Replace GTS with CDT #617

mjcarroll · 2024-07-24T19:15:27Z

This removes the dependency on GTS.

It removes the Mesh boolean operations functions, which were part of the building editor in Gazebo-classic but are unused in modern gazebo.
It replaces the GTS delaunay triangulation with the header-only CDT library.

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

scpeters

some small whitespace nits

and I've prepared a change for homebrew-simulation for after this lands: osrf/homebrew-simulation#2704

CMakeLists.txt

graphics/src/MeshManager.cc

azeey

The MeshCSG code was used in Gazebo-classic to implement the Building Editor. Since there is no plan to port this to modern Gazebo (we can potentially use rmf_site for this in the future), I'd say let's go ahead and remove it from gz-common.

azeey · 2024-08-05T21:56:21Z

graphics/src/CDT/CDT.h

Can we put CDT in a vendor subdirectory with the a README to indicate its source and version info?

iche033 · 2024-08-12T23:26:40Z

gts dep removal in the gz-common6-release repo when this lands: gazebo-release/gz-common6-release#4

iche033 · 2024-08-14T00:55:35Z

I tested this with the polylines.sdf world and I think some of the triangles may be oriented incorrectly, i.e. normals are in the opposite direction:

left: GTS vs right: CDT

graphics/include/gz/common/MeshManager.hh

scpeters · 2024-08-15T20:00:16Z

I tested this with the polylines.sdf world and I think some of the triangles may be oriented incorrectly, i.e. normals are in the opposite direction:

I added a printout to the DelaunayTriangulation test to show the vertices for the triangles:

patch

diff --git a/graphics/src/DelaunayTriangulation_TEST.cc b/graphics/src/DelaunayTriangulation_TEST.cc
index df919d3..c441257 100644
--- a/graphics/src/DelaunayTriangulation_TEST.cc
+++ b/graphics/src/DelaunayTriangulation_TEST.cc
@@ -69,6 +69,32 @@ TEST_F(DelaunayTriangulation, DelaunayTriangulation)
   // same as number of vertices in the path
   EXPECT_EQ(subMesh.VertexCount(), 8u);
 
+  std::cerr << subMesh.Max() << '\n';
+  std::cerr << subMesh.Min() << '\n';
+  // Print vertices
+  std::cerr << "vertices: \n";
+  for (int v = 0; v < subMesh.VertexCount(); ++v)
+  {
+    std::cerr << subMesh.Vertex(v) << '\n';
+  }
+  // Print normals
+  std::cerr << "normals: \n";
+  for (int v = 0; v < subMesh.NormalCount(); ++v)
+  {
+    std::cerr << subMesh.Normal(v) << '\n';
+  }
+
   // there should be 8 triangles.
   EXPECT_EQ(subMesh.IndexCount() / 3u, 8u);
+  // Print triangles
+  std::cerr << "triangles: \n";
+  for (int i = 0; i < subMesh.IndexCount() / 3u; ++i)
+  {
+    int i1 = subMesh.Index(i*3 + 0);
+    int i2 = subMesh.Index(i*3 + 1);
+    int i3 = subMesh.Index(i*3 + 2);
+    std::cerr << '[' << subMesh.Vertex(i1) << "]\n"
+              << '[' << subMesh.Vertex(i2) << "]\n"
+              << '[' << subMesh.Vertex(i3) << "]\n\n";
+  }
 }

output with GTS

[ RUN      ] GTSMeshUtils.DelaunayTriangulation
1 1 0
0 0 0
vertices: 
0.75 0.75 0
1 0 0
1 1 0
0.75 0.25 0
0.25 0.75 0
0 1 0
0.25 0.25 0
0 0 0
normals: 
triangles: 
[0.75 0.75 0]
[1 1 0]
[1 0 0]

[0.75 0.25 0]
[0.75 0.75 0]
[1 0 0]

[0.25 0.75 0]
[0.25 0.25 0]
[0 1 0]

[0.75 0.25 0]
[1 0 0]
[0.25 0.25 0]

[1 0 0]
[0 0 0]
[0.25 0.25 0]

[0.25 0.25 0]
[0 0 0]
[0 1 0]

[0.75 0.75 0]
[0.25 0.75 0]
[1 1 0]

[0.25 0.75 0]
[0 1 0]
[1 1 0]

[       OK ] GTSMeshUtils.DelaunayTriangulation (1 ms)

output with CDT

[ RUN      ] DelaunayTriangulation.DelaunayTriangulation
1 1 0
0 0 0
vertices: 
0 0 0
1 0 0
1 1 0
0 1 0
0.25 0.25 0
0.25 0.75 0
0.75 0.75 0
0.75 0.25 0
normals: 
triangles: 
[0.75 0.75 0]
[1 1 0]
[0 1 0]

[0.25 0.75 0]
[0.75 0.75 0]
[0 1 0]

[0.25 0.25 0]
[0 1 0]
[0 0 0]

[0.75 0.25 0]
[0.25 0.25 0]
[1 0 0]

[0.25 0.75 0]
[0 1 0]
[0.25 0.25 0]

[0.75 0.25 0]
[1 0 0]
[0.75 0.75 0]

[1 0 0]
[1 1 0]
[0.75 0.75 0]

[1 0 0]
[0.25 0.25 0]
[0 0 0]

[       OK ] DelaunayTriangulation.DelaunayTriangulation (1 ms)

iche033 · 2024-08-15T20:09:12Z

I tested this with the polylines.sdf world and I think some of the triangles may be oriented incorrectly, i.e. normals are in the opposite direction:

I added a printout to the DelaunayTriangulation test to show the vertices for the triangles:

patch

output with GTS

output with CDT

Thanks, I created a fix for this in #623. It also addresses other feedback in this PR.

