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Add MR test (#290)
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Co-authored-by: Piotr Rybicki <[email protected]>
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@nebraszka @prybicki
nebraszka and prybicki authored Jun 5, 2024
1 parent f9b6a43 commit 9cdcaea
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Showing 4 changed files with 323 additions and 27 deletions.
4 changes: 3 additions & 1 deletion src/gpu/optixPrograms.cu
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Expand Up @@ -137,7 +137,9 @@ extern "C" __global__ void __closesthit__()
// Hitpoint
Vec3f hitObject = Vec3f((1 - u - v) * A + u * B + v * C);
const Vec3f hitWorldRaytraced = optixTransformPointFromObjectToWorldSpace(hitObject);
const float distance = (hitWorldRaytraced - beamSampleOrigin).length();
const Vector<3, double> hwrd = hitWorldRaytraced;
const Vector<3, double> hso = beamSampleOrigin;
const double distance = (hwrd - hso).length();
const Vec3f hitWorldSeenBySensor = [&]() {
if (!ctx.doApplyDistortion) {
return hitWorldRaytraced;
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1 change: 1 addition & 0 deletions test/include/helpers/geometryData.hpp
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Expand Up @@ -3,6 +3,7 @@
#include <rgl/api/core.h>

static constexpr float CUBE_HALF_EDGE = 1.0;
static constexpr float CUBE_EDGE = 2.0;

static rgl_vec3f cubeVertices[] = {
{-1, -1, -1}, // 0
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4 changes: 2 additions & 2 deletions test/include/helpers/testPointCloud.hpp
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Expand Up @@ -241,7 +241,7 @@ class TestPointCloud
}

template<rgl_field_t T>
std::vector<typename Field<T>::type> getFieldValues()
std::vector<typename Field<T>::type> getFieldValues() const
{
int fieldIndex = std::find(fields.begin(), fields.end(), T) - fields.begin();

Expand All @@ -252,7 +252,7 @@ class TestPointCloud

for (int i = 0; i < getPointCount(); i++) {
fieldValues.emplace_back(
*reinterpret_cast<typename Field<T>::type*>(data.data() + i * getPointByteSize() + offset));
*reinterpret_cast<const typename Field<T>::type*>(data.data() + i * getPointByteSize() + offset));
}

return fieldValues;
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341 changes: 317 additions & 24 deletions test/src/graph/multiReturnTest.cpp
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@@ -1,40 +1,333 @@
#include <helpers/commonHelpers.hpp>
#include "math/Mat3x4f.hpp"
#include "helpers/lidarHelpers.hpp"
#include "RGLFields.hpp"
#include "helpers/testPointCloud.hpp"
#include "helpers/sceneHelpers.hpp"

#include "RGLFields.hpp"
#include "math/Mat3x4f.hpp"

using namespace std::chrono_literals;

#if RGL_BUILD_ROS2_EXTENSION
#include <rgl/api/extensions/ros2.h>
#endif

class GraphMultiReturn : public RGLTest
{};
{
protected:
// VLP16 data
const float vlp16LidarObjectDistance = 100.0f;
const float vlp16LidarHBeamDivergence = 0.003f; // Velodyne VLP16 horizontal beam divergence in rads
const float vlp16LidarHBeamDiameter = 0.2868f; // Velodyne VLP16 beam horizontal diameter at 100m

std::vector<Mat3x4f> vlp16Channels{Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(11.2f)}, {0.0f, -15.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(0.7f)}, {0.0f, +1.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(9.7f)}, {0.0f, -13.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-2.2f)}, {0.0f, +3.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(8.1f)}, {0.0f, -11.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-3.7f)}, {0.0f, +5.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(6.6f)}, {0.0f, -9.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-5.1f)}, {0.0f, +7.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(5.1f)}, {0.0f, -7.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-6.6f)}, {0.0f, +9.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(3.7f)}, {0.0f, -5.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-8.1f)}, {0.0f, +11.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(2.2f)}, {0.0f, -3.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-9.7f)}, {0.0f, +13.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(0.7f)}, {0.0f, -1.0f, 0.0f}),
Mat3x4f::TRS({0.0f, 0.0f, mmToMeters(-11.2f)}, {0.0f, +15.0f, 0.0f})};

const std::vector<rgl_field_t> fields = {XYZ_VEC3_F32, IS_HIT_I32, DISTANCE_F32 /*, INTENSITY_F32, ENTITY_ID_I32*/};

