Geospatial component for heightmap & DEMs #267

jennuine · 2021-11-19T01:08:16Z

🎉 New feature

Part of Support DEMs gz-sim#235

Summary

Moved heightmap and DEM classes to a new geospatial component, which depends on graphics
GDAL is a required dependency for the geospatial component
Ported over DEM updates & tests from gazebo11 except for DemTest.NegDem since Dem size is not computed correctly for extraterrestrial celestial bodies gazebo-classic#2881 is still an issue and will hopefully be resolved in a future PR

Test it

/path/to/build/bin/UNIT_Dem_TEST

Checklist

Signed all commits for DCO
Added tests
Added example and/or tutorial
Updated documentation (as needed)
Updated migration guide (as needed)
codecheck passed (See contributing)
All tests passed (See test coverage)
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Signed-off-by: Jenn Nguyen <[email protected]>

chapulina

Great work! It would be good to test compiling a downstream library that uses heightmap against this branch to make sure all the includes are found and everything links correctly.

There are some CI failures, probably due to a different GDAL version on Bionic?

chapulina · 2021-11-19T06:13:48Z

geospatial/src/Dem.cc

-     math::SphericalCoordinates::Distance(upLeftLat, upLeftLong,
-                                            lowLeftLat, lowLeftLong);
+  try
+  {


I know this was ported straight from Gazebo classic, but can this try block be narrower, including just the lines that throw an exception?

I've gone ahead and removed the try/catch block and replaced it with an error instead. Also, instead of continuing through the code, it returns when the error is reached 6f6769a

yeah we had to throw an exception in gazebo11 since the GeoReference method returned void and its API was already frozen. I notice that you changed that API to return bool in this PR, which is much better. 👍

chapulina · 2021-11-19T06:15:55Z

geospatial/src/Dem.cc

-    gzthrow("Illegal coordinates. You are asking for the elevation in (" <<
-          _x << "," << _y << ") but the terrain is [" << this->Width() <<
-           " x " << this->Height() << "]\n");
+    throw std::invalid_argument(


We should consider getting rid of these exceptions and printing errors instead. We don't throw exceptions often.

I've updated it to an error instead and am returning inf if reached. What do you think? 6f6769a

jennuine · 2021-11-19T18:06:37Z

Thanks for the review!

It would be good to test compiling a downstream library that uses heightmap against this branch to make sure all the includes are found and everything links correctly

I was able to run ign gazebo heightmap.sdf in a Garden workspace without any issues. Does this suffice?

There are some CI failures, probably due to a different GDAL version on Bionic?

Yes, this is the likely cause but are we dropping Bionic support for Garden?

chapulina · 2021-11-19T19:02:30Z

I was able to run ign gazebo heightmap.sdf in a Garden workspace without any issues. Does this suffice?

Cool! So you updated all locally libraries to use ign-common5?

Yes, this is the likely cause but are we dropping Bionic support for Garden?

Ahh good call. I didn't realize that would bear fruit so early. We need to update CI

jennuine · 2021-11-19T20:16:41Z

Cool! So you updated all locally libraries to use ign-common5?

Yup, specifically ign-fuel-tools, ign-gazebo, ign-gui, ign-launch, ign-physics, ign-rendering, and ign-sensors.

Ahh good call. I didn't realize that would bear fruit so early. We need to update CI

Should I create an issue somewhere?

chapulina · 2021-11-19T21:04:29Z

Should I create an issue somewhere?

I created some issues:

Also see #270

Signed-off-by: Jenn Nguyen <[email protected]>

scpeters · 2021-12-08T22:19:18Z

I think it definitely makes sense to move Dem.hh to the geospatial component, but I'm not sure about moving HeightmapData.hh and ImageHeightmap.hh out of graphics. gdal isn't used by ImageHeightmap, but moving this code to geospatial would add that dependency to this code.

jennuine · 2021-12-09T02:16:13Z

I think it definitely makes sense to move Dem.hh to the geospatial component, but I'm not sure about moving HeightmapData.hh and ImageHeightmap.hh out of graphics. gdal isn't used by ImageHeightmap, but moving this code to geospatial would add that dependency to this code.

That makes sense. @chapulina do you have any thoughts before I make the changes?

chapulina · 2021-12-09T02:28:15Z

I agree that requiring GDAL to use image heightmaps may be undesired, but when we have a geospatial component, I think it will be confusing for users that not all heightmap classes are in it, and some are actually in graphics.