* Fix triangle dir, lint, style * update migration guide * Test that Delaunay triangles wind clockwise (#624) --------- Signed-off-by: Ian Chen <ichen@openrobotics.org> Signed-off-by: Steve Peters <scpeters@openrobotics.org> Co-authored-by: Steve Peters <scpeters@openrobotics.org>

codecov · 2024-08-15T22:52:51Z

Codecov Report

Attention: Patch coverage is 60.56884% with 610 lines in your changes missing coverage. Please review.

Project coverage is 79.32%. Comparing base (316ea33) to head (b852307).
Report is 6 commits behind head on main.

Files	Patch %	Lines
graphics/src/CDT/Triangulation.hpp	63.66%	274 Missing ⚠️
graphics/src/CDT/KDTree.h	28.49%	128 Missing ⚠️
graphics/src/CDT/portable_nth_element.hpp	53.71%	56 Missing ⚠️
graphics/src/CDT/Triangulation.h	46.73%	49 Missing ⚠️
graphics/src/CDT/CDTUtils.hpp	61.20%	45 Missing ⚠️
graphics/src/CDT/predicates.h	76.68%	45 Missing ⚠️
graphics/src/DelaunayTriangulation.cc	82.14%	5 Missing ⚠️
graphics/src/CDT/CDTUtils.h	91.30%	4 Missing ⚠️
graphics/src/CDT/LocatorKDTree.h	76.47%	4 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #617      +/-   ##
==========================================
- Coverage   80.54%   79.32%   -1.22%     
==========================================
  Files          80       87       +7     
  Lines       13588    14877    +1289     
==========================================
+ Hits        10944    11801     +857     
- Misses       2644     3076     +432

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

scpeters · 2024-08-15T23:01:38Z

graphics/src/DelaunayTriangulation_TEST.cc

  EXPECT_TRUE(result);

  // same as number of vertices in the path
  EXPECT_EQ(subMesh.VertexCount(), 8u);

  // there should be 8 triangles.
  EXPECT_EQ(subMesh.IndexCount() / 3u, 8u);
+
+  // verify that triangles have clockwise winding
+  for (int t = 0; t < subMesh.IndexCount() / 3u; ++t)


Suggested change

for (int t = 0; t < subMesh.IndexCount() / 3u; ++t)

for (unsigned int t = 0; t < subMesh.IndexCount() / 3u; ++t)

apologies I missed the compiler warning in #624

scpeters · 2024-08-15T23:03:56Z

I think we could ignore graphics/src/CDT in codecov.yml

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 · 2024-08-16T00:12:40Z

I think we could ignore graphics/src/CDT in codecov.yml

I updated the ignore files in 7ddc32a

scpeters

forgot one thing: we can remove the following line

https://github.com/gazebosim/gz-common/blob/mjcarroll/cdt/.github/ci/packages.apt#L8

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 · 2024-08-16T20:17:35Z

removed gts dep from package.xml in a159b79

Replace GTS with CDT

93f0118

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

mjcarroll self-assigned this Jul 24, 2024

github-actions bot added the 🏛️ ionic label Jul 24, 2024

Restrict warnings to clang/gcc

bb52cce

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>

azeey added the beta Targeting beta release of upcoming collection label Jul 29, 2024

scpeters mentioned this pull request Jul 29, 2024

gz-common6: remove gts dependency osrf/homebrew-simulation#2704

Merged

scpeters reviewed Jul 29, 2024

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azeey reviewed Aug 5, 2024

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azeey mentioned this pull request Aug 6, 2024

Added MeshCSG test #469

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8 tasks

iche033 mentioned this pull request Aug 12, 2024

Remove gts dependency gazebo-release/gz-common6-release#4

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scpeters reviewed Aug 15, 2024

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iche033 and others added 2 commits August 15, 2024 15:44

Merge branch 'main' into mjcarroll/cdt

b852307

scpeters reviewed Aug 15, 2024

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update ignore files

7ddc32a

Signed-off-by: Ian Chen <ichen@openrobotics.org>

scpeters approved these changes Aug 16, 2024

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scpeters marked this pull request as ready for review August 16, 2024 17:25

scpeters requested a review from marcoag as a code owner August 16, 2024 17:25

packages.apt: remove its

41b58cb

Signed-off-by: Steve Peters <scpeters@openrobotics.org>

scpeters approved these changes Aug 16, 2024

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iche033 approved these changes Aug 16, 2024

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remove gts from package.xml

a159b79

Signed-off-by: Ian Chen <ichen@openrobotics.org>

iche033 merged commit 1f52701 into main Aug 16, 2024
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iche033 deleted the mjcarroll/cdt branch August 16, 2024 21:26

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Replace GTS with CDT #617

Replace GTS with CDT #617

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iche033 commented Aug 15, 2024

patch

output with GTS

output with CDT

codecov bot commented Aug 15, 2024

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iche033 commented Aug 16, 2024

	for (int t = 0; t < subMesh.IndexCount() / 3u; ++t)
	for (unsigned int t = 0; t < subMesh.IndexCount() / 3u; ++t)

Replace GTS with CDT #617

Replace GTS with CDT #617

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patch

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output with CDT

iche033 commented Aug 15, 2024

patch

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output with CDT

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