Proto commits in cartographer-project/point_cloud_viewer

These 48 commits are when the Protocol Buffers files have changed:

2020-10-12

Update versions, remove grpc support. (#471) * Update versions, remove grpc support. Signed-off-by: Marco Feuerstein <mfeuerstein@lyft.com> * Remove grpcio-compiler Signed-off-by: Marco Feuerstein <mfeuerstein@lyft.com> * Fix nightly Signed-off-by: Marco Feuerstein <mfeuerstein@lyft.com>

The documentation is generated from this commit.

2019-10-31

Fix oriented beam query. (#381)

2019-10-08

Change back to include bounding box for s2 cells. (#365)

2019-09-12

Implement PointCloud trait for S2Cells (#331)

Make num_points unsigned

2019-09-11

S2 Meta writing prerequisites (#333)

2019-09-10

Move s2 proto functions

Output S2Meta

S2 Metadata (#309) * wip * meta description also for s2cells * cargo fmt * removed clippy warnings * proto naming * pr changes * pr changes * proto reserved enum 0 * wip read and cast * read to end * removing file * cargo fmt and inserting a todo * fmt * removing test *wrong pr * clippy, fmt, * proto changes * current version * fixing Node -> OctreeNode * fixed proto conversion, moved to lib * reserve proto notation for with 128 bits * WIP * update proto * removed comments * corrections/review changes * cleaning up refactoring * single variables to tuple * cargo fmt

2019-09-09

WIP

reserve proto notation for with 128 bits

2019-09-06

fixing Node -> OctreeNode

merge master

proto changes

2019-08-01

wip read and cast

2019-07-30

proto reserved enum 0

pr changes

pr changes

proto naming

2019-07-26

meta description also for s2cells

2019-07-25

wip

2019-05-23

Hardcoded camera

2019-04-30

Oriented beam query (#249) This is an implementation of oriented beam queries. An oriented beam is the same thing as an ortho frustum, so it is not as specific as it might sound. Much like the box query, it only opens nodes intersected by the queried volume to be efficient. To do this, a specialized implementation of a collision check between two oriented cubes/boxes is provided.

2019-03-29

Change to f64 projection matrix. (#247) Currently when navigating an octree covering the earth, moving around feels like going in steps. This is due to the limited f32 resolution of the translational part of the projection matrix. This PR updates the matrix to an f64 based one, removing the "stuttering".

2019-03-18

Make xrays upgradable from previous version. (#234) * Made xrays upgradable. * Shortened call.

2019-03-15

Increase octree precision to double to support octrees covering the world. (#232) * WIP * Added upgrade code. * More conversion logic. * Made octree_viewer running again. * Removed unneeded folder. * Removed comment. * Removed deprecated entry. * Beautifications. * Updated version comment. * xray doesn't support old versions. * Added comment about rendering imprecision. * Improved comment.

2019-03-12

Change octree::NodeId to be a u128 (#204) This removes the limitation of octrees having a deepest level of `resolution*2**(64/3)`. This is ~2500m cube length for the default resolution of 1mm. This change modifies NodeId to be a single 128 bit unsigned integer. The highest 8 bit are the level, while the rest is used used for the index. This fits a max level of 120/3 = 40, which is ~1099512km (~86x the diameter of the earth) for the default resolution. In my tests this comes surprisingly without performance penalties on my machine (see end of PR description). The change is backwards compatible (i.e. existing octrees can be read without change), but the octree version is still bumped, since in the NodeId proto we no longer have (level, index) but instead (high_64bit, low_64bit). This also adds a new binary `upgrade_octree` to update existing octrees to the new version. Timing numbers, commands used: ~~~ target/release/build_octree /Users/hrapp/Downloads/pointcloud.ply --output_directory <dir> target/release/octree_benchmark --no-client <dir> --num-points 100000000 ~~~ Best runs out of 2 or 3, real time: | | Octree Generation | Octree benchmark | | ------------- | ------------- | ------------------ | | master | 11:57.19 | 0:06.42 | | this work | 12:10.94 | 0:05.94 | Detailed runbook in this gist: https://gist.github.com/SirVer/9ba8bd6ca02a1051d0c98ad3cef15383

2019-03-04

GRPC server with octree ids and octree factory. (#224)

2018-12-21

Add all_points rpc query and benchmark for streaming points (#179) Useful for performance optimization. The GetAllPoints query is helpful because it's a common use case and just using a huge bounding box is hacky. Furthermore, in the benchmark we don't know which pointcloud, and thus bounding box, will be used.

2018-10-23

In memory reservoir sampling

2018-10-18

Rename Vector4f message to Quaternion (#165)

2018-10-12

Add comments to frustum query proto definition (#162) Add comments to frustum query proto definition

2018-09-26

Add frustum query in octree and frustum query client (#156) * Add frustum query in octree, refactor octree grpc api * Add comment for explaining the buffer size

Refactor octree server grpc response proto (#158)

2018-03-05

Adapt proto building and naming scheme to follow bazel build. (#122) Also rename grpc/ directory into the name of the crate (point_viewer_grpc).

2018-02-23

Adaptions for bazel build. (#120)

2018-02-16

Change gRPC octree to not send RPC for calculating visible nodes. (#115)

2018-02-06

Add GRPC function to get points in box (#102)

2018-02-01

Remove bounding cube from meta.pb (#95) This change requires to rebuild octrees.

Adds a binary and crate that generates xray quad trees out of an octree. (#94) Related to #90.

Add Grpc function to get root bounding cube (#93) Fixes part of #86

2018-01-24

Store meta information of all nodes in root meta.pb (#85) This pull request is part of fixing #86 Things to be done in follow up pull requests: - build_octree: store NodeMeta in HashMap and remove load/store of r*.pb (meta data for each node) - proto: replace 'repeated' by 'map' - proto: get rid of bounding_box - adapt S3Octree

2018-01-18

Keep the bounding instead of the cube for an octree. (#74) This is changing the on-disk data structure, i.e. is breaking support for old octrees. They need to be regenerated. Fixes #73.

2018-01-15

Add implementations of the Octree trait in a new gRPC crate. (#68) Related to #53.

Small refactorings to clear up responsibility of some structs. (#66) - Make NodeId::get_stem() public. - Consistent naming: everything is named like the crate name now. - Remove stem from NodeMeta, as not every node has a on-disk representation. - Sort Cargo.toml files alphabetically.

2018-01-08

Move to using proto3. (#56) Fixes #51.

2016-12-09

Use per-node resolution to encode position data on disk. (#7)

2016-12-08

Use protobuf instead of JSON. (#5) I did not manage to automatically create the .rs files from the .proto at build yet, so for now they need to be manually generated.