The reason to add the geospatial component was to avoid adding that dependency to all graphics users, but we chose that name because we wanted the component to be semantically meaningful, and not just referent to a dependency. We need to draw the line at some point and inevitably some users will always get a bit more than they actually need. That's true for other ign-common components and other Ignition libraries too. Also note that all our "internal" users (that is, all Ignition libraries that will use this: rendering and physics) will support DEMs anyway.

I'm leaning towards being more semantically precise instead of trying to reduce the dependency surface for hypothetical users.

jennuine · 2021-12-09T02:37:41Z

I'm leaning towards being more semantically precise instead of trying to reduce the dependency surface for hypothetical users.

I agree, I think this will avoid confusion for users.

scpeters · 2021-12-09T03:09:06Z

I agree that requiring GDAL to use image heightmaps may be undesired, but when we have a geospatial component, I think it will be confusing for users that not all heightmap classes are in it, and some are actually in graphics.

The reason to add the geospatial component was to avoid adding that dependency to all graphics users, but we chose that name because we wanted the component to be semantically meaningful, and not just referent to a dependency. We need to draw the line at some point and inevitably some users will always get a bit more than they actually need. That's true for other ign-common components and other Ignition libraries too. Also note that all our "internal" users (that is, all Ignition libraries that will use this: rendering and physics) will support DEMs anyway.

I'm leaning towards being more semantically precise instead of trying to reduce the dependency surface for hypothetical users.

if users depend on the geospatial component, then they will get ImageHeightmap either way. I just wanted to point out that removing the currently functional heightmap classes from graphics will require migration action for downstream packages. If we proceed in this manner, then we need to update the migration guide to reflect this

chapulina · 2021-12-09T17:23:22Z

I just wanted to point out that removing the currently functional heightmap classes from graphics will require migration action for downstream packages.

Ok, that's a good point, users currently depending on graphics would need to update to depend on geospatial.

At least this PR is targeting main. Ideally we'd tick-tock the change, but in this case I think it could get complicated.

scpeters · 2021-12-10T01:05:22Z

I just wanted to point out that removing the currently functional heightmap classes from graphics will require migration action for downstream packages.

Ok, that's a good point, users currently depending on graphics would need to update to depend on geospatial.

At least this PR is targeting main. Ideally we'd tick-tock the change, but in this case I think it could get complicated.

so we should update the migration guide?

chapulina · 2021-12-10T01:13:31Z

so we should update the migration guide?

That seems the most natural thing to me. When users update their find_package calls from comon4 to common5, they also need to add the geospatial component. I know it's not ideal, but some things are tough to tick-tock.

Signed-off-by: Jenn Nguyen <[email protected]>

jennuine · 2021-12-10T01:56:42Z

I have updated Migration.md 90e55a1

Signed-off-by: Ian Chen <[email protected]>

…-common into jennuine/geospatial

Signed-off-by: Jenn Nguyen <[email protected]>

geospatial/src/Dem.cc

mjcarroll

One comment about error messages

Signed-off-by: Jenn Nguyen <[email protected]>

scpeters · 2022-01-14T06:22:14Z

I think this will require an update to https://github.com/ignition-release/ign-common5-release when it is merged

jennuine · 2022-01-18T21:54:15Z

Please wait to merge, I may add a small update.

jennuine · 2022-01-19T00:31:53Z

Decided not to add the update. Going to merge. Thanks for the reviews!

Follow-up to gazebosim/gz-common#267 Signed-off-by: Steve Peters <[email protected]>

This reverts commit 28eb6c7. Signed-off-by: Steve Peters <[email protected]>

* Revert "Move geospatial headers to subfolder (#289)" This reverts commit e0a5490. Signed-off-by: Steve Peters <[email protected]> * Revert "Geospatial component for heightmap & DEMs (#267)" This reverts commit 28eb6c7. Signed-off-by: Steve Peters <[email protected]>

Signed-off-by: Jenn Nguyen <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Ian Chen <[email protected]>

