Add <voxel_resolution> SDF element to <convex_decomposition> (gazebos…

…im#1403) Signed-off-by: Ian Chen <[email protected]> Co-authored-by: Steve Peters <[email protected]>
rudislabs · May 28, 2024 · e2e72ae · e2e72ae
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diff --git a/include/sdf/Mesh.hh b/include/sdf/Mesh.hh
@@ -69,11 +69,23 @@ namespace sdf
     public: sdf::ElementPtr Element() const;
 
     /// \brief Get the maximum number of convex hulls that can be generated.
+    /// \return Maximum number of convex hulls.
     public: unsigned int MaxConvexHulls() const;
 
     /// \brief Set the maximum number of convex hulls that can be generated.
+    /// \param[in] _maxConvexHulls Maximum number of convex hulls.
     public: void SetMaxConvexHulls(unsigned int _maxConvexHulls);
 
+    /// Get the voxel resolution to use for representing the mesh. Applicable
+    /// only to voxel based convex decomposition methods.
+    /// \param[in] _voxelResolution Voxel resolution to use.
+    public: unsigned int VoxelResolution() const;
+
+    /// Set the voxel resolution to use for representing the mesh. Applicable
+    /// only to voxel based convex decomposition methods.
+    /// \param[in] _voxelResolution Voxel resolution to use.
+    public: void SetVoxelResolution(unsigned int _voxelResolution);
+
     /// \brief Private data pointer.
     GZ_UTILS_IMPL_PTR(dataPtr)
   };

diff --git a/python/src/sdf/pyConvexDecomposition.cc b/python/src/sdf/pyConvexDecomposition.cc
@@ -38,6 +38,13 @@ void defineConvexDecomposition(pybind11::object module)
          "Get the maximum number of convex hulls that can be generated.")
     .def("set_max_convex_hulls", &sdf::ConvexDecomposition::SetMaxConvexHulls,
          "Set the maximum number of convex hulls that can be generated.")
+    .def("voxel_resolution", &sdf::ConvexDecomposition::VoxelResolution,
+         "Get the voxel resolution to use. Applicable only to voxel based "
+         "convex decomposition methods.")
+    .def("set_voxel_resolution", &sdf::ConvexDecomposition::SetVoxelResolution,
+         "Set the voxel resolution to use. Applicable only to voxel based "
+         "convex decomposition methods.")
+
     .def("__copy__", [](const sdf::ConvexDecomposition &self) {
       return sdf::ConvexDecomposition(self);
     })

diff --git a/python/test/pyMesh_TEST.py b/python/test/pyMesh_TEST.py
@@ -45,6 +45,7 @@ def test_assigment(self):
 
     convexDecomp = ConvexDecomposition()
     convexDecomp.set_max_convex_hulls(10)
+    convexDecomp.set_voxel_resolution(100000)
     mesh.set_convex_decomposition(convexDecomp)
 
     mesh2 = mesh
@@ -58,6 +59,7 @@ def test_assigment(self):
 
     convexDecomp2 = mesh2.convex_decomposition()
     self.assertEqual(10, convexDecomp2.max_convex_hulls())
+    self.assertEqual(100000, convexDecomp2.voxel_resolution())
 
     mesh.set_file_path("/apple")
     self.assertEqual("/apple", mesh2.file_path())
@@ -86,6 +88,7 @@ def test_deepcopy_construction(self):
 
     convexDecomp = ConvexDecomposition()
     convexDecomp.set_max_convex_hulls(10)
+    convexDecomp.set_voxel_resolution(100000)
     mesh.set_convex_decomposition(convexDecomp)
 
     mesh2 = copy.deepcopy(mesh)
@@ -99,6 +102,7 @@ def test_deepcopy_construction(self):
 
     convexDecomp2 = mesh2.convex_decomposition()
     self.assertEqual(10, convexDecomp2.max_convex_hulls())
+    self.assertEqual(100000, convexDecomp2.voxel_resolution())
 
