mesh_map Namespace Reference

Classes
class	AbstractLayer
class	MeshMap
struct	NanoFlannMeshAdaptor

Typedefs
using	HDF5MeshIO = lvr2::Hdf5IO< lvr2::hdf5features::ArrayIO, lvr2::hdf5features::ChannelIO, lvr2::hdf5features::VariantChannelIO, lvr2::hdf5features::MeshIO >
typedef lvr2::Normal< float >	Normal
	use normals with datatype float More...
typedef std::function< void(const std::string &)>	notify_func
typedef lvr2::BaseVector< float >	Vector
	use vectors with datatype folat More...

Functions
bool	barycentricCoords (const Vector &p, const Vector &v0, const Vector &v1, const Vector &v2, float &u, float &v, float &w)
	Computes the barycentric coordinates u, v,q of a query point p onto the triangle v0, v1, v2. More...
geometry_msgs::Pose	calculatePoseFromDirection (const Vector &position, const Vector &direction, const Normal &normal)
geometry_msgs::Pose	calculatePoseFromPosition (const Vector &current, const Vector &next, const Normal &normal)
	Calculates a geometry_msgs/Pose message from two positions and a normal vector. More...
geometry_msgs::Pose	calculatePoseFromPosition (const Vector &current, const Vector &next, const Normal &normal, float &cost)
	Calculates a geometry_msgs/Pose message from two positions and a normal vector. More...
std_msgs::ColorRGBA	color (const float &r, const float &g, const float &b, const float &a=1.0)
	Function to build std_msgs color instances. More...
void	getMinMax (const lvr2::VertexMap< float > &map, float &min, float &max)
	Function to compute the minimum and maximum of a cost layer. More...
std_msgs::ColorRGBA	getRainbowColor (const float value)
	map value to color on color rainbow More...
void	getRainbowColor (float value, float &r, float &g, float &b)
	map value to color on color rainbow More...
bool	inTriangle (const Vector &p, const Vector &v0, const Vector &v1, const Vector &v2, const float &max_dist, const float &epsilon)
	Computes whether a points lies inside or outside a triangle with respect to a maximum distance while using an epsilon. More...
template<typename T >
T	linearCombineBarycentricCoords (const std::array< lvr2::VertexHandle, 3 > &vertices, const lvr2::VertexMap< T > &attribute_map, const std::array< float, 3 > &barycentric_coords)
	Computes a linear combination of vertex properties and the barycentric coordinates. More...
template<typename T >
T	linearCombineBarycentricCoords (const std::array< T, 3 > &vertex_properties, const std::array< float, 3 > &barycentric_coords)
	Computes a linear combination of vertex properties and the barycentric coordinates. More...
mesh_map::Normal	poseToDirectionVector (const geometry_msgs::PoseStamped &pose, const tf2::Vector3 &axis=tf2::Vector3(1, 0, 0))
mesh_map::Vector	poseToPositionVector (const geometry_msgs::PoseStamped &pose)
bool	projectedBarycentricCoords (const Vector &p, const std::array< Vector, 3 > &vertices, std::array< float, 3 > &barycentric_coords)
bool	projectedBarycentricCoords (const Vector &p, const std::array< Vector, 3 > &vertices, std::array< float, 3 > &barycentric_coords, float &dist)
	Computes projected barycentric coordinates and whether the query point lies inside or outside the given triangle. More...
Vector	projectVectorOntoPlane (const Vector &vec, const Vector &ref, const Normal &normal)
	Projects a vector / point onto a plane, which is defined by the reference vector and the normal vector. More...
Vector	toVector (const geometry_msgs::Point &point)
	Converts a ROS geometry_msgs/Point message to a lvr2 vector. More...

Variables
constexpr float	kEpsilon = 1e-8

Typedef Documentation

HDF5MeshIO

using mesh_map::HDF5MeshIO = typedef lvr2::Hdf5IO<lvr2::hdf5features::ArrayIO, lvr2::hdf5features::ChannelIO, lvr2::hdf5features::VariantChannelIO, lvr2::hdf5features::MeshIO>

Definition at line 63 of file mesh_map.cpp.

