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mesh_operations.cpp
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mesh_operations.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "geometric_shapes/mesh_operations.h"
#include "geometric_shapes/shape_operations.h"
#include <cstdio>
#include <cmath>
#include <algorithm>
#include <set>
#include <float.h>
#include <console_bridge/console.h>
#include <resource_retriever/retriever.h>
#include <assimp/scene.h>
#include <assimp/Importer.hpp>
#include <assimp/postprocess.h>
#include <Eigen/Geometry>
#include <boost/math/constants/constants.hpp>
namespace shapes
{
namespace detail
{
namespace
{
/// Local representation of a vertex that knows its position in an array (used for sorting)
struct LocalVertexType
{
LocalVertexType() : x(0.0), y(0.0), z(0.0)
{
}
LocalVertexType(const Eigen::Vector3d &v) : x(v.x()), y(v.y()), z(v.z())
{
}
double x,y,z;
unsigned int index;
};
/// Sorting operator by point value
struct ltLocalVertexValue
{
bool operator()(const LocalVertexType &p1, const LocalVertexType &p2) const
{
if (p1.x < p2.x)
return true;
if (p1.x > p2.x)
return false;
if (p1.y < p2.y)
return true;
if (p1.y > p2.y)
return false;
if (p1.z < p2.z)
return true;
return false;
}
};
/// Sorting operator by point index
struct ltLocalVertexIndex
{
bool operator()(const LocalVertexType &p1, const LocalVertexType &p2) const
{
return p1.index < p2.index;
}
};
}
}
Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d &vertices, const std::vector<unsigned int> &triangles)
{
unsigned int nt = triangles.size() / 3;
Mesh *mesh = new Mesh(vertices.size(), nt);
for (unsigned int i = 0 ; i < vertices.size() ; ++i)
{
mesh->vertices[3 * i ] = vertices[i].x();
mesh->vertices[3 * i + 1] = vertices[i].y();
mesh->vertices[3 * i + 2] = vertices[i].z();
}
std::copy(triangles.begin(), triangles.end(), mesh->triangles);
mesh->computeTriangleNormals();
mesh->computeVertexNormals();
return mesh;
}
Mesh* createMeshFromVertices(const EigenSTL::vector_Vector3d &source)
{
if (source.size() < 3)
return NULL;
if (source.size() % 3 != 0)
logError("The number of vertices to construct a mesh from is not divisible by 3. Probably constructed triangles will not make sense.");
std::set<detail::LocalVertexType, detail::ltLocalVertexValue> vertices;
std::vector<unsigned int> triangles;
unsigned int n = source.size() / 3;
for (unsigned int i = 0 ; i < n ; ++i)
{
// check if we have new vertices
unsigned int i3 = i * 3;
detail::LocalVertexType vt1(source[i3]);
std::set<detail::LocalVertexType, detail::ltLocalVertexValue>::iterator p1 = vertices.find(vt1);
if (p1 == vertices.end())
{
vt1.index = vertices.size();
vertices.insert(vt1);
}
else
vt1.index = p1->index;
triangles.push_back(vt1.index);
detail::LocalVertexType vt2(source[++i3]);
std::set<detail::LocalVertexType, detail::ltLocalVertexValue>::iterator p2 = vertices.find(vt2);
if (p2 == vertices.end())
{
vt2.index = vertices.size();
vertices.insert(vt2);
}
else
vt2.index = p2->index;
triangles.push_back(vt2.index);
detail::LocalVertexType vt3(source[++i3]);
std::set<detail::LocalVertexType, detail::ltLocalVertexValue>::iterator p3 = vertices.find(vt3);
if (p3 == vertices.end())
{
vt3.index = vertices.size();
vertices.insert(vt3);
}
else
vt3.index = p3->index;
triangles.push_back(vt3.index);
}
// sort our vertices
std::vector<detail::LocalVertexType> vt;
vt.insert(vt.end(), vertices.begin(), vertices.end());
std::sort(vt.begin(), vt.end(), detail::ltLocalVertexIndex());
// copy the data to a mesh structure
unsigned int nt = triangles.size() / 3;
Mesh *mesh = new Mesh(vt.size(), nt);
