mesh_map.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  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.
 *
 *  3. Neither the name of the copyright holder 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 HOLDER 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.
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MESH_MAP__MESH_MAP_H
#define MESH_MAP__MESH_MAP_H
 
#include <atomic>
#include <dynamic_reconfigure/server.h>
#include <geometry_msgs/Point.h>
#include <lvr2/geometry/BaseVector.hpp>
#include <lvr2/io/HDF5IO.hpp>
#include <mesh_map/MeshMapConfig.h>
#include <mesh_map/abstract_layer.h>
#include <mesh_msgs/MeshVertexCosts.h>
#include <mesh_msgs/MeshVertexColors.h>
#include <mutex>
#include <pluginlib/class_loader.h>
#include <std_msgs/ColorRGBA.h>
#include <tf2_ros/buffer.h>
#include <tuple>
#include "nanoflann.hpp"
#include "nanoflann_mesh_adaptor.h"
 
namespace mesh_map
{
class MeshMap
{
public:
  typedef boost::shared_ptr<MeshMap> Ptr;
 
  MeshMap(tf2_ros::Buffer& tf);
 
  bool readMap();
 
  bool loadLayerPlugins();
 
  bool initLayerPlugins();
 
  lvr2::OptionalVertexHandle getNearestVertexHandle(const mesh_map::Vector& pos);
 
  bool inTriangle(const Vector& pos, const lvr2::FaceHandle& face, const float& dist);
 
  lvr2::OptionalFaceHandle getContainingFace(Vector& position, const float& max_dist);
 
  boost::optional<std::tuple<lvr2::FaceHandle, std::array<mesh_map::Vector, 3>,
    std::array<float, 3>>> searchContainingFace(Vector& position, const float& max_dist);
 
  void reconfigureCallback(mesh_map::MeshMapConfig& config, uint32_t level);
 
  void combineVertexCosts();
 
  void findContours(std::vector<std::vector<lvr2::VertexHandle>>& contours, int min_contour_size);
 
  void publishVertexCosts(const lvr2::VertexMap<float>& costs, const std::string& name);
 
  void publishVertexColors();
 
  void publishCostLayers();
 
  bool projectedBarycentricCoords(const Vector& p, const lvr2::FaceHandle& triangle,
                                  std::array<float, 3>& barycentric_coords, float& dist);
 
  bool barycentricCoords(const Vector& p, const lvr2::FaceHandle& triangle, float& u, float& v, float& w);
 
  void layerChanged(const std::string& layer_name);
 
  void findLethalByContours(const int& min_contour_size, std::set<lvr2::VertexHandle>& lethals);
 
  const std::string getGlobalFrameID();
 
  inline bool isLethal(const lvr2::VertexHandle& vH);
 
  inline const geometry_msgs::Point toPoint(const Vector& vec);
 
  boost::optional<Vector> directionAtPosition(const lvr2::VertexMap<lvr2::BaseVector<float>>& vector_map,
                                              const std::array<lvr2::VertexHandle, 3>& vertices,
                                              const std::array<float, 3>& barycentric_coords);
 
  float costAtPosition(const lvr2::DenseVertexMap<float>& costs, const std::array<lvr2::VertexHandle, 3>& vertices,
                       const std::array<float, 3>& barycentric_coords);
 
  float costAtPosition(const std::array<lvr2::VertexHandle, 3>& vertices,
                       const std::array<float, 3>& barycentric_coords);
 
  bool rayTriangleIntersect(const Vector& orig, const Vector& dir, const Vector& v0, const Vector& v1, const Vector& v2,
                            float& t, float& u, float& v, Vector& p);
 
  bool resetLayers();
 
  const lvr2::DenseVertexMap<mesh_map::Vector>& getVectorMap()
  {
    return vector_map;
  };
 
  const lvr2::HalfEdgeMesh<Vector>& mesh()
  {
    return *mesh_ptr;
  }
 
  const lvr2::DenseVertexMap<float>& vertexCosts()
  {
    return vertex_costs;
  }
 
  const std::string& mapFrame()
  {
    return global_frame;
  }
 
  const lvr2::DenseFaceMap<Normal>& faceNormals()
  {
    return face_normals;
  }
 
  const lvr2::DenseVertexMap<Normal>& vertexNormals()
  {
    return vertex_normals;
  }
 