     mesh.set_file_path("/apple")
     mesh.set_scale(Vector3d(0.3, 0.2, 0.4))
@@ -131,8 +135,10 @@ def test_set(self):
 
     convexDecomp = ConvexDecomposition()
     convexDecomp.set_max_convex_hulls(10)
+    convexDecomp.set_voxel_resolution(100000)
     mesh.set_convex_decomposition(convexDecomp)
     self.assertEqual(10, mesh.convex_decomposition().max_convex_hulls())
+    self.assertEqual(100000, mesh.convex_decomposition().voxel_resolution())
 
     self.assertEqual("", mesh.uri())
     mesh.set_uri("http://myuri.com")

diff --git a/sdf/1.11/mesh_shape.sdf b/sdf/1.11/mesh_shape.sdf
@@ -12,6 +12,9 @@
     <element name="max_convex_hulls" type="unsigned int" default="16" required="0">
       <description>Maximum number of convex hulls to decompose into. This sets the maximum number of submeshes that the final decomposed mesh will contain.</description>
     </element>
+    <element name="voxel_resolution" type="unsigned int" default="200000" required="0">
+      <description>The number of voxels to use for representing the source mesh before decomposition. Applicable only to voxel based convex decomposition methods.</description>
+    </element>
   </element>
 
   <element name="uri" type="string" default="__default__" required="1">

diff --git a/sdf/1.12/mesh_shape.sdf b/sdf/1.12/mesh_shape.sdf
@@ -12,6 +12,9 @@
     <element name="max_convex_hulls" type="unsigned int" default="16" required="0">
       <description>Maximum number of convex hulls to decompose into. This sets the maximum number of submeshes that the final decomposed mesh will contain.</description>
     </element>
+    <element name="voxel_resolution" type="unsigned int" default="200000" required="0">
+      <description>The number of voxels to use for representing the source mesh before decomposition. Applicable only to voxel based convex decomposition methods.</description>
+    </element>
   </element>
 
   <element name="uri" type="string" default="__default__" required="1">

diff --git a/src/Mesh.cc b/src/Mesh.cc
@@ -45,6 +45,10 @@ class sdf::ConvexDecomposition::Implementation
   /// \brief Maximum number of convex hulls to generate.
   public: unsigned int maxConvexHulls{16u};
 
+  /// \brief Voxel resolution. Applicable only to voxel based methods for
+  /// representing the mesh before decomposition
+  public: unsigned int voxelResolution{200000u};
+
   /// \brief The SDF element pointer used during load.
   public: sdf::ElementPtr sdf = nullptr;
 };
@@ -112,6 +116,10 @@ Errors ConvexDecomposition::Load(ElementPtr _sdf)
       errors, "max_convex_hulls",
       this->dataPtr->maxConvexHulls).first;
 
+  this->dataPtr->voxelResolution = _sdf->Get<unsigned int>(
+      errors, "voxel_resolution",
+      this->dataPtr->voxelResolution).first;
+
   return errors;
 }
 
@@ -133,6 +141,18 @@ void ConvexDecomposition::SetMaxConvexHulls(unsigned int _maxConvexHulls)
   this->dataPtr->maxConvexHulls = _maxConvexHulls;
 }
 
+/////////////////////////////////////////////////
+unsigned int ConvexDecomposition::VoxelResolution() const
+{
+  return this->dataPtr->voxelResolution;
+}
+
+/////////////////////////////////////////////////
+void ConvexDecomposition::SetVoxelResolution(unsigned int _voxelResolution)
+{
+  this->dataPtr->voxelResolution = _voxelResolution;
+}
+
 /////////////////////////////////////////////////
 Mesh::Mesh()
   : dataPtr(gz::utils::MakeImpl<Implementation>())
@@ -403,6 +423,8 @@ sdf::ElementPtr Mesh::ToElement(sdf::Errors &_errors) const
         _errors);
     convexDecomp->GetElement("max_convex_hulls")->Set(
         this->dataPtr->convexDecomposition->MaxConvexHulls());
+    convexDecomp->GetElement("voxel_resolution")->Set(
+        this->dataPtr->convexDecomposition->VoxelResolution());
   }
 