for (unsigned int i = 0 ; i < vt.size() ; ++i)
{
unsigned int i3 = i * 3;
mesh->vertices[i3 ] = vt[i].x;
mesh->vertices[i3 + 1] = vt[i].y;
mesh->vertices[i3 + 2] = vt[i].z;
}
std::copy(triangles.begin(), triangles.end(), mesh->triangles);
mesh->computeTriangleNormals();
mesh->computeVertexNormals();
return mesh;
}
Mesh* createMeshFromResource(const std::string& resource)
{
static const Eigen::Vector3d one(1.0, 1.0, 1.0);
return createMeshFromResource(resource, one);
}
Mesh* createMeshFromBinary(const char* buffer, std::size_t size,
const std::string &assimp_hint)
{
static const Eigen::Vector3d one(1.0, 1.0, 1.0);
return createMeshFromBinary(buffer, size, one, assimp_hint);
}
Mesh* createMeshFromBinary(const char *buffer, std::size_t size, const Eigen::Vector3d &scale,
const std::string &assimp_hint)
{
if (!buffer || size < 1)
{
logWarn("Cannot construct mesh from empty binary buffer");
return NULL;
}
// try to get a file extension
std::string hint;
std::size_t pos = assimp_hint.find_last_of(".");
if (pos != std::string::npos)
{
hint = assimp_hint.substr(pos + 1);
std::transform(hint.begin(), hint.end(), hint.begin(), ::tolower);
}
if (hint.empty())
hint = assimp_hint; // send entire file name as hint if no extension was found
// Create an instance of the Importer class
Assimp::Importer importer;
// Issue #38 fix: as part of the post-processing, we remove all other components in file but
// the meshes, as anyway the resulting shapes:Mesh object just receives vertices and triangles.
importer.SetPropertyInteger(AI_CONFIG_PP_RVC_FLAGS,
aiComponent_NORMALS |
aiComponent_TANGENTS_AND_BITANGENTS |
aiComponent_COLORS |
aiComponent_TEXCOORDS |
aiComponent_BONEWEIGHTS |
aiComponent_ANIMATIONS |
aiComponent_TEXTURES |
aiComponent_LIGHTS |
aiComponent_CAMERAS |
aiComponent_MATERIALS);
// And have it read the given file with some post-processing
const aiScene* scene = importer.ReadFileFromMemory(reinterpret_cast<const void*>(buffer), size,
aiProcess_Triangulate |
aiProcess_JoinIdenticalVertices |
aiProcess_SortByPType |
aiProcess_RemoveComponent, hint.c_str());
if (!scene)
return NULL;
// Assimp enforces Y_UP convention by rotating models with different conventions.
// However, that behaviour is confusing and doesn't match the ROS convention
// where the Z axis is pointing up.
// Hopefully this doesn't undo legit use of the root node transformation...
// Note that this is also what RViz does internally.
scene->mRootNode->mTransformation = aiMatrix4x4();
// These post processing steps flatten the root node transformation into child nodes,
// so they must be delayed until after clearing the root node transform above.
importer.ApplyPostProcessing(aiProcess_OptimizeMeshes | aiProcess_OptimizeGraph);
return createMeshFromAsset(scene, scale, hint);
}
Mesh* createMeshFromResource(const std::string& resource, const Eigen::Vector3d &scale)
{
resource_retriever::Retriever retriever;
resource_retriever::MemoryResource res;
try
{
res = retriever.get(resource);
}
catch (resource_retriever::Exception& e)
{
logError("%s", e.what());
return NULL;
}
if (res.size == 0)
{
logWarn("Retrieved empty mesh for resource '%s'", resource.c_str());
return NULL;
}
Mesh *m = createMeshFromBinary(reinterpret_cast<const char*>(res.data.get()), res.size, scale, resource);
if (!m)
{
logWarn("Assimp reports no scene in %s.", resource.c_str());
logWarn("This could be because of a resource filename that is too long for the Assimp library, a known bug. As a workaround shorten the filename/path.");
}
return m;
}
namespace
{
void extractMeshData(const aiScene *scene, const aiNode *node, const aiMatrix4x4 &parent_transform, const Eigen::Vector3d &scale,
