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author
Saurav Agarwal
committed
Add data generator
1 parent 3d56f37 commit 0179f40

9 files changed

Lines changed: 485 additions & 3 deletions

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‎cppsrc/main/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.15)
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project(CoverageControlMain VERSION 0.3 LANGUAGES CUDA CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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set(CMAKE_COLOR_DIAGNOSTICS ON)
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find_package(Torch REQUIRED)
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find_package(TorchVision REQUIRED)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS} -Wall -Wextra -Wshadow -Wformat=2 -Wunused -pedantic")
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find_package(OpenMP REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(GeographicLib REQUIRED)
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find_package(CGAL REQUIRED)
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find_package(yaml-cpp REQUIRED)
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find_package(CoverageControlCore REQUIRED)
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find_package(CoverageControlTorch REQUIRED)
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#################
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## Executables ##
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#################
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add_library(compiler_flags INTERFACE)
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target_compile_features(compiler_flags INTERFACE cxx_std_17)
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set(gcc_like_cxx "$<COMPILE_LANG_AND_ID:CXX,ARMClang,AppleClang,Clang,GNU,LCC>")
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set(msvc_cxx "$<COMPILE_LANG_AND_ID:CXX,MSVC>")
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target_compile_options(compiler_flags INTERFACE
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"$<${gcc_like_cxx}:$<BUILD_INTERFACE:-Wall;-Wextra;-Wshadow;-Wformat=2;-Wunused;-pedantic>>"
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"$<${msvc_cxx}:$<BUILD_INTERFACE:-W3>>"
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)
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add_executable(data_generation data_generation.cpp)
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target_link_libraries(data_generation PRIVATE compiler_flags CoverageControlCore CoverageControlTorch)
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install(TARGETS data_generation DESTINATION ${CMAKE_INSTALL_BINDIR})

‎cppsrc/main/data_generation.cpp‎

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#include <torch/script.h>
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#include <torch/torch.h>
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#include <torchvision/vision.h>
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#include <iostream>
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#include <iomanip>
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#include <iostream>
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#include <random>
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#include <filesystem>
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#include <CoverageControlTorch/coverage_system.h>
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#include <CoverageControlTorch/generate_dataset.h>
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using CoverageControl::Point2;
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using CoverageControl::BivariateNormalDistribution;
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using CoverageControl::WorldIDF;
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using namespace torch::indexing;
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namespace CC = CoverageControl;
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namespace CCT = CoverageControlTorch;
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int main(int argc, char** argv) {
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/* if (argc != 2) { */
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/* std::cout << "Usage: ./data_generation <path_to_resizer_model>" << std::endl; */
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/* std::cout << "TorchVision JIT Transformer is required\n"; */
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/* return 1; */
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/* } */
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/* // Read first argument as path to resizer model */
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/* std::string resizer_model_path = argv[1]; */
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/* if (!std::filesystem::exists(resizer_model_path)) { */
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/* std::cout << "Error: " << resizer_model_path << " does not exist\n"; */
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/* return 1; */
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/* } */
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/* Parameters params; */
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/* std::vector <Point2> robot_positions; */
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/* robot_positions.push_back(Point2(100, 100)); */
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/* robot_positions.push_back(Point2(100, 10)); */
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/* robot_positions.push_back(Point2(10, 70)); */
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/* WorldIDF world_idf(params); */
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/* params.pNumRobots = robot_positions.size(); */
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/* world_idf.AddNormalDistribution(BivariateNormalDistribution(Point2(95, 95), 10)); */
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/* CCT::CoverageSystem env (params, world_idf, robot_positions); */
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/* torch::Tensor local_maps = torch::empty({2, params.pNumRobots, params.pLocalMapSize, params.pLocalMapSize}); */
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/* std::cout << std::setprecision(10) << std::endl; */
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/* env.GetAllRobotsLocalMaps(local_maps[0]); */
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/* env.GetAllRobotsLocalMaps(local_maps[1]); */
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/* print(local_maps[0].sum()); */
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/* std::cout << local_maps.sum() << std::endl; */
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/* std::cout << "shape: " << local_maps.sizes(); */
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/* torch::save(local_maps[0], "test.pt"); */
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/* torch::jit::script::Module resizer_model; */
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/* resizer_model = torch::jit::load(resizer_model_path); */
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/* std::cout << "shape of local_maps: " << local_maps[0][0].sizes() << std::endl; */
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/* std::vector<torch::jit::IValue> inputs; */
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/* inputs.push_back(local_maps); */
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/* torch::Tensor resized_maps = resizer_model.forward(inputs).toTensor(); */
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/* std::cout << "resized_maps: " << resized_maps.sizes() << std::endl; */
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/* torch::Tensor comm_maps = torch::zeros({params.pNumRobots, 32, 32}); */
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/* env.GetAllRobotsCommunicationMaps(comm_maps, 32); */
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/* std::cout << "shape of comm_maps: " << comm_maps.sizes() << std::endl; */
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/* auto sparse_comm_maps = comm_maps.to_sparse(); */
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/* std::cout << sparse_comm_maps << std::endl; */
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/* std::cout << torch::nonzero(comm_maps) - 16 << std::endl; */
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/* torch::Tensor test_tensor = torch::zeros({5}); */
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/* test_tensor[0] = 1; */
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/* test_tensor[1] = 2; */
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/* test_tensor[2] = 3; */
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/* std::cout << test_tensor << std::endl; */
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/* auto test_tensor2 = test_tensor.index({Slice(0, 3)}); */
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/* std::cout << test_tensor2 << std::endl; */
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/* test_tensor2[0] = 10; */
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/* std::cout << test_tensor << std::endl; */
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CCT::GenerateDataset dataset_generator("/root/CoverageControl_ws/data/pure_coverage/data_params.yaml");;
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return 0;
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}

