Gfx-replay and JSON serialization fixes (#1758)

* gfx-replay scaling fix (relevant for URDF scaling) * add file-write error-checking to Recorder::writeSavedKeyframesToFile * force compile errors for missing JSON serialization functions * fix JSON serialize compile issues * add python binding for gfx-replay writeSavedKeyframesToString * add JSON serialization for std::pair * update comment * formatting fix
facebookresearch · Jul 14, 2022 · 0c33790 · 0c33790
1 parent d57275e
commit 0c33790
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Showing 9 changed files with 146 additions and 68 deletions.
diff --git a/src/esp/bindings/GfxReplayBindings.cpp b/src/esp/bindings/GfxReplayBindings.cpp
@@ -85,6 +85,18 @@ void initGfxReplayBindings(py::module& m) {
           },
           R"(Write all saved keyframes to a file, then discard the keyframes.)")
 
+      .def(
+          "write_saved_keyframes_to_string",
+          [](ReplayManager& self) {
+            if (!self.getRecorder()) {
+              throw std::runtime_error(
+                  "replay save not enabled. See "
+                  "SimulatorConfiguration.enable_gfx_replay_save.");
+            }
+            return self.getRecorder()->writeSavedKeyframesToString();
+          },
+          R"(Write all saved keyframes to a string, then discard the keyframes.)")
+
       .def("read_keyframes_from_file", &ReplayManager::readKeyframesFromFile,
            R"(Create a Player object from a replay file.)");
 }

diff --git a/src/esp/gfx/replay/Recorder.cpp b/src/esp/gfx/replay/Recorder.cpp
@@ -5,6 +5,7 @@
 #include "Recorder.h"
 
 #include "esp/assets/RenderAssetInstanceCreationInfo.h"
+#include "esp/core/Check.h"
 #include "esp/io/Json.h"
 #include "esp/io/JsonAllTypes.h"
 #include "esp/scene/SceneNode.h"
@@ -54,7 +55,18 @@ void Recorder::onCreateRenderAssetInstance(
 
   RenderAssetInstanceKey instanceKey = getNewInstanceKey();
 
-  getKeyframe().creations.emplace_back(std::make_pair(instanceKey, creation));
+  auto adjustedCreation = creation;
+
+  // bake node scale into creation
+  auto nodeScale = node->absoluteTransformation().scaling();
+  if (nodeScale != Mn::Vector3(1.f, 1.f, 1.f)) {
+    adjustedCreation.scale = adjustedCreation.scale
+                                 ? *adjustedCreation.scale * nodeScale
+                                 : nodeScale;
+  }
+
+  getKeyframe().creations.emplace_back(
+      std::make_pair(instanceKey, adjustedCreation));
 
   // Constructing NodeDeletionHelper here is equivalent to calling
   // node->addFeature. We keep a pointer to deletionHelper so we can delete it
@@ -175,8 +187,9 @@ void Recorder::writeSavedKeyframesToFile(const std::string& filepath,
   auto document = writeKeyframesToJsonDocument();
   // replay::Keyframes use floats (not doubles) so this is plenty of precision
   const float maxDecimalPlaces = 7;
-  esp::io::writeJsonToFile(document, filepath, usePrettyWriter,
-                           maxDecimalPlaces);
+  auto ok = esp::io::writeJsonToFile(document, filepath, usePrettyWriter,
+                                     maxDecimalPlaces);
+  ESP_CHECK(ok, "writeSavedKeyframesToFile: unable to write to " << filepath);
 
   consolidateSavedKeyframes();
 }

diff --git a/src/esp/io/CMakeLists.txt b/src/esp/io/CMakeLists.txt
@@ -10,6 +10,7 @@ add_library(
   JsonEspTypes.h
   JsonMagnumTypes.cpp
   JsonMagnumTypes.h
+  JsonStlTypes.cpp
   JsonStlTypes.h
   JsonUtils.h
   URDFParser.cpp

diff --git a/src/esp/io/JsonBuiltinTypes.h b/src/esp/io/JsonBuiltinTypes.h
@@ -39,6 +39,8 @@ void addMember(JsonGenericValue& value,
 template <typename T>
 bool readMember(const JsonGenericValue& value, const char* name, T& x);
 
+#if 0  // reference code to produce runtime errors for missing implementations
+       // (instead of compile errors)
 /**
  * @brief Fallback implementation for fromJsonValue to produce a runtime error
  * for types that haven't implemented fromJsonValue.
@@ -70,6 +72,7 @@ JsonGenericValue toJsonValue(const T&, JsonAllocator&) {
       << typeid(T).name() << ".";
   return JsonGenericValue(rapidjson::kObjectType);
 }
+#endif
 
 // toJsonValue wrappers for the 7 rapidjson builtin types. A JsonGenericValue
 // can be directly constructed from the builtin types.

diff --git a/src/esp/io/JsonEspTypes.cpp b/src/esp/io/JsonEspTypes.cpp
@@ -101,5 +101,61 @@ bool fromJsonValue(const JsonGenericValue& obj,
   return true;
 }
 
