steepness_layer.cpp

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/*
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 *  2. 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.
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 *     from this software without specific prior written permission.
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 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 *  authors:
 *    Malte kl. Piening <malte@klpiening.com>
 *
 */
 
#include "mesh_layers/steepness_layer.h"
 
#include <lvr2/algorithm/GeometryAlgorithms.hpp>
#include <lvr2/algorithm/NormalAlgorithms.hpp>
#include <pluginlib/class_list_macros.h>
#include <math.h>
 
PLUGINLIB_EXPORT_CLASS(mesh_layers::SteepnessLayer, mesh_map::AbstractLayer)
 
namespace mesh_layers
{
bool SteepnessLayer::readLayer()
{
  ROS_INFO_STREAM("Try to read steepness from map file...");
  auto steepness_opt = mesh_io_ptr->getDenseAttributeMap<lvr2::DenseVertexMap<float>>("steepness");
  if (steepness_opt)
  {
    ROS_INFO_STREAM("Successfully read steepness from map file.");
    steepness = steepness_opt.get();
    return computeLethals();
  }
 
  return false;
}
 
bool SteepnessLayer::writeLayer()
{
  if (mesh_io_ptr->addDenseAttributeMap(steepness, "steepness"))
  {
    ROS_INFO_STREAM("Saved steepness to map file.");
    return true;
  }
  else
  {
    ROS_ERROR_STREAM("Could not save steepness to map file!");
    return false;
  }
}
 
bool SteepnessLayer::computeLethals()
{
  ROS_INFO_STREAM("Compute lethals for \"" << layer_name << "\" (Steepness Layer) with threshold " << config.threshold);
  lethal_vertices.clear();
  for (auto vH : steepness)
  {
    if (steepness[vH] > config.threshold)
      lethal_vertices.insert(vH);
  }
  ROS_INFO_STREAM("Found " << lethal_vertices.size() << " lethal vertices.");
  return true;
}
 
float SteepnessLayer::threshold()
{
  return config.threshold;
}
 
bool SteepnessLayer::computeLayer()
{
  ROS_INFO_STREAM("Computing steepness...");
 
  lvr2::DenseFaceMap<mesh_map::Normal> face_normals;
 
  auto face_normals_opt = mesh_io_ptr->getDenseAttributeMap<lvr2::DenseFaceMap<mesh_map::Normal>>("face_normals");
 
  if (face_normals_opt)
  {
    face_normals = face_normals_opt.get();
    ROS_INFO_STREAM("Found " << face_normals.numValues() << " face normals in map file.");
  }
  else
  {
    ROS_INFO_STREAM("No face normals found in the given map file, computing them...");
    face_normals = lvr2::calcFaceNormals(*mesh_ptr);
    ROS_INFO_STREAM("Computed " << face_normals.numValues() << " face normals.");
    if (mesh_io_ptr->addDenseAttributeMap(face_normals, "face_normals"))
    {
      ROS_INFO_STREAM("Saved face normals to map file.");
    }
    else
    {
      ROS_ERROR_STREAM("Could not save face normals to map file!");
      return false;
    }
  }
 
  lvr2::DenseVertexMap<mesh_map::Normal> vertex_normals;
  auto vertex_normals_opt = mesh_io_ptr->getDenseAttributeMap<lvr2::DenseVertexMap<mesh_map::Normal>>("vertex_normals");
 
  if (vertex_normals_opt)
  {
    vertex_normals = vertex_normals_opt.get();
    ROS_INFO_STREAM("Found " << vertex_normals.numValues() << " vertex normals in map file!");
  }
  else
  {
    ROS_INFO_STREAM("No vertex normals found in the given map file, computing them...");
    vertex_normals = lvr2::calcVertexNormals(*mesh_ptr, face_normals);
    if (mesh_io_ptr->addDenseAttributeMap(vertex_normals, "vertex_normals"))
    {
      ROS_INFO_STREAM("Saved vertex normals to map file.");
    }
    else
    {
      ROS_ERROR_STREAM("Could not save vertex normals to map file!");
      return false;
    }
  }
 
  steepness.reserve(mesh_ptr->nextVertexIndex());
 
  for (size_t i = 0; i < mesh_ptr->nextVertexIndex(); i++)
  {
    auto vH = lvr2::VertexHandle(i);
    if (!mesh_ptr->containsVertex(vH))
    {
      continue;
    }
 
    steepness.insert(vH, acos(vertex_normals[vH].z));
  }
 
  return computeLethals();
}
 
lvr2::VertexMap<float>& SteepnessLayer::costs()
{
  return steepness;
}
 
void SteepnessLayer::reconfigureCallback(mesh_layers::SteepnessLayerConfig& cfg, uint32_t level)
{
  bool notify = false;
 
  ROS_INFO_STREAM("New steepness layer config through dynamic reconfigure.");
  if (first_config)
  {
    config = cfg;
    first_config = false;
    return;
  }
 
  if (config.threshold != cfg.threshold)
  {
    computeLethals();
    notify = true;
  }
 
  if (notify)
    notifyChange();
 
  config = cfg;
}
 
bool SteepnessLayer::initialize(const std::string& name)
{
  first_config = true;
  reconfigure_server_ptr = boost::shared_ptr<dynamic_reconfigure::Server<mesh_layers::SteepnessLayerConfig>>(
      new dynamic_reconfigure::Server<mesh_layers::SteepnessLayerConfig>(private_nh));
 
  config_callback = boost::bind(&SteepnessLayer::reconfigureCallback, this, _1, _2);
  reconfigure_server_ptr->setCallback(config_callback);
  return true;
}
 
} /* namespace mesh_layers */