rgl_node_t rays = nullptr, mrRays = nullptr, cameraRays = nullptr, transform = nullptr, mrTransform = nullptr,
cameraTransform = nullptr, raytrace = nullptr, mrRaytrace = nullptr, cameraRaytrace = nullptr, mrFirst = nullptr,
mrLast = nullptr, format = nullptr, mrFormatFirst = nullptr, mrFormatLast = nullptr, cameraFormat = nullptr,
publish = nullptr, cameraPublish = nullptr, mrPublishFirst = nullptr, mrPublishLast = nullptr,
compactFirst = nullptr, compactLast = nullptr;

void constructMRGraph(const std::vector<rgl_mat3x4f>& raysTf, const rgl_mat3x4f& lidarPose, const float beamDivAngle,
bool withPublish = false)
{
EXPECT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&mrRays, raysTf.data(), raysTf.size()));
EXPECT_RGL_SUCCESS(rgl_node_rays_transform(&mrTransform, &lidarPose));
EXPECT_RGL_SUCCESS(rgl_node_raytrace(&mrRaytrace, nullptr));
EXPECT_RGL_SUCCESS(rgl_node_raytrace_configure_beam_divergence(mrRaytrace, beamDivAngle));
EXPECT_RGL_SUCCESS(rgl_node_multi_return_switch(&mrFirst, RGL_RETURN_TYPE_FIRST));
EXPECT_RGL_SUCCESS(rgl_node_multi_return_switch(&mrLast, RGL_RETURN_TYPE_LAST));
EXPECT_RGL_SUCCESS(rgl_node_points_compact_by_field(&compactFirst, RGL_FIELD_IS_HIT_I32));
EXPECT_RGL_SUCCESS(rgl_node_points_compact_by_field(&compactLast, RGL_FIELD_IS_HIT_I32));
EXPECT_RGL_SUCCESS(rgl_node_points_format(&mrFormatFirst, fields.data(), fields.size()));
EXPECT_RGL_SUCCESS(rgl_node_points_format(&mrFormatLast, fields.data(), fields.size()));
#if RGL_BUILD_ROS2_EXTENSION
if (withPublish) {
EXPECT_RGL_SUCCESS(rgl_node_points_ros2_publish(&mrPublishFirst, "MRTest_First", "world"));
EXPECT_RGL_SUCCESS(rgl_node_points_ros2_publish(&mrPublishLast, "MRTest_Last", "world"));
}
#else
if (withPublish) {
GTEST_SKIP() << "Publishing is not supported without ROS2 extension. Skippping the test.";
}
#endif
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrRays, mrTransform));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrTransform, mrRaytrace));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrRaytrace, mrFirst));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrRaytrace, mrLast));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrFirst, compactFirst));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrLast, compactLast));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(compactFirst, mrFormatFirst));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(compactLast, mrFormatLast));
if (withPublish) {
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrFormatFirst, mrPublishFirst));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(mrFormatLast, mrPublishLast));
}
}

void constructCameraGraph(const rgl_mat3x4f& cameraPose)
{
#if RGL_BUILD_ROS2_EXTENSION
const std::vector<rgl_mat3x4f> cameraRayTf = makeLidar3dRays(360.0f, 180.0f, 1.0f, 1.0f);
EXPECT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&cameraRays, cameraRayTf.data(), cameraRayTf.size()));
EXPECT_RGL_SUCCESS(rgl_node_rays_transform(&cameraTransform, &cameraPose));
EXPECT_RGL_SUCCESS(rgl_node_raytrace(&cameraRaytrace, nullptr));
EXPECT_RGL_SUCCESS(rgl_node_points_format(&cameraFormat, fields.data(), fields.size()));
EXPECT_RGL_SUCCESS(rgl_node_points_ros2_publish(&cameraPublish, "MRTest_Camera", "world"));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(cameraRays, cameraTransform));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(cameraTransform, cameraRaytrace));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(cameraRaytrace, cameraFormat));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(cameraFormat, cameraPublish));
#else
GTEST_SKIP() << "Publishing is not supported without ROS2 extension. Skippping the test with camera.";
#endif
}

void spawnStairsOnScene(const float stepWidth, const float stepHeight, const float stepDepth, const float stairsBaseHeight,
const Vec3f& stairsTranslation) const
{
const Vec3f cubeHalfEdgeScaled{CUBE_HALF_EDGE * stepDepth / CUBE_EDGE, CUBE_HALF_EDGE * stepWidth / CUBE_EDGE,
CUBE_HALF_EDGE * stepHeight / CUBE_EDGE};

const auto firstCubeTf =
Mat3x4f::translation(stairsTranslation) *
Mat3x4f::TRS({cubeHalfEdgeScaled.x(), 0.0f, -cubeHalfEdgeScaled.z() + stairsBaseHeight + stepHeight},
{0.0f, 0.0f, 0.0f}, {stepDepth / CUBE_EDGE, stepWidth / CUBE_EDGE, stepHeight / CUBE_EDGE});
spawnCubeOnScene(firstCubeTf);
spawnCubeOnScene(Mat3x4f::translation(stepDepth, 0.0f, stepHeight) * firstCubeTf);
spawnCubeOnScene(Mat3x4f::translation(2 * stepDepth, 0.0f, 2 * stepHeight) * firstCubeTf);
}

constexpr float mmToMeters(float mm) const { return mm * 0.001f; }
};