Normal

typedef lvr2::Normal< float > mesh_map::Normal

use normals with datatype float

Definition at line 52 of file abstract_layer.h.

notify_func

typedef std::function<void(const std::string&)> mesh_map::notify_func

Definition at line 54 of file abstract_layer.h.

Vector

typedef lvr2::BaseVector< float > mesh_map::Vector

use vectors with datatype folat

Definition at line 49 of file abstract_layer.h.

Function Documentation

barycentricCoords()

bool mesh_map::barycentricCoords	(	const Vector &	p,
		const Vector &	v0,
		const Vector &	v1,
		const Vector &	v2,
		float &	u,
		float &	v,
		float &	w
	)

Computes the barycentric coordinates u, v,q of a query point p onto the triangle v0, v1, v2.

Parameters

p	The query point
v0	First vertex of the triangle
v1	Second vertex of the triangle
v2	Third vertex of the triangle
u	First barycentric coordinate
v	Second barycentric coordinate
w	Third barycentric coordinate

Returns

true if the query point lies inside the triangle

Definition at line 159 of file util.cpp.

calculatePoseFromDirection()

geometry_msgs::Pose mesh_map::calculatePoseFromDirection	(	const Vector &	position,
		const Vector &	direction,
		const Normal &	normal
	)

Computes a geometry_msgs/Pose message from a position, direction and normal vector

Parameters

position	The position vector
direction	The direction vector
normal	The normal vector / z-axis

Returns

The converted pose message, in the right-hand / ROS coordinate system

Definition at line 67 of file util.cpp.

calculatePoseFromPosition() [1/2]

geometry_msgs::Pose mesh_map::calculatePoseFromPosition	(	const Vector &	current,
		const Vector &	next,
		const Normal &	normal
	)

Calculates a geometry_msgs/Pose message from two positions and a normal vector.

Parameters

current	The position vector
next	The vector in which the x-axis points to
normal	The normal vector / z-axis

Returns

The converted pose message, in the right-hand / ROS coordinate system

Definition at line 86 of file util.cpp.

calculatePoseFromPosition() [2/2]

geometry_msgs::Pose mesh_map::calculatePoseFromPosition	(	const Vector &	current,
		const Vector &	next,
		const Normal &	normal,
		float &	cost
	)

Calculates a geometry_msgs/Pose message from two positions and a normal vector.

Parameters

current	The position vector
next	The vector in which the x-axis points to
normal	The normal vector / z-axis
cost	The distance between "current" and "next"

Returns

The converted pose message, in the right-hand / ROS coordinate system

Definition at line 92 of file util.cpp.

color()

std_msgs::ColorRGBA mesh_map::color	(	const float &	r,
		const float &	g,
		const float &	b,
		const float &	a = 1.0
	)

Function to build std_msgs color instances.

Parameters

r	red, value between 0 and 1
g	green, value between 0 and 1
b	blue, value between 0 and 1
a	alpha (optional, default is 1.0)

Returns

std_msgs/ColorRGBA message

Definition at line 149 of file util.cpp.

getMinMax()

void mesh_map::getMinMax	(	const lvr2::VertexMap< float > &	map,
		float &	min,
		float &	max
	)

Function to compute the minimum and maximum of a cost layer.

Parameters

map	The cost layer or vertex float map to evaluate
min	The computed minimum
max	The computed maximum

Definition at line 47 of file util.cpp.

getRainbowColor() [1/2]

std_msgs::ColorRGBA mesh_map::getRainbowColor

(

const float

value

)

map value to color on color rainbow

Parameters

value

value in range from 0 to 1

Returns

color message

Definition at line 201 of file util.cpp.

getRainbowColor() [2/2]

void mesh_map::getRainbowColor	(	float	value,
		float &	r,
		float &	g,
		float &	b
	)

map value to color on color rainbow

Parameters

	value	value in range from 0 to 1
[out]	r	resulting red value
[out]	g	resulting green value
[out]	b	resultning blue value

Definition at line 211 of file util.cpp.

inTriangle()

bool mesh_map::inTriangle	(	const Vector &	p,
		const Vector &	v0,
		const Vector &	v1,
		const Vector &	v2,
		const float &	max_dist,
		const float &	epsilon
	)

Computes whether a points lies inside or outside a triangle with respect to a maximum distance while using an epsilon.