   // Uri

diff --git a/src/Mesh_TEST.cc b/src/Mesh_TEST.cc
@@ -58,6 +58,7 @@ TEST(DOMMesh, MoveConstructor)
   sdf::ConvexDecomposition convexDecomp;
   EXPECT_EQ(nullptr, convexDecomp.Element());
   convexDecomp.SetMaxConvexHulls(10u);
+  convexDecomp.SetVoxelResolution(100000u);
   mesh.SetConvexDecomposition(convexDecomp);
 
   sdf::Mesh mesh2(std::move(mesh));
@@ -72,6 +73,7 @@ TEST(DOMMesh, MoveConstructor)
   auto convexDecomp2 = mesh2.ConvexDecomposition();
   ASSERT_NE(nullptr, convexDecomp2);
   EXPECT_EQ(10u, convexDecomp2->MaxConvexHulls());
+  EXPECT_EQ(100000u, convexDecomp2->VoxelResolution());
 }
 
 /////////////////////////////////////////////////
@@ -186,9 +188,11 @@ TEST(DOMMesh, Set)
 
   sdf::ConvexDecomposition convexDecomp;
   convexDecomp.SetMaxConvexHulls(10u);
+  convexDecomp.SetVoxelResolution(200000u);
   mesh.SetConvexDecomposition(convexDecomp);
   ASSERT_NE(nullptr, mesh.ConvexDecomposition());
   EXPECT_EQ(10u, mesh.ConvexDecomposition()->MaxConvexHulls());
+  EXPECT_EQ(200000u, mesh.ConvexDecomposition()->VoxelResolution());
 
   EXPECT_EQ(std::string(), mesh.Uri());
   mesh.SetUri("http://myuri.com");
@@ -365,6 +369,7 @@ TEST(DOMMesh, ToElement)
 
   sdf::ConvexDecomposition convexDecomp;
   convexDecomp.SetMaxConvexHulls(10u);
+  convexDecomp.SetVoxelResolution(300000u);
   mesh.SetConvexDecomposition(convexDecomp);
 
   sdf::ElementPtr elem = mesh.ToElement();
@@ -381,6 +386,7 @@ TEST(DOMMesh, ToElement)
   EXPECT_EQ(mesh.CenterSubmesh(), mesh2.CenterSubmesh());
   ASSERT_NE(nullptr, mesh2.ConvexDecomposition());
   EXPECT_EQ(10u, mesh2.ConvexDecomposition()->MaxConvexHulls());
+  EXPECT_EQ(300000u, mesh2.ConvexDecomposition()->VoxelResolution());
 }
 
 /////////////////////////////////////////////////

diff --git a/test/integration/geometry_dom.cc b/test/integration/geometry_dom.cc
@@ -205,6 +205,7 @@ TEST(DOMGeometry, Shapes)
             meshColGeom->Optimization());
   ASSERT_NE(nullptr, meshColGeom->ConvexDecomposition());
   EXPECT_EQ(4u, meshColGeom->ConvexDecomposition()->MaxConvexHulls());
+  EXPECT_EQ(400000u, meshColGeom->ConvexDecomposition()->VoxelResolution());
 
   EXPECT_EQ("https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/"
       "mesh.dae", meshColGeom->Uri());

diff --git a/test/sdf/shapes.sdf b/test/sdf/shapes.sdf
@@ -141,6 +141,7 @@
           <mesh optimization="convex_decomposition">
             <convex_decomposition>
               <max_convex_hulls>4</max_convex_hulls>
+              <voxel_resolution>400000</voxel_resolution>
             </convex_decomposition>
             <uri>https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/mesh.dae</uri>
             <submesh>