+JsonGenericValue toJsonValue(const esp::assets::AssetInfo& x,
+                             JsonAllocator& allocator) {
+  JsonGenericValue obj(rapidjson::kObjectType);
+  addMemberAsUint32(obj, "type", x.type, allocator);
+  addMember(obj, "filepath", x.filepath, allocator);
+  addMember(obj, "frame", x.frame, allocator);
+  addMember(obj, "virtualUnitToMeters", x.virtualUnitToMeters, allocator);
+  addMember(obj, "forceFlatShading", x.forceFlatShading, allocator);
+  addMember(obj, "splitInstanceMesh", x.splitInstanceMesh, allocator);
+  addMember(obj, "shaderTypeToUse", x.shaderTypeToUse, allocator);
+  addMember(obj, "overridePhongMaterial", x.overridePhongMaterial, allocator);
+  addMember(obj, "hasSemanticTextures", x.hasSemanticTextures, allocator);
+
+  return obj;
+}
+
+bool fromJsonValue(const JsonGenericValue& obj, esp::assets::AssetInfo& x) {
+  readMemberAsUint32(obj, "type", x.type);
+  readMember(obj, "filepath", x.filepath);
+  readMember(obj, "frame", x.frame);
+  readMember(obj, "virtualUnitToMeters", x.virtualUnitToMeters);
+  readMember(obj, "forceFlatShading", x.forceFlatShading);
+  readMember(obj, "splitInstanceMesh", x.splitInstanceMesh);
+  readMember(obj, "shaderTypeToUse", x.shaderTypeToUse);
+  readMember(obj, "overridePhongMaterial", x.overridePhongMaterial);
+  readMember(obj, "hasSemanticTextures", x.hasSemanticTextures);
+  return true;
+}
+
+JsonGenericValue toJsonValue(
+    const metadata::attributes::ObjectInstanceShaderType& x,
+    JsonAllocator& allocator) {
+  return toJsonValue(metadata::attributes::getShaderTypeName(x), allocator);
+}
+
+bool fromJsonValue(const JsonGenericValue& obj,
+                   metadata::attributes::ObjectInstanceShaderType& x) {
+  std::string shaderTypeToUseString;
+  // read as string
+  bool shaderTypeSucceess = fromJsonValue(obj, shaderTypeToUseString);
+  // convert to enum
+  if (shaderTypeSucceess) {
+    const std::string shaderTypeLC =
+        Cr::Utility::String::lowercase(shaderTypeToUseString);
+    auto mapIter = metadata::attributes::ShaderTypeNamesMap.find(shaderTypeLC);
+    ESP_CHECK(
+        mapIter != metadata::attributes::ShaderTypeNamesMap.end(),
+        "Illegal shader_type value"
+            << shaderTypeToUseString
+            << "specified in JSON to be used to set AssetInfo.shaderTypeToUse. "
+               "Aborting.");
+    x = mapIter->second;
+  }
+  return shaderTypeSucceess;
+}
+
 }  // namespace io
 }  // namespace esp
diff --git a/src/esp/io/JsonEspTypes.h b/src/esp/io/JsonEspTypes.h
@@ -81,62 +81,17 @@ inline bool fromJsonValue(const JsonGenericValue& obj,
   return success;
 }
 
-inline JsonGenericValue toJsonValue(const esp::assets::AssetInfo& x,
-                                    JsonAllocator& allocator) {
-  JsonGenericValue obj(rapidjson::kObjectType);
-  addMemberAsUint32(obj, "type", x.type, allocator);
-  addMember(obj, "filepath", x.filepath, allocator);
-  addMember(obj, "frame", x.frame, allocator);
-  addMember(obj, "virtualUnitToMeters", x.virtualUnitToMeters, allocator);
-  addMember(obj, "forceFlatShading", x.forceFlatShading, allocator);
-  addMember(obj, "splitInstanceMesh", x.splitInstanceMesh, allocator);
-  addMember(obj, "shaderTypeToUse", x.shaderTypeToUse, allocator);
-  addMember(obj, "overridePhongMaterial", x.overridePhongMaterial, allocator);
-  addMember(obj, "hasSemanticTextures", x.hasSemanticTextures, allocator);
+JsonGenericValue toJsonValue(const esp::assets::AssetInfo& x,
+                             JsonAllocator& allocator);
 
-  return obj;
-}
+bool fromJsonValue(const JsonGenericValue& obj, esp::assets::AssetInfo& x);
 
-inline bool fromJsonValue(const JsonGenericValue& obj,
-                          esp::assets::AssetInfo& x) {
-  readMemberAsUint32(obj, "type", x.type);
-  readMember(obj, "filepath", x.filepath);
-  readMember(obj, "frame", x.frame);
-  readMember(obj, "virtualUnitToMeters", x.virtualUnitToMeters);
-  readMember(obj, "forceFlatShading", x.forceFlatShading);
-  readMember(obj, "splitInstanceMesh", x.splitInstanceMesh);
-  readMember(obj, "shaderTypeToUse", x.shaderTypeToUse);
-  readMember(obj, "overridePhongMaterial", x.overridePhongMaterial);
-  readMember(obj, "hasSemanticTextures", x.hasSemanticTextures);
-  return true;
-}
-
-inline JsonGenericValue toJsonValue(
+JsonGenericValue toJsonValue(
     const metadata::attributes::ObjectInstanceShaderType& x,
-    JsonAllocator& allocator) {
-  return toJsonValue(metadata::attributes::getShaderTypeName(x), allocator);
-}
+    JsonAllocator& allocator);
 