/**
* This test verifies the accuracy of multiple return handling for the data specified for LiDAR VLP16
* by firing a single beam into a cube and making sure the first and last hits are correctly calculated.
*/
TEST_F(GraphMultiReturn, vlp16_data_compare)
{
// Lidar
const std::vector<rgl_mat3x4f> raysTf{Mat3x4f::TRS({0.0f, 0.0f, 0.0f}, {90.0f, 0.0f, -90.0f}).toRGL()};
const float lidarCubeFaceDist = vlp16LidarObjectDistance;
const float lidarCubeCenterDist = lidarCubeFaceDist + CUBE_HALF_EDGE;
const auto lidarTransl = Vec3f{lidarCubeCenterDist, 0.0f, 0.0f};
const rgl_mat3x4f lidarPose = Mat3x4f::TRS(lidarTransl).toRGL();

// Scene
spawnCubeOnScene(Mat3x4f::identity());

// VLP16 horizontal beam divergence in rads
const float beamDivAngle = vlp16LidarHBeamDivergence;
constructMRGraph(raysTf, lidarPose, beamDivAngle);

EXPECT_RGL_SUCCESS(rgl_graph_run(mrRays));

// Verify the output
const float epsilon = 1e-4f;

const auto mrFirstOutPointcloud = TestPointCloud::createFromNode(mrFormatFirst, fields);
const auto mrFirstIsHits = mrFirstOutPointcloud.getFieldValues<IS_HIT_I32>();
const auto mrFirstPoints = mrFirstOutPointcloud.getFieldValues<XYZ_VEC3_F32>();
const auto mrFirstDistances = mrFirstOutPointcloud.getFieldValues<DISTANCE_F32>();
const auto expectedFirstPoint = Vec3f{CUBE_HALF_EDGE, 0.0f, 0.0f};
EXPECT_EQ(mrFirstOutPointcloud.getPointCount(), raysTf.size());
EXPECT_TRUE(mrFirstIsHits.at(0));
EXPECT_NEAR(mrFirstDistances.at(0), lidarCubeFaceDist, epsilon);
EXPECT_NEAR(mrFirstPoints.at(0).x(), expectedFirstPoint.x(), epsilon);
EXPECT_NEAR(mrFirstPoints.at(0).y(), expectedFirstPoint.y(), epsilon);
EXPECT_NEAR(mrFirstPoints.at(0).z(), expectedFirstPoint.z(), epsilon);

const auto mrLastOutPointcloud = TestPointCloud::createFromNode(mrFormatLast, fields);
const auto mrLastIsHits = mrLastOutPointcloud.getFieldValues<IS_HIT_I32>();
const auto mrLastPoints = mrLastOutPointcloud.getFieldValues<XYZ_VEC3_F32>();
const auto mrLastDistances = mrLastOutPointcloud.getFieldValues<DISTANCE_F32>();
const float expectedDiameter = vlp16LidarHBeamDiameter;
const auto expectedLastDistance = static_cast<float>(sqrt(pow(lidarCubeFaceDist, 2) + pow(expectedDiameter / 2, 2)));
// Substract because the ray is pointing as is the negative X axis
const auto expectedLastPoint = lidarTransl - Vec3f{expectedLastDistance, 0.0f, 0.0f};
EXPECT_EQ(mrLastOutPointcloud.getPointCount(), raysTf.size());
EXPECT_TRUE(mrLastIsHits.at(0));
EXPECT_NEAR(mrLastDistances.at(0), expectedLastDistance, epsilon);
EXPECT_NEAR(mrLastPoints.at(0).x(), expectedLastPoint.x(), epsilon);
EXPECT_NEAR(mrLastPoints.at(0).y(), expectedLastPoint.y(), epsilon);
EXPECT_NEAR(mrLastPoints.at(0).z(), expectedLastPoint.z(), epsilon);
}