EigenSTL::vector_Vector3d &vertices, std::vector<unsigned int> &triangles)
{
aiMatrix4x4 transform = parent_transform;
transform *= node->mTransformation;
for (unsigned int j = 0 ; j < node->mNumMeshes; ++j)
{
const aiMesh* a = scene->mMeshes[node->mMeshes[j]];
unsigned int offset = vertices.size();
for (unsigned int i = 0 ; i < a->mNumVertices ; ++i)
{
aiVector3D v = transform * a->mVertices[i];
vertices.push_back(Eigen::Vector3d(v.x * scale.x(), v.y * scale.y(), v.z * scale.z()));
}
for (unsigned int i = 0 ; i < a->mNumFaces ; ++i)
if (a->mFaces[i].mNumIndices == 3)
{
triangles.push_back(offset + a->mFaces[i].mIndices[0]);
triangles.push_back(offset + a->mFaces[i].mIndices[1]);
triangles.push_back(offset + a->mFaces[i].mIndices[2]);
}
}
for (unsigned int n = 0; n < node->mNumChildren; ++n)
extractMeshData(scene, node->mChildren[n], transform, scale, vertices, triangles);
}
}
Mesh* createMeshFromAsset(const aiScene* scene, const std::string &resource_name)
{
static const Eigen::Vector3d one(1.0, 1.0, 1.0);
return createMeshFromAsset(scene, one, resource_name);
}
Mesh* createMeshFromAsset(const aiScene* scene, const Eigen::Vector3d &scale, const std::string &resource_name)
{
if (!scene->HasMeshes())
{
logWarn("Assimp reports scene in %s has no meshes", resource_name.c_str());
return NULL;
}
EigenSTL::vector_Vector3d vertices;
std::vector<unsigned int> triangles;
extractMeshData(scene, scene->mRootNode, aiMatrix4x4(), scale, vertices, triangles);
if (vertices.empty())
{
logWarn("There are no vertices in the scene %s", resource_name.c_str());
return NULL;
}
if (triangles.empty())
{
logWarn("There are no triangles in the scene %s", resource_name.c_str());
return NULL;
}
return createMeshFromVertices(vertices, triangles);
}
Mesh* createMeshFromShape(const Shape *shape)
{
if (shape->type == shapes::SPHERE)
return shapes::createMeshFromShape(static_cast<const shapes::Sphere&>(*shape));
else
if (shape->type == shapes::BOX)
return shapes::createMeshFromShape(static_cast<const shapes::Box&>(*shape));
else
if (shape->type == shapes::CYLINDER)
return shapes::createMeshFromShape(static_cast<const shapes::Cylinder&>(*shape));
else
if (shape->type == shapes::CONE)
return shapes::createMeshFromShape(static_cast<const shapes::Cone&>(*shape));
else
logError("Conversion of shape of type '%s' to a mesh is not known", shapeStringName(shape).c_str());
return NULL;
}
Mesh* createMeshFromShape(const Box &box)
{
double x = box.size[0] / 2.0;
double y = box.size[1] / 2.0;
double z = box.size[2] / 2.0;
// define vertices of box mesh
Mesh *result = new Mesh(8, 12);
result->vertices[0] = -x;
result->vertices[1] = -y;
result->vertices[2] = -z;
result->vertices[3] = x;
result->vertices[4] = -y;
result->vertices[5] = -z;
result->vertices[6] = x;
result->vertices[7] = -y;
result->vertices[8] = z;
result->vertices[9] = -x;
result->vertices[10] = -y;
result->vertices[11] = z;
result->vertices[12] = -x;
result->vertices[13] = y;
result->vertices[14] = z;
result->vertices[15] = -x;
result->vertices[16] = y;
result->vertices[17] = -z;
result->vertices[18] = x;
result->vertices[19] = y;
result->vertices[20] = z;
result->vertices[21] = x;
result->vertices[22] = y;
result->vertices[23] = -z;
static const unsigned int tri[] = {0, 1, 2,
2, 3, 0,
4, 3, 2,
2, 6, 4,
7, 6, 2,
2, 1, 7,
3, 4, 5,
5, 0, 3,
0, 5, 7,
7, 1, 0,
7, 5, 4,
4, 6, 7};
memcpy(result->triangles, tri, sizeof(unsigned int) * 36);
result->computeTriangleNormals();
result->computeVertexNormals();
return result;
}
Mesh* createMeshFromShape(const Sphere &sphere)
{
