETURN_TYPE_U8) will be set to corresponding rgl_return_type_t values, e.g. return mode

‎src/RGLFields.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -41,6 +41,7 @@ typedef unsigned char TextureTexelFormat;
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#define ENTITY_ID_I32 RGL_FIELD_ENTITY_ID_I32
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#define INTENSITY_F32 RGL_FIELD_INTENSITY_F32
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#define INTENSITY_U8 RGL_FIELD_INTENSITY_U8
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#define REFLECTIVITY_F32 RGL_FIELD_REFLECTIVITY_F32
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#define LASER_RETRO_F32 RGL_FIELD_LASER_RETRO_F32
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#define RING_ID_U16 RGL_FIELD_RING_ID_U16
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#define AZIMUTH_F32 RGL_FIELD_AZIMUTH_F32
@@ -73,6 +74,7 @@ inline const std::set<rgl_field_t>& getAllRealFields()
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ENTITY_ID_I32,
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INTENSITY_F32,
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INTENSITY_U8,
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REFLECTIVITY_F32,
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LASER_RETRO_F32,
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RING_ID_U16,
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AZIMUTH_F32,
@@ -122,6 +124,7 @@ FIELD(RAY_IDX_U32, uint32_t); // PCL uses uint32_t
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FIELD(ENTITY_ID_I32, int32_t);
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FIELD(INTENSITY_F32, float);
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FIELD(INTENSITY_U8, uint8_t);
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FIELD(REFLECTIVITY_F32, float);
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FIELD(LASER_RETRO_F32, float);
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FIELD(IS_HIT_I32, int32_t); // Signed may be faster
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FIELD(IS_GROUND_I32, int32_t); // Signed may be faster
@@ -156,6 +159,7 @@ inline std::size_t getFieldSize(rgl_field_t type)
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case IS_GROUND_I32: return Field<IS_GROUND_I32>::size;
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case INTENSITY_F32: return Field<INTENSITY_F32>::size;
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case INTENSITY_U8: return Field<INTENSITY_U8>::size;
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case REFLECTIVITY_F32: return Field<REFLECTIVITY_F32>::size;
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case LASER_RETRO_F32: return Field<LASER_RETRO_F32>::size;
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case RING_ID_U16: return Field<RING_ID_U16>::size;
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case AZIMUTH_F32: return Field<AZIMUTH_F32>::size;
@@ -215,6 +219,7 @@ inline std::shared_ptr<IAnyArray> createArray(rgl_field_t type, Args&&... args)
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case ENTITY_ID_I32: return Subclass<Field<ENTITY_ID_I32>::type>::create(std::forward<Args>(args)...);
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case INTENSITY_F32: return Subclass<Field<INTENSITY_F32>::type>::create(std::forward<Args>(args)...);
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case INTENSITY_U8: return Subclass<Field<INTENSITY_U8>::type>::create(std::forward<Args>(args)...);
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case REFLECTIVITY_F32: return Subclass<Field<REFLECTIVITY_F32>::type>::create(std::forward<Args>(args)...);
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case LASER_RETRO_F32: return Subclass<Field<LASER_RETRO_F32>::type>::create(std::forward<Args>(args)...);
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case RING_ID_U16: return Subclass<Field<RING_ID_U16>::type>::create(std::forward<Args>(args)...);
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case AZIMUTH_F32: return Subclass<Field<AZIMUTH_F32>::type>::create(std::forward<Args>(args)...);
@@ -251,6 +256,7 @@ inline std::string toString(rgl_field_t type)
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case ENTITY_ID_I32: return "ENTITY_ID_I32";
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case INTENSITY_F32: return "INTENSITY_F32";
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case INTENSITY_U8: return "INTENSITY_U8";
259+
case REFLECTIVITY_F32: return "REFLECTIVITY_F32";
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case LASER_RETRO_F32: return "LASER_RETRO_F32";
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case RING_ID_U16: return "RING_ID_U16";
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case AZIMUTH_F32: return "AZIMUTH_F32";
@@ -291,6 +297,7 @@ inline std::vector<uint8_t> toRos2Fields(rgl_field_t type)
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case ENTITY_ID_I32: return {sensor_msgs::msg::PointField::INT32};
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case INTENSITY_F32: return {sensor_msgs::msg::PointField::FLOAT32};
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case INTENSITY_U8: return {sensor_msgs::msg::PointField::UINT8};
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case REFLECTIVITY_F32: return {sensor_msgs::msg::PointField::FLOAT32};
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case LASER_RETRO_F32: return {sensor_msgs::msg::PointField::FLOAT32};
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case RING_ID_U16: return {sensor_msgs::msg::PointField::UINT16};
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case AZIMUTH_F32: return {sensor_msgs::msg::PointField::FLOAT32};
@@ -342,6 +349,7 @@ inline std::vector<std::string> toRos2Names(rgl_field_t type)
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case INTENSITY_F32:
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case INTENSITY_U8:
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return {"intensity"};
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case REFLECTIVITY_F32: return {"reflectivity"};
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case LASER_RETRO_F32: return {"laser_retro"};
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case RING_ID_U16: return {"channel"};
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case AZIMUTH_F32: return {"azimuth"};