-inline bool fromJsonValue(const JsonGenericValue& obj,
-                          metadata::attributes::ObjectInstanceShaderType& x) {
-  std::string shaderTypeToUseString;
-  // read as string
-  bool shaderTypeSucceess = fromJsonValue(obj, shaderTypeToUseString);
-  // convert to enum
-  if (shaderTypeSucceess) {
-    const std::string shaderTypeLC =
-        Cr::Utility::String::lowercase(shaderTypeToUseString);
-    auto mapIter = metadata::attributes::ShaderTypeNamesMap.find(shaderTypeLC);
-    ESP_CHECK(
-        mapIter != metadata::attributes::ShaderTypeNamesMap.end(),
-        "Illegal shader_type value"
-            << shaderTypeToUseString
-            << "specified in JSON to be used to set AssetInfo.shaderTypeToUse. "
-               "Aborting.");
-    x = mapIter->second;
-  }
-  return shaderTypeSucceess;
-}
+bool fromJsonValue(const JsonGenericValue& obj,
+                   metadata::attributes::ObjectInstanceShaderType& x);
 
 inline JsonGenericValue toJsonValue(
     const esp::assets::RenderAssetInstanceCreationInfo& x,

diff --git a/src/esp/io/JsonStlTypes.cpp b/src/esp/io/JsonStlTypes.cpp
@@ -0,0 +1,26 @@
+// Copyright (c) Facebook, Inc. and its affiliates.
+// This source code is licensed under the MIT license found in the
+// LICENSE file in the root directory of this source tree.
+
+#include "JsonAllTypes.h"
+
+namespace esp {
+namespace io {
+
+JsonGenericValue toJsonValue(const std::string& str, JsonAllocator& allocator) {
+  JsonGenericValue strObj;
+  strObj.SetString(str.c_str(), allocator);
+  return strObj;
+}
+
+bool fromJsonValue(const JsonGenericValue& obj, std::string& val) {
+  if (obj.IsString()) {
+    val = obj.GetString();
+    return true;
+  }
+  ESP_ERROR() << "Invalid string value";
+  return false;
+}
+
+}  // namespace io
+}  // namespace esp
diff --git a/src/esp/io/JsonStlTypes.h b/src/esp/io/JsonStlTypes.h
@@ -15,12 +15,7 @@
 namespace esp {
 namespace io {
 
-inline JsonGenericValue toJsonValue(const std::string& str,
-                                    JsonAllocator& allocator) {
-  JsonGenericValue strObj;
-  strObj.SetString(str.c_str(), allocator);
-  return strObj;
-}
+JsonGenericValue toJsonValue(const std::string& str, JsonAllocator& allocator);
 
 /**
  * @brief Populate passed @p val with value. Returns whether successfully
@@ -30,13 +25,24 @@ inline JsonGenericValue toJsonValue(const std::string& str,
  * @param val destination value to be populated
  * @return whether successful or not
  */
-inline bool fromJsonValue(const JsonGenericValue& obj, std::string& val) {
-  if (obj.IsString()) {
-    val = obj.GetString();
-    return true;
-  }
-  ESP_ERROR() << "Invalid string value";
-  return false;
+bool fromJsonValue(const JsonGenericValue& obj, std::string& val);
+
+template <typename T_first, typename T_second>
+inline JsonGenericValue toJsonValue(const std::pair<T_first, T_second>& val,
+                                    JsonAllocator& allocator) {
+  esp::io::JsonGenericValue obj(rapidjson::kObjectType);
+  esp::io::addMember(obj, "first", val.first, allocator);
+  esp::io::addMember(obj, "second", val.second, allocator);
+  return obj;
+}
+
+template <typename T_first, typename T_second>
+inline bool fromJsonValue(const JsonGenericValue& obj,
+                          std::pair<T_first, T_second>& val) {
+  bool success = true;
+  success &= readMember(obj, "first", val.first);
+  success &= readMember(obj, "second", val.second);
+  return success;
 }
 
 // For std::vector, we use rapidjson::kArrayType. For an empty vector, we

diff --git a/src/tests/IOTest.cpp b/src/tests/IOTest.cpp
@@ -262,6 +262,12 @@ void IOTest::testJsonStlTypes() {
   std::string s{"hello world"};
   _testJsonReadWrite(s, "s", d);
 
+  std::pair<float, std::string> pair(1.5f, "second");
+  esp::io::addMember(d, "pair", pair, allocator);
+  std::pair<float, std::string> pair2;
+  CORRADE_VERIFY(esp::io::readMember(d, "pair", pair2));
+  CORRADE_COMPARE(pair2, pair);
+
   // test a vector of ints
   std::vector<int> vec{3, 4, 5, 6};
   _testJsonReadWrite(vec, "vec", d);