Active Window Change Detection Implementation#30
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| ActiveWindowChangeDetector::ActiveWindowChangeDetector(const Config& config) | ||
| : config(config::checkValid(config)) { | ||
| LOG(INFO) << "[Khronos Active Window Change Detector] Initialized with prior map path: " |
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I assume these are debug prints that you will remove? In general it is good to have modules as silent as possible. This is what the verbosity is for, if you want to turn up the verbosity of specific modules it's easiest to inherit from VerbosityConfig (in hydra/utils/logging.h) and use the MLOG macro (extended version of Khronos's CLOG, which will eventually be replaced)
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I'm currently using CLOG mostly for other logging. Do we want to move everything to MLOG right now?
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For new stuff, yeah. It should also let you fold the the [Khronos Active Window Change Detector] prefix into the config (e.g., like this). No one really has needed / wanted to go update all of khronos to use the new macros though (and most of Hydra still doesn't use it either)
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However, the DCIST Hydra version does not have this update (see this). See also the latest commit; I try to use MLOG, but the feature is limited.
| for (const auto& [node_id, node] : objects_layer.nodes()) { | ||
| const auto& attrs = node->attributes(); | ||
| // Transform position from prior map frame to current map frame | ||
| const Point position_in_current = transformPriorToCurrentFrame(attrs.position); |
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Minor: In the future we can also consider caching that transform in the prior DSG (i.e., you transform the entire DSG once instead of every time you query). Fine to keep for now, I would do optimizations later.
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Now, the removed objects will be visualized with a red bounding box. |
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Current implementation should contain:
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- loading prior map - function to set prior->current map transform - function to filter prior object node in current voxel map (by centroid) - Call function to check object vertices in voxel map (if high confidence free space)
…k. Later, it should be move to be a sink for the change detector sink
…map through the sink.
…ransform function through config uitilities creation.
…e not unknown voxel.
- But, RAABB does not do merge well - Per frame add/detect vis is noisy.
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…ect timestamp at fisrt ovservation of absence. Change Sink to use the removed object type instead of id.
…saving mechanism.
- Nan depth values are forward to the module producing Nan bounding boxes - Filter out Nan value when loading frame data - Test tracker association now saves the reprojected mask - Instance forwarding now to Nan filtering
- Red for current frame mask, green for reprojected mask, blended yellow for intersecting pixels.
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Basic function to detect removed objects in the current map. Not extensively tested due to ground truth trajectory issue (still working on it). Changed files are only
active_window_change_detector, while all other changes are from theFuturecommit.