‎cppsrc/setup.sh‎

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BUILD_DIR=${COVERAGECONTROL_WS}/build
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INSTALL_DIR=${COVERAGECONTROL_WS}/install
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CMAKE_END_FLAGS="-DCMAKE_BUILD_TYPE=RelWithDebInfo"
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CMAKE_END_FLAGS="-DCMAKE_BUILD_TYPE=RelWithDebInfo -G Ninja"
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CleanBuild () {
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rm -rf ${BUILD_DIR}
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echo "Successfully built and installed CoverageControlCore"
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cmake -S ${COVERAGECONTROL_WS}/src/CoverageControl/cppsrc/torch -B ${BUILD_DIR}/CoverageControlTorch ${CMAKE_END_FLAGS}
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cmake -S ${COVERAGECONTROL_WS}/src/CoverageControl/cppsrc/torch -B ${BUILD_DIR}/CoverageControlTorch ${CMAKE_END_FLAGS} -DCMAKE_PREFIX_PATH=${Torch_DIR}
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cmake --build ${BUILD_DIR}/CoverageControlTorch -j$(nproc)
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if [ $? -ne 0 ]; then
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echo "CoverageControlTorch build failed"
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fi
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echo "Successfully built and installed CoverageControlTests"
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cmake -S ${COVERAGECONTROL_WS}/src/CoverageControl/cppsrc/main -B ${BUILD_DIR}/CoverageControlMain ${CMAKE_END_FLAGS} -DCMAKE_INSTALL_PREFIX=${INSTALL_DIR}
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cmake --build ${BUILD_DIR}/CoverageControlMain -j$(nproc)
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if [ $? -ne 0 ]; then
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echo "CoverageControlMain build failed"
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exit 1
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fi
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cmake --install ${BUILD_DIR}/CoverageControlMain
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if [ $? -ne 0 ]; then
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echo "CoverageControlMain install failed"
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fi
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echo "Successfully built and installed CoverageControlMain"
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}
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if [[ ${INSTALL} ]]

‎cppsrc/tests/CMakeLists.txt‎

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set(CMAKE_COLOR_DIAGNOSTICS ON)
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find_package(Torch REQUIRED)
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find_package(TorchVision REQUIRED)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
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find_package(OpenMP REQUIRED)

