Merge pull request #53 from csiro-robotics/merge_mains

Merge csiro-internal and csiro-robotics mains

Author: thomas-lowe

.devcontainer/Dockerfile

@@ -29,7 +29,6 @@ RUN apt-get update && apt-get upgrade -y && \
 # Clone, build and clean up LASzip (3.x supports LAS 1.4 via laszip_api.h C API)
 RUN git clone https://github.com/LASzip/LASzip.git && \
     cd LASzip && \
-    git checkout tags/3.4.4 && \
     mkdir build && cd build && \
     cmake .. -DCMAKE_BUILD_TYPE=Release && \
     make -j$(nproc) && \
@@ -39,7 +38,6 @@ RUN git clone https://github.com/LASzip/LASzip.git && \
 # Clone, build and clean up Qhull
 RUN git clone https://github.com/qhull/qhull.git && \
     cd qhull && \
-    git checkout tags/v7.3.2 && \
     cd build && \
     cmake .. -DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=true && \
     make -j$(nproc) && \
@@ -49,7 +47,6 @@ RUN git clone https://github.com/qhull/qhull.git && \
 # Clone, build and clean up libnabo
 RUN git clone https://github.com/ethz-asl/libnabo.git && \
     cd libnabo && \
-    git checkout tags/1.0.7 && \
     mkdir build && cd build && \
     cmake .. -DCMAKE_BUILD_TYPE=RelWithDebInfo && \
     make -j$(nproc) && \
@@ -67,4 +64,4 @@ RUN chmod +x /usr/local/bin/compile_install.sh
 WORKDIR /workspaces/raycloudtools
 
 # Set the default shell to bash
-SHELL ["/bin/bash", "-c"]
+SHELL ["/bin/bash", "-c"]

.devcontainer/commands/compile_install.sh

@@ -5,7 +5,7 @@ set -e
 echo "Building RayCloudTools..."
 cd /workspaces/raycloudtools
 mkdir -p build
-cd build 
+cd build
 
 # Construct the cmake command
 cmake .. \
@@ -41,4 +41,4 @@ make -j"$(nproc)"
 make install
 ldconfig /usr/local/lib
 
-echo "Build process completed successfully."
+echo "Build process completed successfully."

.devcontainer/devcontainer.json

@@ -1,21 +1,30 @@
 {
-    "name": "RayCloudTools Development",
-    "build": {
-        "dockerfile": "Dockerfile",
-        "context": ".."
-    },
-    "customizations": {
-        "vscode": {
-            "extensions": [
-                "ms-vscode.cpptools",
-                "ms-vscode.cmake-tools",
-                "twxs.cmake",
-                "ms-vscode.cpptools-extension-pack"
-            ]
-        }
-    },
-    "remoteUser": "root",
-    "forwardPorts": [],
-    "postCreateCommand": "compile_install.sh",
-    "runArgs": ["--security-opt", "label=disable"]
-}
+  "name": "RayCloudTools Development",
+  "build": {
+    "dockerfile": "Dockerfile",
+    "context": "..",
+    "options": [
+      "--progress=plain"
+    ]
+  },
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-vscode.cpptools",
+        "ms-vscode.cmake-tools",
+        "ms-vscode.cpptools-extension-pack"
+      ]
+    }
+  },
+  "mounts": [
+    "type=bind,source=${localWorkspaceFolder}/.devcontainer/commands/compile_install.sh,target=/usr/local/bin/compile_install.sh",
+  ],
+  "remoteUser": "root",
+  "forwardPorts": [],
+  "postCreateCommand": "compile_install.sh",
+  "runArgs": [
+    "--security-opt=label=disable"
+  ],
+  "workspaceFolder": "/workspaces/raycloudtools",
+  "workspaceMount": "type=bind,source=${localWorkspaceFolder},target=/workspaces/raycloudtools"
+}

.gitignore

@@ -1,4 +1,4 @@
-.vscode/
 .idea/
 build*/
 cmake-build*/
+treetools/

.vscode/settings.json

@@ -0,0 +1,21 @@
+{
+    "editor.formatOnSave": true,
+    "editor.rulers": [
+        120
+    ],
+    "files.trimFinalNewlines": true,
+    "files.insertFinalNewline": true,
+    "files.trimTrailingWhitespace": true,
+    "C_Cpp.default.cppStandard": "c++20",
+    "C_Cpp.default.cStandard": "c99",
+    "C_Cpp.default.compileCommands": "${workspaceFolder}/build/compile_commands.json",
+    "C_Cpp.files.exclude": {
+        "**/.vscode": true,
+        "build/**": true,
+    },
+    "C_Cpp.exclusionPolicy": "checkFolders",
+    "[cpp]": {
+        "editor.defaultFormatter": "ms-vscode.cpptools",
+        "editor.tabSize": 2
+    }
+}

docker/Dockerfile

@@ -34,7 +34,6 @@ RUN mkdir -p /deps && \
 # Clone, build and clean up LASzip (3.x supports LAS 1.4 via laszip_api.h C API)
 RUN git clone https://github.com/LASzip/LASzip.git && \
     cd LASzip && \
-    git checkout tags/3.4.4 && \
     mkdir build && cd build && \
     cmake .. -DCMAKE_BUILD_TYPE=Release && \
     make -j$(nproc) && \
@@ -97,7 +96,7 @@ RUN git clone https://github.com/csiro-robotics/treetools.git && \
     make install && \
     cd ../.. && \
     rm -rf treetools
-    
+
 # Update ldconfig
 RUN ldconfig /usr/local/lib
 

