Polish before 0.11.0 release (#56)

* Polish before 0.11.0 release * Update src/api/api.cpp Co-authored-by: Piotr Rybicki <[email protected]>
RobotecAI · Nov 22, 2022 · 06b6e02 · 06b6e02
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Showing 23 changed files with 25 additions and 139 deletions.
diff --git a/README.md b/README.md
@@ -33,7 +33,6 @@ And more:
 - Converting to custom binary output
 - Downsampling
 - Writing to PCD file
-- Optional Gaussian noise (see [documentation](docs/GaussianNoise.md))
 
 ## Usage
 
@@ -68,7 +67,7 @@ Build instructions:
 
 ## Building on Windows
 
-1. Install [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads) 11.2+.
+1. Install [CUDA Toolkit](https://developer.nvidia.com/cuda-downloads) 11.4.4+.
 2. Download [NVidia OptiX](https://developer.nvidia.com/designworks/optix/downloads/legacy) 7.2.
    - use the default location or set environment variable `OptiX_INSTALL_DIR`
 3. Install [PCL](https://pointclouds.org/) 1.12:

diff --git a/docs/GaussianNoise.md b/docs/GaussianNoise.md
diff --git a/docs/Usage.md b/docs/Usage.md
@@ -72,44 +72,45 @@ Full source code can be found [here](../test/src/apiReadmeExample.cpp)
 
 ```c
 // Create a mesh
-rgl_mesh_t cube_mesh = rgl_mesh_create(/* arguments skipped for the sake of brevity */);
+rgl_mesh_t cube_mesh = nullptr;
+rgl_mesh_create(&cube_mesh, /* remaining arguments skipped for the sake of brevity */);
 
 // Put an entity on the default scene
-rgl_entity_t cube_entity = 0;
-EXPECT_RGL_SUCCESS(rgl_entity_create(&cube_entity, NULL, cube_mesh));
+rgl_entity_t cube_entity = nullptr;
+rgl_entity_create(&cube_entity, nullptr, cube_mesh);
 
 // Set position of the cube entity to (0, 0, 5)
 rgl_mat3x4f entity_tf = {
 .value = {
     { 1, 0, 0, 0 },
     { 0, 1, 0, 0 },
-    { 0, 0, 1, 5 } }
+    { 0, 0, 1, 5 }}
 };
-EXPECT_RGL_SUCCESS(rgl_entity_set_pose(cube_entity, &entity_tf));
+rgl_entity_set_pose(cube_entity, &entity_tf);
 
 // Create a graph representation of a lidar that sends 1 ray and is situated at (x,y,z) = (0, 0, 0), facing positive Z
 rgl_mat3x4f ray_tf = {
 .value = {
     { 1, 0, 0, 0 },
     { 0, 1, 0, 0 },
-    { 0, 0, 1, 0 },}
+    { 0, 0, 1, 0 }}
 };
 
 rgl_node_t useRays = nullptr, raytrace = nullptr;
 
-EXPECT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&useRays, &ray_tf, 1));
-EXPECT_RGL_SUCCESS(rgl_node_raytrace(&raytrace, nullptr, 1000));
-EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(useRays, raytrace));
+rgl_node_rays_from_mat3x4f(&useRays, &ray_tf, 1);
+rgl_node_raytrace(&raytrace, nullptr, 1000);
+rgl_graph_node_add_child(useRays, raytrace);
 
 // you can run the graph using any one of its nodes
-EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
+rgl_graph_run(raytrace);
 
 // Wait for the Graph to run (if needed) and collect results
-int32_t hitpoint_count = 0;
-int32_t size;
-rgl_vec3f results[1] = { 0 };
-EXPECT_RGL_SUCCESS(rgl_graph_get_result_size(raytrace, RGL_FIELD_XYZ_F32, &hitpoint_count, &size));
-EXPECT_RGL_SUCCESS(rgl_graph_get_result_data(raytrace, RGL_FIELD_XYZ_F32, &results));
+int32_t hitpoint_count;
+int32_t point_size;
+rgl_vec3f results[1];
+rgl_graph_get_result_size(raytrace, RGL_FIELD_XYZ_F32, &hitpoint_count, &point_size);
+rgl_graph_get_result_data(raytrace, RGL_FIELD_XYZ_F32, &results);
 
 printf("Got %d hitpoint(s)\n", hitpoint_count);
 for (int i = 0; i < hitpoint_count; ++i) {

