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fix missing nearest points in Octree<->Mesh distance result #427

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merged 5 commits into from
Jan 14, 2020
Merged

fix missing nearest points in Octree<->Mesh distance result #427

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4574190
fix missing nearest points in Octree<->Mesh distance result
SebastianRiedel Nov 28, 2019
eb1e0b2
Extend test_fcl_octomap_distance, check nearest_points
AlbertoMarnetto-Work Dec 9, 2019
9973422
add test for octomap distance nearest point result (however not all t…
Dec 9, 2019
aa00f5f
revert changed test to original state (new test too brittle)
SebastianRiedel Jan 10, 2020
7e1576d
Merge remote-tracking branch 'alberto/fix-octomap-mesh-distance-test'…
SebastianRiedel Jan 10, 2020
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2 changes: 1 addition & 1 deletion include/fcl/narrowphase/detail/traversal/octree/octree_solver-inl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -506,7 +506,7 @@ bool OcTreeSolver<NarrowPhaseSolver>::OcTreeMeshDistanceRecurse(const OcTree<S>*
Vector3<S> closest_p1, closest_p2;
solver->shapeTriangleDistance(box, box_tf, p1, p2, p3, tf2, &dist, &closest_p1, &closest_p2);

dresult->update(dist, tree1, tree2, root1 - tree1->getRoot(), primitive_id);
dresult->update(dist, tree1, tree2, root1 - tree1->getRoot(), primitive_id, closest_p1, closest_p2);

return drequest->isSatisfied(*dresult);
}
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20 changes: 20 additions & 0 deletions test/test_fcl_octomap_distance.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,8 @@ void octomap_distance_test_BVH(std::size_t n, double resolution = 0.1);
template <typename S>
void test_octomap_distance()
{
// -- compares result of (manager of primitives <-> octomap)
// against (manager of primitives <-> manager of box primitives from octomap)
#ifdef NDEBUG
octomap_distance_test<S>(200, 100, false, false);
octomap_distance_test<S>(200, 1000, false, false);
Expand All @@ -83,6 +85,8 @@ GTEST_TEST(FCL_OCTOMAP, test_octomap_distance)
template <typename S>
void test_octomap_distance_mesh()
{
// -- compares result of (manager of meshes <-> octomap)
// against (manager of meshes <-> manager of box meshes from octomap)
#ifdef NDEBUG
octomap_distance_test<S>(200, 100, true, true);
octomap_distance_test<S>(200, 1000, true, true);
Expand All @@ -101,6 +105,8 @@ GTEST_TEST(FCL_OCTOMAP, test_octomap_distance_mesh)
template <typename S>
void test_octomap_distance_mesh_octomap_box()
{
// -- compares result of (manager of meshes <-> octomap)
// against (manager of meshes <-> manager of box primitives from octomap)
#ifdef NDEBUG
octomap_distance_test<S>(200, 100, true, false);
octomap_distance_test<S>(200, 1000, true, false);
Expand Down Expand Up @@ -219,6 +225,13 @@ void octomap_distance_test_BVH(std::size_t n, double resolution)

std::cout << dist1 << " " << dist2 << std::endl;
EXPECT_TRUE(std::abs(dist1 - dist2) < 0.001);

std::cout << "cdata, np0:\n" << cdata.result.nearest_points[0] << std::endl;
std::cout << "cdata, np1:\n" << cdata.result.nearest_points[1] << std::endl;
std::cout << "cdata2, np0:\n" << cdata2.result.nearest_points[0] << std::endl;
std::cout << "cdata2, np1:\n" << cdata2.result.nearest_points[1] << std::endl;
EXPECT_NEAR((cdata.result.nearest_points[0] - cdata2.result.nearest_points[1]).norm(), 0.0, 1e-6);
EXPECT_NEAR((cdata.result.nearest_points[1] - cdata2.result.nearest_points[0]).norm(), 0.0, 1e-6);
}
}

Expand Down Expand Up @@ -294,6 +307,13 @@ void octomap_distance_test(S env_scale, std::size_t env_size, bool use_mesh, boo
else
EXPECT_TRUE(std::abs(cdata.result.min_distance - cdata2.result.min_distance) < 1e-3);

std::cout << "cdata, np0:\n" << cdata.result.nearest_points[0] << std::endl;
std::cout << "cdata, np1:\n" << cdata.result.nearest_points[1] << std::endl;
std::cout << "cdata2, np0:\n" << cdata2.result.nearest_points[0] << std::endl;
std::cout << "cdata2, np1:\n" << cdata2.result.nearest_points[1] << std::endl;
EXPECT_NEAR((cdata.result.nearest_points[0] - cdata2.result.nearest_points[0]).norm(), 0.0, 1e-6);
EXPECT_NEAR((cdata.result.nearest_points[1] - cdata2.result.nearest_points[1]).norm(), 0.0, 1e-6);

delete manager;
delete manager2;
for(size_t i = 0; i < boxes.size(); ++i)
Expand Down