TEST_F(GraphMultiReturn, basic)
#if RGL_BUILD_ROS2_EXTENSION
/**
* This test verifies the performance of the multiple return feature in a dynamic scene
* with two cubes placed one behind the other, one cube cyclically moving sideways.
* LiDAR fires the beam in such a way that in some frames the beam partially overlaps the edge of the moving cube.
*/
TEST_F(GraphMultiReturn, pairs_of_cubes_in_motion)
{
rgl_node_t useRays = nullptr, raytrace = nullptr, lidarPose = nullptr, compact = nullptr, yield = nullptr;
std::vector<rgl_field_t> mrFields = {IS_HIT_I32, DISTANCE_F32, XYZ_VEC3_F32, INTENSITY_F32, ENTITY_ID_I32};
/*
* gap
* ________ <---->
* | | |
* | | |
* |________| |
* |
* X
* LIDAR
*/

std::vector<rgl_mat3x4f> rays = {Mat3x4f::identity().toRGL()};
rgl_mat3x4f lidarPoseTf = Mat3x4f::TRS({1, 2, 3}, {0, 30, 0}).toRGL();
GTEST_SKIP(); // Comment to run the test

rgl_entity_t cube = makeEntity();
rgl_mat3x4f cubeTf = Mat3x4f::TRS({0, 0, 0}, {0, 0, 0}, {10, 10, 10}).toRGL();
EXPECT_RGL_SUCCESS(rgl_entity_set_pose(cube, &cubeTf));
// Lidar
const std::vector<rgl_mat3x4f> raysTf{Mat3x4f::TRS({0.0f, 0.0f, 0.0f}, {90.0f, 0.0f, 90.0f}).toRGL()};
const float lidarCubeFaceDist = 100.0f;
const float lidarCubeCenterDist = lidarCubeFaceDist + CUBE_HALF_EDGE * 2;
const Vec3f lidarTransl = {-lidarCubeCenterDist, 3.0f, 3.0f};
const rgl_mat3x4f lidarPose = Mat3x4f::translation(lidarTransl).toRGL();

EXPECT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&useRays, rays.data(), rays.size()));
EXPECT_RGL_SUCCESS(rgl_node_rays_transform(&lidarPose, &lidarPoseTf));
// Scene
const Vec2f gapRange = {0.001f, 0.5f};
const std::vector<Mat3x4f> entitiesTransforms = {
Mat3x4f::TRS(Vec3f{-5.0f, lidarTransl.y() + gapRange.x() + CUBE_HALF_EDGE, lidarTransl.z()}),
Mat3x4f::TRS(Vec3f{0.0f, lidarTransl.y(), lidarTransl.z()}, {0, 0, 0}, {2, 2, 2})};
std::vector<rgl_entity_t> entities = {spawnCubeOnScene(entitiesTransforms.at(0)),
spawnCubeOnScene(entitiesTransforms.at(1))};

// Lidar with MR
const float beamDivAngle = 0.003f;
constructMRGraph(raysTf, lidarPose, beamDivAngle, true);

// Lidar without MR
EXPECT_RGL_SUCCESS(rgl_node_rays_from_mat3x4f(&rays, raysTf.data(), raysTf.size()));
EXPECT_RGL_SUCCESS(rgl_node_rays_transform(&transform, &lidarPose));
EXPECT_RGL_SUCCESS(rgl_node_raytrace(&raytrace, nullptr));
EXPECT_RGL_SUCCESS(rgl_node_points_compact_by_field(&compact, RGL_FIELD_IS_HIT_I32));
EXPECT_RGL_SUCCESS(rgl_node_points_yield(&yield, mrFields.data(), mrFields.size()));
EXPECT_RGL_SUCCESS(rgl_node_points_format(&format, fields.data(), fields.size()));
EXPECT_RGL_SUCCESS(rgl_node_points_ros2_publish(&publish, "MRTest_Lidar_Without_MR", "world"));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(rays, transform));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(transform, raytrace));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(raytrace, format));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(format, publish));

// Camera
const rgl_mat3x4f cameraPose = Mat3x4f::TRS(Vec3f{-8.0f, 1.0f, 5.0f}, {90.0f, 30.0f, -70.0f}).toRGL();
constructCameraGraph(cameraPose);

int frameId = 0;
while (true) {

const auto newPose = (entitiesTransforms.at(0) *
Mat3x4f::translation(0.0f, std::abs(std::sin(frameId * 0.05f)) * gapRange.y(), 0.0f))
.toRGL();
EXPECT_RGL_SUCCESS(rgl_entity_set_pose(entities.at(0), &newPose));