raycloudtools/raydiff/raydiff.cpp

@@ -17,7 +17,7 @@
 void usage(int exit_code = 1)
 {
   // clang-format off
-  std::cout << "Difference between two ray clouds output a coloured cloud, cloud1 differences in red, cloud2 differences in green, and similarity printed to screen." << std::endl;
+  std::cout << "Difference between two ray clouds output a coloured cloud, cloud1 differences in scarlet, cloud2 differences in green/cyan, and similarity printed to screen." << std::endl;
   std::cout << "usage (--view / -v to view results):" << std::endl;
   std::cout << "raydiff cloud1.ply cloud2.ply" << std::endl;
   std::cout << "                              --distance 0 - optional threshold in m for colouring differences. Default auto-detects distribution shoulder" << std::endl;

raycloudtools/rayimport/rayimport.cpp

@@ -240,4 +240,4 @@ int main(int argc, char *argv[])
   if (save_file != "")
     ray::viewFile(save_file); 
   return res;
-}
+}

raycloudtools/rayinfo/rayinfo.cpp

@@ -74,6 +74,8 @@ int rayInfo(int argc, char *argv[])
   double min_ray_length = std::numeric_limits<double>::max();
   double max_ray_length = std::numeric_limits<double>::lowest();
   double max_bounded_ray_length = std::numeric_limits<double>::lowest();
+  double mean_bounded_ray_length = 0.0;
+  int mean_count = 0;
   ray::RGBA min_col(255, 255, 255, 255), max_col(0, 0, 0, 0);
   int num_pixels_covered = 0;
   const double voxel_width = 0.5;
@@ -125,6 +127,8 @@ int rayInfo(int argc, char *argv[])
       if (colours[i].alpha > 0)
       {
         max_bounded_ray_length = std::max(max_bounded_ray_length, ray_length);
+        mean_bounded_ray_length += ray_length;
+        mean_count++;
 
         min_col.red = std::min(min_col.red, colours[i].red);
         min_col.green = std::min(min_col.green, colours[i].green);
@@ -145,6 +149,7 @@ int rayInfo(int argc, char *argv[])
   {
     usage();
   }
+  mean_bounded_ray_length /= (double)mean_count;
 
   // print the results to screen
   std::cout << std::endl;
@@ -196,7 +201,7 @@ int rayInfo(int argc, char *argv[])
       std::cout << num_minutes << " mins ";
     std::cout << seconds << " s \t(in seconds: " << path_period << ")" << std::endl;
   }
-  std::cout << "  ray length: \t\t" << min_ray_length << " to " << max_ray_length << " m, max end point ray length: " << max_bounded_ray_length << " m" << std::endl;
+  std::cout << "  ray length: \t\t" << min_ray_length << " to " << max_ray_length << " m, max end point ray length: " << max_bounded_ray_length << " m, mean: " << mean_bounded_ray_length << std::endl;
   std::cout << "  colour range (RGBA): \t" << (int)min_col.red << "," << (int)min_col.green << "," << (int)min_col.blue << "," << (int)min_col.alpha << " to " << 
                                             (int)max_col.red << "," << (int)max_col.green << "," << (int)max_col.blue << "," << (int)max_col.alpha << std::endl;
 

raylib/extraction/rayforest_watershed.cpp

@@ -11,6 +11,7 @@
 #include <iostream>
 #include <queue>
 #include "../rayply.h"
+#include "../rayrandom.h"
 
 namespace ray
 {
@@ -39,9 +40,9 @@ void Forest::renderWatershed(const std::string &cloud_name_stub, std::vector<Tre
         continue;
       }
       srand(1 + ind);
-      colour.red = (uint8_t)(rand() % 256);
-      colour.green = (uint8_t)(rand() % 256);
-      colour.blue = (uint8_t)(rand() % 256);
+      colour.red = (uint8_t)(::ray::rand() % 256);
+      colour.green = (uint8_t)(::ray::rand() % 256);
+      colour.blue = (uint8_t)(::ray::rand() % 256);
       Eigen::Vector3d pos =
         min_bounds_ + voxel_width_ * Eigen::Vector3d(0.5 + static_cast<double>(x), 0.5 + static_cast<double>(y), 0);
       pos[2] = original_heightfield_(x, y);
@@ -54,10 +55,10 @@ void Forest::renderWatershed(const std::string &cloud_name_stub, std::vector<Tre
   for (auto &ind : indices)
   {
     Eigen::Vector3d tip;
-    srand(1 + ind);
-    colour.red = (uint8_t)(rand() % 256);
-    colour.green = (uint8_t)(rand() % 256);
-    colour.blue = (uint8_t)(rand() % 256);
+    ::ray::srand(1 + ind);
+    colour.red = (uint8_t)(::ray::rand() % 256);
+    colour.green = (uint8_t)(::ray::rand() % 256);
+    colour.blue = (uint8_t)(::ray::rand() % 256);
     if (trees[ind].area < min_area_)
     {
       continue;