* geospatial component Follow-up to gazebosim/gz-common#267 Signed-off-by: Steve Peters <[email protected]> * Remove geospatial.hh from -core-dev package Signed-off-by: Steve Peters <[email protected]> * fix dependencies in control file Signed-off-by: Steve Peters <[email protected]> * common5-dev package depend on geospatial-dev Signed-off-by: Steve Peters <[email protected]>

jennuine added 2 commits November 18, 2021 11:35

geospatial component

3440ec0

Signed-off-by: Jenn Nguyen <[email protected]>

ported gazebo11 dem updates

ff10750

Signed-off-by: Jenn Nguyen <[email protected]>

jennuine requested review from scpeters and chapulina November 19, 2021 01:08

jennuine requested a review from mjcarroll as a code owner November 19, 2021 01:08

jennuine self-assigned this Nov 19, 2021

jennuine added the 🌱 garden Ignition Garden label Nov 19, 2021

chapulina reviewed Nov 19, 2021

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chapulina mentioned this pull request Nov 19, 2021

ign-common5: drop Bionic #270

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chapulina mentioned this pull request Nov 19, 2021

Bump in Garden: ign-common and dependents gazebo-tooling/release-tools#567

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jennuine added 2 commits November 19, 2021 13:52

Merge branch 'main' into jennuine/geospatial

ae763a0

Signed-off-by: Jenn Nguyen <[email protected]>

replaced exceptions with errors

6f6769a

Signed-off-by: Jenn Nguyen <[email protected]>

chapulina self-requested a review November 29, 2021 19:57

added Filename() to HeightmapData base class

57f2d08

Signed-off-by: Jenn Nguyen <[email protected]>

updated migration

90e55a1

Signed-off-by: Jenn Nguyen <[email protected]>

iche033 and others added 5 commits January 7, 2022 18:12

add MinElevation function

ed1a2b1

Signed-off-by: Ian Chen <[email protected]>

Merge branch 'jennuine/geospatial' of github.com:ignitionrobotics/ign…

f1a8412

…-common into jennuine/geospatial

fix gdal deprecation warning

2b83255

Signed-off-by: Jenn Nguyen <[email protected]>

reviewer feedback

41efc61

Signed-off-by: Jenn Nguyen <[email protected]>

added doc ref

5eadb52

Signed-off-by: Jenn Nguyen <[email protected]>

scpeters approved these changes Jan 11, 2022

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mjcarroll reviewed Jan 11, 2022

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mjcarroll reviewed Jan 11, 2022

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fix err msgs & test paths

05744fc

Signed-off-by: Jenn Nguyen <[email protected]>

jennuine requested a review from mjcarroll January 11, 2022 19:21

mjcarroll approved these changes Jan 18, 2022

View reviewed changes

jennuine merged commit 28eb6c7 into main Jan 19, 2022

jennuine deleted the jennuine/geospatial branch January 19, 2022 00:33

iche033 mentioned this pull request Jan 19, 2022

Require geospatial component gazebosim/gz-rendering#539

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scpeters added a commit to gazebo-release/gz-common5-release that referenced this pull request Jan 19, 2022

geospatial component

fc4acc6

Follow-up to gazebosim/gz-common#267 Signed-off-by: Steve Peters <[email protected]>

This was referenced Jan 19, 2022

Add geospatial component gazebo-release/gz-common5-release#4

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Move geospatial headers to subfolder #289

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ignition-common5: depend on gdal osrf/homebrew-simulation#1790

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scpeters added a commit to scpeters/ign-common that referenced this pull request Jan 19, 2022

Revert "Geospatial component for heightmap & DEMs (gazebosim#267)"

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This reverts commit 28eb6c7. Signed-off-by: Steve Peters <[email protected]>

scpeters mentioned this pull request Jan 19, 2022

Revert geospatial component for now #291

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scpeters added a commit that referenced this pull request Jan 21, 2022

Geospatial component for heightmap & DEMs (#267)

0245d27

Signed-off-by: Jenn Nguyen <[email protected]> Co-authored-by: Steve Peters <[email protected]> Co-authored-by: Ian Chen <[email protected]>

scpeters mentioned this pull request Jan 21, 2022

Geospatial component for heightmaps (2nd try) #292

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Geospatial component for heightmap & DEMs #267

Geospatial component for heightmap & DEMs #267

jennuine commented Nov 19, 2021 •

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Geospatial component for heightmap & DEMs #267

Geospatial component for heightmap & DEMs #267

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jennuine commented Nov 19, 2021 • edited by chapulina Loading

🎉 New feature

Summary

Test it

Checklist

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