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spacetime's Introduction

SpaceTime Server

opencog

CircleCI

This code is part of a spatial-information processing system, described here: https://wiki.opencog.org/w/SpaceServer

The actual implementation status of this code is unclear. I think it works. I think parts of it have unit tests. I think parts of it might be correctly designed and implemented. Parts of it might be incomplete or incorrect or not needed. It might need changes to the API to become fully useful. The code here needs:

  • An active maintainer!
  • A full design review!

Atom Octomap API

This subsystem stores Atoms in a 4d spacetime coordinate map. The current or past location of an atom can be queried, as well at the set of atoms at a given location or time.

Scheme bindings are provided by the (opencog pointmem) module.

Documentation can be found here: https://wiki.opencog.org/w/Visual_Perception_Buffer

Pre-requisites

In order to compile this code, this needs the OctoMap library:

sudo apt-get install liboctomap-dev

spacetime's People

Contributors

amebel avatar arl avatar chenesan avatar dagiopia avatar ferrouswheel avatar inflector avatar kasimebrahim avatar leungmanhin avatar linas avatar misgeatgit avatar ngeiswei avatar ntoxeg avatar randy-deb avatar rtreutlein avatar serval2412 avatar shujingke avatar tnick avatar williampma avatar yantrabuddhi avatar yimesgen avatar

Stargazers

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Watchers

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Forkers

stjordanis singnet surfswift213us gitbenxing leungmanhin mhatta ngeiswei ntoxeg rustyshackleforth standardgalactic superfluouss

spacetime's Issues

octomap contains InvalidHandles

Applying the patch below to the octomap shows that the octomap contains a lot of "invalid handles". This is surely not very efficient, and it would be better if these were never placed in there, to begin with.

--- a/opencog/timeoctomap/TimeOctomap.cc
+++ b/opencog/timeoctomap/TimeOctomap.cc
@@ -80,14 +80,19 @@ Handle TimeSlice::get_atom_at_location(const point3d& locati
 point3d_list TimeSlice::get_locations(const Handle& ato)
 {
     point3d_list pl;
+std::cout<<"duuude getting locations at slisece="<<t<< " p="<<((void*)this)<<st
     for (AtomOcTree::tree_iterator ita =
         map_tree.begin_tree(),
         end = map_tree.end_tree();
         ita != end;
         ++ita)
     {
+std::cout<<"duuude looopy atom="<<ita->getData()<<std::endl;
         if (ita->getData() == ato)
+        {
+std::cout<<"duuuude yayyyy"<<std::endl;
             pl.push_back(ita.getCoordinate());
+        }
     }
     return pl;
 }

prints this:

duuude getting locations at slisece=1481620154 p=0x3c150d0
duuude slice holds atom!!
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle
duuude looopy atom=Invalid Handle

AtomOcTreeUTest fails on ubuntu 16.04

from make test log file

6/27 Test: AtomOcTreeUTest
Command: "/home/mjsd/oc/opencog/build/tests/spacetime/AtomOcTreeUTest"
Directory: /home/mjsd/oc/opencog/build/tests/spacetime
"AtomOcTreeUTest" start time: Jan 24 11:37 EST
Output:
----------------------------------------------------------
Running cxxtest tests (1 test)
generating example map
<end of output>
Test time =   0.11 sec
----------------------------------------------------------
Test Failed.
"AtomOcTreeUTest" end time: Jan 24 11:37 EST
"AtomOcTreeUTest" time elapsed: 00:00:00
----------------------------------------------------------

TimeSpaceAtomUTest fails on ubuntu 16.04

from make test log file

7/27 Test: TimeSpaceAtomUTest
Command: "/home/mjsd/oc/opencog/build/tests/spacetime/TimeSpaceAtomUTest"
Directory: /home/mjsd/oc/opencog/build/tests/spacetime
"TimeSpaceAtomUTest" start time: Jan 24 11:37 EST
Output:
----------------------------------------------------------
Running cxxtest tests (1 test)
generating example map
<end of output>
Test time =   0.13 sec
----------------------------------------------------------
Test Failed.
"TimeSpaceAtomUTest" end time: Jan 24 11:37 EST
"TimeSpaceAtomUTest" time elapsed: 00:00:00
----------------------------------------------------------

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