ASSERT_RGL_SUCCESS(rgl_graph_run(cameraRays));
ASSERT_RGL_SUCCESS(rgl_graph_run(rays));
ASSERT_RGL_SUCCESS(rgl_graph_run(mrRays));

std::this_thread::sleep_for(50ms);
frameId += 1;
}
}
#endif

#if RGL_BUILD_ROS2_EXTENSION
/**
* This test verifies how changing the beam divergence affects the results obtained with the multi return feature enabled.
* Three cubes arranged in the shape of a stairs are placed on the scene. LiDAR aims the only ray at the center of the middle “stair",
* during the test the beam divergence angle is increased/decreased periodically.
*/
TEST_F(GraphMultiReturn, stairs)
{
/*
* ____ ^
* ____| | Z+
* ____| middle step |
* | ----> X+
*/

GTEST_SKIP(); // Comment to run the test

// Scene
const float stairsBaseHeight = 0.0f;
const float stepWidth = 1.0f;
const float stepHeight = vlp16LidarHBeamDiameter + 0.1f;
const float stepDepth = 0.8f;
const Vec3f stairsTranslation{2.0f, 0.0f, 0.0f};

spawnStairsOnScene(stepWidth, stepHeight, stepDepth, stairsBaseHeight, stairsTranslation);

// Lidar
const std::vector<rgl_mat3x4f> raysTf{Mat3x4f::TRS({0.0f, 0.0f, 0.0f}, {90.0f, 0.0f, 90.0f}).toRGL()};

const float lidarMiddleStepDist = 1.5f * vlp16LidarObjectDistance;
const Vec3f lidarTransl{-lidarMiddleStepDist + stepDepth, 0.0f, stepHeight * 1.5f};

const rgl_mat3x4f lidarPose{(Mat3x4f::translation(lidarTransl + stairsTranslation)).toRGL()};

// Lidar with MR
const float beamDivAngle = vlp16LidarHBeamDivergence;
constructMRGraph(raysTf, lidarPose, beamDivAngle, true);

// Camera
rgl_mat3x4f cameraPose = Mat3x4f::translation({0.0f, -1.5f, stepHeight * 3 + 1.0f}).toRGL();
constructCameraGraph(cameraPose);
ASSERT_RGL_SUCCESS(rgl_graph_run(cameraRays));

int frameId = 0;
while (true) {
const float newBeamDivAngle = beamDivAngle + std::sin(frameId * 0.1f) * beamDivAngle;
ASSERT_RGL_SUCCESS(rgl_node_raytrace_configure_beam_divergence(mrRaytrace, newBeamDivAngle));

ASSERT_RGL_SUCCESS(rgl_graph_run(mrRaytrace));

std::this_thread::sleep_for(100ms);
frameId += 1;
}
}

/**
* This test verifies the performance of the multi return feature when releasing multiple ray beams at once.
*/
TEST_F(GraphMultiReturn, multiple_ray_beams)
{
GTEST_SKIP(); // Comment to run the test

// Scene
spawnCubeOnScene(Mat3x4f::TRS({0.0f, 0.0f, 0.0f}, {0.0f, 0.0f, 0.0f}, {2.0f, 2.0f, 2.0f}));

EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(useRays, lidarPose));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(lidarPose, raytrace));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(raytrace, compact));
EXPECT_RGL_SUCCESS(rgl_graph_node_add_child(compact, yield));
// Camera
constructCameraGraph(Mat3x4f::identity().toRGL());

EXPECT_RGL_SUCCESS(rgl_graph_run(useRays));
// Lidar with MR
const int horizontalSteps = 10;
const auto resolution = 360.0f / horizontalSteps;
std::vector<rgl_mat3x4f> vlp16RaysTf;
vlp16RaysTf.reserve(horizontalSteps * vlp16Channels.size());

TestPointCloud pc = TestPointCloud::createFromNode(yield, mrFields);
EXPECT_EQ(pc.getPointCount(), 1);
for (int i = 0; i < horizontalSteps; ++i) {
for (const auto& velodyneVLP16Channel : vlp16Channels) {
vlp16RaysTf.emplace_back((Mat3x4f::rotationDeg(0.0f, 90.0f, resolution * i) * velodyneVLP16Channel).toRGL());
}
}
const rgl_mat3x4f lidarPose = Mat3x4f::identity().toRGL();
const float beamDivAngle = vlp16LidarHBeamDivergence;
constructMRGraph(vlp16RaysTf, lidarPose, beamDivAngle, true);

EXPECT_RGL_SUCCESS(rgl_graph_destroy(useRays));
}
ASSERT_RGL_SUCCESS(rgl_graph_run(cameraRays));
ASSERT_RGL_SUCCESS(rgl_graph_run(mrRays));
}
#endif

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