diff --git a/docs/image/Angular_hitpoint_1.png b/docs/image/Angular_hitpoint_1.png
diff --git a/docs/image/Angular_hitpoint_2.png b/docs/image/Angular_hitpoint_2.png
diff --git a/docs/image/Angular_hitpoint_3.png b/docs/image/Angular_hitpoint_3.png
diff --git a/docs/image/Angular_hitpoint_4.png b/docs/image/Angular_hitpoint_4.png
diff --git a/docs/image/Angular_ray_1.png b/docs/image/Angular_ray_1.png
diff --git a/docs/image/Angular_ray_2.png b/docs/image/Angular_ray_2.png
diff --git a/docs/image/Angular_ray_3.png b/docs/image/Angular_ray_3.png
diff --git a/docs/image/Angular_ray_4.png b/docs/image/Angular_ray_4.png
diff --git a/docs/image/Distance_1.png b/docs/image/Distance_1.png
diff --git a/docs/image/Distance_2.png b/docs/image/Distance_2.png
diff --git a/docs/image/Distance_3.png b/docs/image/Distance_3.png
diff --git a/docs/image/Distance_4.png b/docs/image/Distance_4.png
diff --git a/docs/image/distance_noise_d.gif b/docs/image/distance_noise_d.gif
diff --git a/docs/image/distance_noise_sigma_base.gif b/docs/image/distance_noise_sigma_base.gif
diff --git a/docs/image/distance_noise_sigma_distance.gif b/docs/image/distance_noise_sigma_distance.gif
diff --git a/docs/image/distance_noise_sigma_slope.gif b/docs/image/distance_noise_sigma_slope.gif
diff --git a/docs/image/distance_stdev.gif b/docs/image/distance_stdev.gif
diff --git a/docs/image/gaussian_noise.gif b/docs/image/gaussian_noise.gif
diff --git a/src/api/api.cpp b/src/api/api.cpp
@@ -154,6 +154,7 @@ rgl_get_version_info(int32_t* out_major, int32_t* out_minor, int32_t* out_patch)
 	// 0.10.0: entities can now share meshes
 	// 0.10.1: API const correctness, added INVALID_OBJECT error, minor internal changes
 	// 0.10.2: Fixed Lidar::getResults writing too many bytes
+	// 0.11.0: implement Graph API (Gaussian noise temporarily removed)
 	auto status = rglSafeCall([&]() {
 		RGL_DEBUG("rgl_get_version_info(out_major={}, out_minor={}, out_patch={})", (void*) out_major,
 			  (void*) out_minor, (void*) out_patch);

diff --git a/test/src/apiReadmeExample.cpp b/test/src/apiReadmeExample.cpp
@@ -8,11 +8,12 @@ TEST(EndToEnd, ReadmeExample)
 	EXPECT_RGL_SUCCESS(rgl_get_version_info(&major, &minor, &patch));
 	printf("RGL version: %d.%d.%d\n", major, minor, patch);
 
+	// Create a mesh by using helper function from test/include/scenes.hpp
 	rgl_mesh_t cube_mesh = makeCubeMesh();
 
 	// Put an entity on the default scene
-	rgl_entity_t cube_entity = 0;
-	EXPECT_RGL_SUCCESS(rgl_entity_create(&cube_entity, NULL, cube_mesh));
+	rgl_entity_t cube_entity = nullptr;
+	EXPECT_RGL_SUCCESS(rgl_entity_create(&cube_entity, nullptr, cube_mesh));
 
 	// Set position of the cube entity to (0, 0, 5)
 	rgl_mat3x4f entity_tf = {
@@ -42,10 +43,10 @@ TEST(EndToEnd, ReadmeExample)
 	EXPECT_RGL_SUCCESS(rgl_graph_run(raytrace));
 
 	// Wait for the Graph to run (if needed) and collect results
-	int32_t hitpoint_count = 0;
-	int32_t size;
-	rgl_vec3f results[1] = { 0 };
-	EXPECT_RGL_SUCCESS(rgl_graph_get_result_size(raytrace, RGL_FIELD_XYZ_F32, &hitpoint_count, &size));
+	int32_t hitpoint_count;
+	int32_t point_size;
+	rgl_vec3f results[1];
+	EXPECT_RGL_SUCCESS(rgl_graph_get_result_size(raytrace, RGL_FIELD_XYZ_F32, &hitpoint_count, &point_size));
 	EXPECT_RGL_SUCCESS(rgl_graph_get_result_data(raytrace, RGL_FIELD_XYZ_F32, &results));
 
 	printf("Got %d hitpoint(s)\n", hitpoint_count);