‎src/api/apiCore.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -1066,6 +1066,27 @@ void TapeCore::tape_node_raytrace_configure_default_intensity(const YAML::Node&
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rgl_node_raytrace_configure_default_intensity(node, yamlNode[1].as<float>());
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}
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RGL_API rgl_status_t rgl_node_raytrace_configure_reflectivity_alpha(rgl_node_t node, float reflectivity_alpha)
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{
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auto status = rglSafeCall([&]() {
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RGL_API_LOG("rgl_node_raytrace_configure_reflectivity_alpha(node={}, default_intensity={})", repr(node),
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reflectivity_alpha);
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CHECK_ARG(node != nullptr);
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CHECK_ARG(reflectivity_alpha >= 0.0f);
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RaytraceNode::Ptr raytraceNode = Node::validatePtr<RaytraceNode>(node);
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raytraceNode->setReflectivityAlpha(reflectivity_alpha);
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});
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TAPE_HOOK(node, reflectivity_alpha);
1080+
return status;
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}
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void TapeCore::tape_node_raytrace_configure_reflectivity_alpha(const YAML::Node& yamlNode, PlaybackState& state)
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{
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auto nodeId = yamlNode[0].as<TapeAPIObjectID>();
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rgl_node_t node = state.nodes.at(nodeId);
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rgl_node_raytrace_configure_reflectivity_alpha(node, yamlNode[1].as<float>());
1088+
}
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RGL_API rgl_status_t rgl_node_raytrace_configure_return_mode(rgl_node_t node, rgl_return_mode_t return_mode)
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{
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auto status = rglSafeCall([&]() {

‎src/gpu/RaytraceRequestContext.hpp‎

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@@ -29,6 +29,7 @@ struct RaytraceRequestContext
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float farNonHitDistance;
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float defaultIntensity;
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float reflectivityAlpha;
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const Mat3x4f* raysWorld;
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size_t rayCount;
@@ -58,6 +59,7 @@ struct RaytraceRequestContext
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Field<DISTANCE_F32>::type* distance;
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Field<INTENSITY_F32>::type* intensityF32;
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Field<INTENSITY_U8>::type* intensityU8;
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Field<REFLECTIVITY_F32>::type* reflectivityF32;
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Field<LASER_RETRO_F32>::type* laserRetro;
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Field<TIME_STAMP_F64>::type* timestampF64;
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Field<TIME_STAMP_U32>::type* timestampU32;

‎src/gpu/nodeKernels.cu‎

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@@ -127,6 +127,10 @@ __device__ void saveReturnAsHit(const RaytraceRequestContext* ctx, int beamIdx,
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static_cast<uint8_t>(std::round(ctx->mrSamples.intensity[sampleIdx])) :
128128
UINT8_MAX;
129129
}
130+
if (ctx->reflectivityF32 != nullptr) {
131+
const auto distance2 = ctx->mrSamples.distance[sampleIdx] * ctx->mrSamples.distance[sampleIdx];
132+
ctx->reflectivityF32[returnPointIdx] = ctx->reflectivityAlpha * ctx->mrSamples.intensity[sampleIdx] * distance2;
133+
}
130134
if (ctx->entityId != nullptr) {
131135
ctx->entityId[returnPointIdx] = ctx->mrSamples.entityId[sampleIdx];
132136
}
@@ -183,6 +187,9 @@ __device__ void saveReturnAsNonHit(const RaytraceRequestContext* ctx, int firstS
183187
if (ctx->intensityU8 != nullptr) {
184188
ctx->intensityU8[returnPointIdx] = 0;
185189
}
190+
if (ctx->reflectivityF32 != nullptr) {
191+
ctx->reflectivityF32[returnPointIdx] = 0;
192+
}
186193
if (ctx->entityId != nullptr) {
187194
ctx->entityId[returnPointIdx] = RGL_ENTITY_INVALID_ID;
188195
}

‎src/graph/NodesCore.hpp‎

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@@ -139,6 +139,7 @@ struct RaytraceNode : IPointsNode
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void setNonHitDistanceValues(float nearDistance, float farDistance);
140140
void setNonHitsMask(const int8_t* maskRaw, size_t maskPointCount);
141141
void setDefaultIntensity(float intensity) { defaultIntensity = intensity; }
142+
void setReflectivityAlpha(float reflectivity_alpha) { reflectivityAlpha = reflectivity_alpha; }
142143
void setReturnMode(rgl_return_mode_t mode)
143144
{
144145
if (mode == RGL_RETURN_UNKNOWN) {
@@ -244,6 +245,7 @@ struct RaytraceNode : IPointsNode
244245
float nearNonHitDistance{std::numeric_limits<float>::infinity()};
245246
float farNonHitDistance{std::numeric_limits<float>::infinity()};
246247
float defaultIntensity = 0.0f;
248+
float reflectivityAlpha = 0.1f;
247249