‎cppsrc/tests/torch_map_conversion.cpp‎

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print(env_map_tensor[50][50]);
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torch::save(env_map_tensor, "data/test/env_map.pt");
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torch::Tensor env_map_tensor_loaded;
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torch::load(env_map_tensor_loaded, "data/test/env_map.pt");
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print(env_map_tensor_loaded[50][50]);
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return 0;
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}

‎cppsrc/torch/CMakeLists.txt‎

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set(CMAKE_COLOR_DIAGNOSTICS ON)
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find_package(Torch REQUIRED)
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find_package(TorchVision REQUIRED)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS}")
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find_package(OpenCV REQUIRED)
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find_package(OpenMP REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(yaml-cpp REQUIRED)
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set(sources_list base.cpp)
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list(TRANSFORM sources_list PREPEND "${CMAKE_CURRENT_SOURCE_DIR}/src/")
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set(dependencies_list CoverageControlCore ${TORCH_LIBRARIES})
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set(dependencies_list CoverageControlCore ${TORCH_LIBRARIES} TorchVision::TorchVision)
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add_library(CoverageControl_torch SHARED ${sources_list})
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‎cppsrc/torch/include/CoverageControlTorch/coverage_system.h‎

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/**
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* Extends the CoverageControl coverage system to include a torch map
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*
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**/
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#ifndef COVERAGECONTROLTORCH_COVERAGE_SYSTEM_H_
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#define COVERAGECONTROLTORCH_COVERAGE_SYSTEM_H_
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#include <vector>
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#include <CoverageControl/coverage_system.h>
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#include <torch/torch.h>
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#include <torch/script.h>
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#include "type_conversions.h"
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using namespace torch::indexing;
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namespace CoverageControlTorch {
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class CoverageSystem : public CoverageControl::CoverageSystem {
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public:
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CoverageSystem(Parameters const &params, size_t const num_features, size_t const num_robots) : CoverageControl::CoverageSystem(params, num_features, num_robots) { }
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CoverageSystem(Parameters const &params, WorldIDF const &world_idf, std::string const &pos_file_name) : CoverageControl::CoverageSystem(params, world_idf, pos_file_name) { }
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CoverageSystem(Parameters const &params, WorldIDF const &world_idf, std::vector <Point2> const &robot_positions) : CoverageControl::CoverageSystem(params, world_idf, robot_positions) { }
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CoverageSystem(Parameters const &params, std::vector <BivariateNormalDistribution> const &dists, std::vector <Point2> const &robot_positions) : CoverageControl::CoverageSystem(params, dists, robot_positions) { }
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torch::Tensor GetAllRobotsLocalMaps() {
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torch::Tensor maps = torch::zeros({num_robots_, params_.pLocalMapSize, params_.pLocalMapSize});
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#pragma omp parallel for
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for(size_t i = 0; i < num_robots_; i++) {
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maps[i] = EigenToLibTorch(robots_[i].GetRobotLocalMap());
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}
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return maps;
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}
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void GetAllRobotsCommunicationMaps(torch::Tensor maps, size_t const &map_size) const {
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#pragma omp parallel for
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for(int i = 0; i < num_robots_; i++) {
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auto robot_neighbors_pos = GetRobotsInCommunication(i);
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double comm_scale = (params_.pCommunicationRange * 2.) / map_size;
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Point2 map_translation(map_size * comm_scale * params_.pResolution/2., map_size * comm_scale * params_.pResolution/2.);
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for(Point2 const& relative_pos:robot_neighbors_pos) {
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Point2 map_pos = relative_pos + map_translation;
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int pos_idx, pos_idy;
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MapUtils::GetClosestGridCoordinate(params_.pResolution * comm_scale, map_pos, pos_idx, pos_idy);
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if(pos_idx < map_size and pos_idy < map_size and pos_idx >= 0 and pos_idy >= 0) {
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maps.index_put_({i, pos_idx, pos_idy}, 1);
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}
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}
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}
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}
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};
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} // namespace CoverageControlTorch
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#endif // COVERAGECONTROLTORCH_COVERAGE_SYSTEM_H_
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