// this code is adapted from FCL
EigenSTL::vector_Vector3d vertices;
std::vector<unsigned int> triangles;
const double r = sphere.radius;
const double pi = boost::math::constants::pi<double>();
const unsigned int seg = std::max<unsigned int>(6, 0.5 + 2.0 * pi * r / 0.01); // split the sphere longitudinally up to a resolution of 1 cm at the ecuator, or a minimum of 6 segments
const unsigned int ring = std::max<unsigned int>(6, 2.0 * r / 0.01); // split the sphere into rings along latitude, up to a height of at most 1 cm, or a minimum of 6 rings
double phi, phid;
phid = pi * 2.0 / seg;
phi = 0.0;
double theta, thetad;
thetad = pi / (ring + 1);
theta = 0;
for (unsigned int i = 0; i < ring; ++i)
{
double theta_ = theta + thetad * (i + 1);
for (unsigned int j = 0; j < seg; ++j)
vertices.push_back(Eigen::Vector3d(r * sin(theta_) * cos(phi + j * phid),
r * sin(theta_) * sin(phi + j * phid),
r * cos(theta_)));
}
vertices.push_back(Eigen::Vector3d(0.0, 0.0, r));
vertices.push_back(Eigen::Vector3d(0.0, 0.0, -r));
for (unsigned int i = 0 ; i < ring - 1; ++i)
{
for (unsigned int j = 0 ; j < seg ; ++j)
{
unsigned int a, b, c, d;
a = i * seg + j;
b = (j == seg - 1) ? (i * seg) : (i * seg + j + 1);
c = (i + 1) * seg + j;
d = (j == seg - 1) ? ((i + 1) * seg) : ((i + 1) * seg + j + 1);
triangles.push_back(a);
triangles.push_back(c);
triangles.push_back(b);
triangles.push_back(b);
triangles.push_back(c);
triangles.push_back(d);
}
}
for (unsigned int j = 0 ; j < seg ; ++j)
{
unsigned int a, b;
a = j;
b = (j == seg - 1) ? 0 : (j + 1);
triangles.push_back(ring * seg);
triangles.push_back(a);
triangles.push_back(b);
a = (ring - 1) * seg + j;
b = (j == seg - 1) ? (ring - 1) * seg : ((ring - 1) * seg + j + 1);
triangles.push_back(a);
triangles.push_back(ring * seg + 1);
triangles.push_back(b);
}
return createMeshFromVertices(vertices, triangles);
}
Mesh* createMeshFromShape(const Cylinder &cylinder)
{
// this code is adapted from FCL
EigenSTL::vector_Vector3d vertices;
std::vector<unsigned int> triangles;
// magic number defining how many triangles to construct for the unit cylinder; perhaps this should be a param
static unsigned int tot_for_unit_cylinder = 100;
double r = cylinder.radius;
double h = cylinder.length;
const double pi = boost::math::constants::pi<double>();
unsigned int tot = ceil(tot_for_unit_cylinder * r);
double phid = pi * 2 / tot;
double circle_edge = phid * r;
unsigned int h_num = ceil(h / circle_edge);
double phi = 0;
double hd = h / h_num;
for (unsigned int i = 0 ; i < tot ; ++i)
vertices.push_back(Eigen::Vector3d(r * cos(phi + phid * i), r * sin(phi + phid * i), h / 2));
for (unsigned int i = 0; i < h_num - 1 ; ++i)
for(unsigned int j = 0; j < tot; ++j)
vertices.push_back(Eigen::Vector3d(r * cos(phi + phid * j), r * sin(phi + phid * j), h / 2 - (i + 1) * hd));
for (unsigned int i = 0; i < tot; ++i)
vertices.push_back(Eigen::Vector3d(r * cos(phi + phid * i), r * sin(phi + phid * i), - h / 2));
vertices.push_back(Eigen::Vector3d(0, 0, h / 2));
vertices.push_back(Eigen::Vector3d(0, 0, -h / 2));
for (unsigned int i = 0; i < tot ; ++i)
{
triangles.push_back((h_num + 1) * tot);
triangles.push_back(i);
triangles.push_back((i == tot - 1) ? 0 : (i + 1));
}
for (unsigned int i = 0; i < tot; ++i)
{
triangles.push_back((h_num + 1) * tot + 1);
triangles.push_back(h_num * tot + ((i == tot - 1) ? 0 : (i + 1)));
triangles.push_back(h_num * tot + i);
}
for (unsigned int i = 0; i < h_num; ++i)
{
for (unsigned int j = 0; j < tot; ++j)
{
int a, b, c, d;
a = j;
b = (j == tot - 1) ? 0 : (j + 1);
c = j + tot;
d = (j == tot - 1) ? tot : (j + 1 + tot);
int start = i * tot;