  const lvr2::DenseEdgeMap<float>& edgeWeights()
  {
    return edge_weights;
  }
 
  const lvr2::DenseEdgeMap<float>& edgeDistances()
  {
    return edge_distances;
  }
 
  boost::optional<std::tuple<lvr2::FaceHandle, std::array<Vector, 3>, std::array<float, 3>>>
  searchNeighbourFaces(const Vector& pos, const lvr2::FaceHandle& face,
                       const float& max_radius, const float& max_dist);
 
  bool meshAhead(Vector& vec, lvr2::FaceHandle& face, const float& step_width);
 
  void setVectorMap(lvr2::DenseVertexMap<mesh_map::Vector>& vector_map);
 
  void publishDebugPoint(const Vector pos, const std_msgs::ColorRGBA& color, const std::string& name);
 
  void publishDebugFace(const lvr2::FaceHandle& face_handle, const std_msgs::ColorRGBA& color, const std::string& name);
 
  void publishVectorField(const std::string& name, const lvr2::DenseVertexMap<lvr2::BaseVector<float>>& vector_map,
                          const bool publish_face_vectors = false);
 
  void publishVectorField(const std::string& name, const lvr2::DenseVertexMap<lvr2::BaseVector<float>>& vector_map,
                          const lvr2::DenseVertexMap<float>& values,
                          const std::function<float(float)>& cost_function = {},
                          const bool publish_face_vectors = false);
 
  void publishCombinedVectorField();
 
  mesh_map::AbstractLayer::Ptr layer(const std::string& layer_name);
 
  std::shared_ptr<lvr2::AttributeMeshIOBase> mesh_io_ptr;
  std::shared_ptr<lvr2::HalfEdgeMesh<Vector>> mesh_ptr;
 
  lvr2::DenseVertexMap<bool> invalid;
 
private:
  pluginlib::ClassLoader<mesh_map::AbstractLayer> layer_loader;
 
  std::map<std::string, mesh_map::AbstractLayer::Ptr> layer_names;
 
  std::vector<std::pair<std::string, mesh_map::AbstractLayer::Ptr>> layers;
 
  std::map<std::string, std::set<lvr2::VertexHandle>> lethal_indices;
 
  std::set<lvr2::VertexHandle> lethals;
 
  std::string global_frame;
 
  std::string srv_url;
 
  std::string srv_username;
 
  std::string srv_password;
 
  std::string mesh_layer;
 
  float min_roughness;
  float max_roughness;
  float min_height_diff;
  float max_height_diff;
  float bb_min_x;
  float bb_min_y;
  float bb_min_z;
  float bb_max_x;
  float bb_max_y;
  float bb_max_z;
 
  std::string mesh_file;
  std::string mesh_part;
 
  lvr2::DenseVertexMap<float> vertex_costs;
 
  lvr2::DenseVertexMap<mesh_map::Vector> vector_map;
 
  lvr2::DenseEdgeMap<float> edge_distances;
 
  lvr2::DenseEdgeMap<float> edge_weights;
 
  lvr2::DenseFaceMap<Normal> face_normals;
 
  lvr2::DenseVertexMap<Normal> vertex_normals;
 
  ros::Publisher vertex_costs_pub;
 
  ros::Publisher vertex_colors_pub;
 
  ros::Publisher mesh_geometry_pub;
 
  ros::Publisher marker_pub;
 
  ros::Publisher vector_field_pub;
 
  boost::shared_ptr<dynamic_reconfigure::Server<mesh_map::MeshMapConfig>> reconfigure_server_ptr;
 
  dynamic_reconfigure::Server<mesh_map::MeshMapConfig>::CallbackType config_callback;
 
  bool first_config;
 
  bool map_loaded;
 
  MeshMapConfig config;
 
  ros::NodeHandle private_nh;
 
  tf2_ros::Buffer& tf_buffer;
 
  std::string uuid_str;
 
  std::mutex layer_mtx;
 
  typedef nanoflann::KDTreeSingleIndexAdaptor<
      nanoflann::L2_Simple_Adaptor<float, NanoFlannMeshAdaptor>,
      NanoFlannMeshAdaptor, 3> KDTree;
 
  std::unique_ptr<NanoFlannMeshAdaptor> adaptor_ptr;
 
  std::unique_ptr<KDTree> kd_tree_ptr;
};
 
} /* namespace mesh_map */
 
#endif  // MESH_NAVIGATION__MESH_MAP_H