248250
MultiReturnSamples mrSampleData = MultiReturnSamples{arrayMgr};
249251
rgl_return_mode_t returnMode = RGL_RETURN_FIRST;

‎src/graph/RaytraceNode.cpp‎

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@@ -98,6 +98,7 @@ void RaytraceNode::enqueueExecImpl()
9898
.nearNonHitDistance = nearNonHitDistance,
9999
.farNonHitDistance = farNonHitDistance,
100100
.defaultIntensity = defaultIntensity,
101+
.reflectivityAlpha = reflectivityAlpha,
101102
.raysWorld = raysPtr,
102103
.rayCount = raysNode->getRayCount(),
103104
.rayOriginToWorld = raysNode->getCumulativeRayTransfrom(),
@@ -119,6 +120,7 @@ void RaytraceNode::enqueueExecImpl()
119120
.distance = getPtrTo<DISTANCE_F32>(),
120121
.intensityF32 = getPtrTo<INTENSITY_F32>(),
121122
.intensityU8 = getPtrTo<INTENSITY_U8>(),
123+
.reflectivityF32 = getPtrTo<REFLECTIVITY_F32>(),
122124
.laserRetro = getPtrTo<LASER_RETRO_F32>(),
123125
.timestampF64 = getPtrTo<TIME_STAMP_F64>(),
124126
.timestampU32 = getPtrTo<TIME_STAMP_U32>(),

‎src/tape/TapeCore.hpp‎

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Original file line numberDiff line numberDiff line change
@@ -60,6 +60,7 @@ class TapeCore
6060
static void tape_node_raytrace_configure_mask(const YAML::Node& yamlNode, PlaybackState& state);
6161
static void tape_node_raytrace_configure_beam_divergence(const YAML::Node& yamlNode, PlaybackState& state);
6262
static void tape_node_raytrace_configure_default_intensity(const YAML::Node& yamlNode, PlaybackState& state);
63+
static void tape_node_raytrace_configure_reflectivity_alpha(const YAML::Node& yamlNode, PlaybackState& state);
6364
static void tape_node_raytrace_configure_return_mode(const YAML::Node& yamlNode, PlaybackState& state);
6465
static void tape_node_points_format(const YAML::Node& yamlNode, PlaybackState& state);
6566
static void tape_node_points_yield(const YAML::Node& yamlNode, PlaybackState& state);
@@ -122,6 +123,8 @@ class TapeCore
122123
TapeCore::tape_node_raytrace_configure_beam_divergence),
123124
TAPE_CALL_MAPPING("rgl_node_raytrace_configure_default_intensity",
124125
TapeCore::tape_node_raytrace_configure_default_intensity),
126+
TAPE_CALL_MAPPING("rgl_node_raytrace_configure_reflectivity_alpha",
127+
TapeCore::tape_node_raytrace_configure_reflectivity_alpha),
125128
TAPE_CALL_MAPPING("rgl_node_raytrace_configure_return_mode",
126129
TapeCore::tape_node_raytrace_configure_return_mode),
127130
TAPE_CALL_MAPPING("rgl_node_points_format", TapeCore::tape_node_points_format),

‎test/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -48,6 +48,7 @@ set(RGL_TEST_FILES
4848
src/scene/entityVelocityTest.cpp
4949
src/scene/meshAPITest.cpp
5050
src/scene/textureTest.cpp
51+
src/scene/reflectivityTest.cpp
5152
src/synchronization/graphAndCopyStream.cpp
5253
src/synchronization/graphThreadSynchronization.cpp
5354
src/synchronization/testKernel.cu

‎test/include/helpers/fieldGenerators.hpp‎

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@@ -36,6 +36,9 @@ static std::function<Field<INTENSITY_F32>::type(int)> genIntensityF32 = [](int i
3636
static std::function<Field<INTENSITY_U8>::type(int)> genIntensityU8 = [](int i) {
3737
return i % std::numeric_limits<Field<INTENSITY_U8>::type>::max();
3838
};
39+
static std::function<Field<REFLECTIVITY_F32>::type(int)> genReflectivityF32 = [](int i) {
40+
return static_cast<float>(i) / (static_cast<float>(i + 1));
41+
};
3942
static std::function<Field<LASER_RETRO_F32>::type(int)> genLaserRetro = [](int i) {
4043
return static_cast<float>(i) / (static_cast<float>(i + 1));
4144
};

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