triangles.push_back(start + b);
triangles.push_back(start + a);
triangles.push_back(start + c);
triangles.push_back(start + b);
triangles.push_back(start + c);
triangles.push_back(start + d);
}
}
return createMeshFromVertices(vertices, triangles);
}
Mesh* createMeshFromShape(const Cone &cone)
{
// this code is adapted from FCL
EigenSTL::vector_Vector3d vertices;
std::vector<unsigned int> triangles;
// magic number defining how many triangles to construct for the unit cylinder; perhaps this should be a param
static unsigned int tot_for_unit_cone = 100;
double r = cone.radius;
double h = cone.length;
const double pi = boost::math::constants::pi<double>();
unsigned int tot = tot_for_unit_cone * r;
double phid = pi * 2 / tot;
double circle_edge = phid * r;
unsigned int h_num = ceil(h / circle_edge);
double phi = 0;
double hd = h / h_num;
for (unsigned int i = 0; i < h_num - 1; ++i)
{
double h_i = h / 2 - (i + 1) * hd;
double rh = r * (0.5 - h_i / h);
for(unsigned int j = 0; j < tot; ++j)
vertices.push_back(Eigen::Vector3d(rh * cos(phi + phid * j), rh * sin(phi + phid * j), h_i));
}
for (unsigned int i = 0; i < tot; ++i)
vertices.push_back(Eigen::Vector3d(r * cos(phi + phid * i), r * sin(phi + phid * i), - h / 2));
vertices.push_back(Eigen::Vector3d(0, 0, h / 2));
vertices.push_back(Eigen::Vector3d(0, 0, -h / 2));
for (unsigned int i = 0; i < tot; ++i)
{
triangles.push_back(h_num * tot);
triangles.push_back(i);
triangles.push_back((i == tot - 1) ? 0 : (i + 1));
}
for (unsigned int i = 0; i < tot; ++i)
{
triangles.push_back(h_num * tot + 1);
triangles.push_back((h_num - 1) * tot + ((i == tot - 1) ? 0 : (i + 1)));
triangles.push_back((h_num - 1) * tot + i);
}
for (unsigned int i = 0; i < h_num - 1; ++i)
for (unsigned int j = 0; j < tot; ++j)
{
int a, b, c, d;
a = j;
b = (j == tot - 1) ? 0 : (j + 1);
c = j + tot;
d = (j == tot - 1) ? tot : (j + 1 + tot);
int start = i * tot;
triangles.push_back(start + b);
triangles.push_back(start + a);
triangles.push_back(start + c);
triangles.push_back(start + b);
triangles.push_back(start + c);
triangles.push_back(start + d);
}
return createMeshFromVertices(vertices, triangles);
}
namespace
{
inline void writeFloatToSTL(char *&ptr , float data)
{
memcpy(ptr, &data, sizeof(float));
ptr += sizeof(float);
}
inline void writeFloatToSTL(char *&ptr , double datad)
{
float data = datad;
memcpy(ptr, &data, sizeof(float));
ptr += sizeof(float);
}
}
void writeSTLBinary(const Mesh* mesh, std::vector<char> &buffer)
{
buffer.resize(84 + mesh->triangle_count * 50);
memset(&buffer[0], 0, 80);
char *ptr = &buffer[80];
uint32_t nt = mesh->triangle_count;
memcpy(ptr, &nt, sizeof(uint32_t));
ptr += sizeof(uint32_t);
for (unsigned int i = 0 ; i < mesh->triangle_count ; ++i)
{
unsigned int i3 = i * 3;
if (mesh->triangle_normals)
{
writeFloatToSTL(ptr, mesh->triangle_normals[i3]);
writeFloatToSTL(ptr, mesh->triangle_normals[i3 + 1]);
writeFloatToSTL(ptr, mesh->triangle_normals[i3 + 2]);
}
else
{
memset(ptr, 0, sizeof(float) * 3);
ptr += sizeof(float) * 3;
}
unsigned int index = mesh->triangles[i3] * 3;
writeFloatToSTL(ptr, mesh->vertices[index]);
writeFloatToSTL(ptr, mesh->vertices[index + 1]);
writeFloatToSTL(ptr, mesh->vertices[index + 2]);
index = mesh->triangles[i3 + 1] * 3;
writeFloatToSTL(ptr, mesh->vertices[index]);
writeFloatToSTL(ptr, mesh->vertices[index + 1]);
writeFloatToSTL(ptr, mesh->vertices[index + 2]);
index = mesh->triangles[i3 + 2] * 3;
writeFloatToSTL(ptr, mesh->vertices[index]);
writeFloatToSTL(ptr, mesh->vertices[index + 1]);
writeFloatToSTL(ptr, mesh->vertices[index + 2]);
memset(ptr, 0, 2);
ptr += 2;
}
}
}