Parameters

p	The query point
v0	First vertex of the triangle
v1	Second vertex of the triangle
v2	Third vertex of the triangle
max_dist	The point's maximum distance to the triangle plane
epsilon	The epsilon used for the inside / outside check

Returns

true if the point lies inside the triangle

Definition at line 100 of file util.cpp.

linearCombineBarycentricCoords() [1/2]

template<typename T >

T mesh_map::linearCombineBarycentricCoords	(	const std::array< lvr2::VertexHandle, 3 > &	vertices,
		const lvr2::VertexMap< T > &	attribute_map,
		const std::array< float, 3 > &	barycentric_coords
	)

Computes a linear combination of vertex properties and the barycentric coordinates.

Template Parameters

T	The value to combine with barycentric coordinates, it must support the star/*-operator

Parameters

vertices	The three vertex handles of a triangle
attribute_map	An attribute map to access with the given vertex handles
barycentric_coords	The barycentric coordinates

Returns

The linear combined value, e.g. a vector, or cost value

Definition at line 185 of file util.h.

linearCombineBarycentricCoords() [2/2]

template<typename T >

T mesh_map::linearCombineBarycentricCoords	(	const std::array< T, 3 > &	vertex_properties,
		const std::array< float, 3 > &	barycentric_coords
	)

Computes a linear combination of vertex properties and the barycentric coordinates.

Template Parameters

T	The value to combine with barycentric coordinates, it must support the star/*-operator

Parameters

vertex_properties	The vertex properties of a triangle
barycentric_coords	The barycentric coordinates

Returns

The linear combined value, e.g. a vector, or cost value

Definition at line 169 of file util.h.

poseToDirectionVector()

mesh_map::Normal mesh_map::poseToDirectionVector	(	const geometry_msgs::PoseStamped &	pose,
		const tf2::Vector3 &	axis = tf2::Vector3(1,0,0)
	)

Converts the orientation of a geometry_msgs/PoseStamped message to a direction vector

Parameters

pose	the pose to convert

Returns

direction normal vector

Definition at line 235 of file util.cpp.

poseToPositionVector()

mesh_map::Vector mesh_map::poseToPositionVector

(

const geometry_msgs::PoseStamped &

pose

)

Converts the position of a geometry_msgs/PoseStamped message to a position vector

Parameters

pose	the pose to convert

Returns

position vector

Definition at line 244 of file util.cpp.

projectedBarycentricCoords() [1/2]

bool mesh_map::projectedBarycentricCoords	(	const Vector &	p,
		const std::array< Vector, 3 > &	vertices,
		std::array< float, 3 > &	barycentric_coords
	)

Definition at line 113 of file util.cpp.

projectedBarycentricCoords() [2/2]

bool mesh_map::projectedBarycentricCoords	(	const Vector &	p,
		const std::array< Vector, 3 > &	vertices,
		std::array< float, 3 > &	barycentric_coords,
		float &	dist
	)

Computes projected barycentric coordinates and whether the query point lies inside or outside the given triangle.

Parameters

p	The query point
vertices	The three triangle vertices
barycentric_coords	The computed barycentric coordinates
dist	The distance from the plane to the point

Returns

true if the point lies inside or outside the triangle

Definition at line 120 of file util.cpp.

projectVectorOntoPlane()

Vector mesh_map::projectVectorOntoPlane	(	const Vector &	vec,
		const Vector &	ref,
		const Normal &	normal
	)

Projects a vector / point onto a plane, which is defined by the reference vector and the normal vector.

Parameters

vec	The point which should be projected onto the plane
ref	The plane's reference vector
normal	The plane's normal vector

Returns

The projected vector

Definition at line 108 of file util.cpp.

toVector()

Vector mesh_map::toVector

(

const geometry_msgs::Point &

point

)

Converts a ROS geometry_msgs/Point message to a lvr2 vector.

Parameters

point

The point message to convert

Returns

The point converted to a lvr2 vector

Definition at line 62 of file util.cpp.

Variable Documentation

kEpsilon

constexpr float mesh_map::kEpsilon = 1e-8

constexpr

Definition at line 1100 of file mesh_map.cpp.