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Dynamic loading of different mesh formats #66

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merged 17 commits into from
Nov 20, 2024
Merged

Dynamic loading of different mesh formats #66

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6367eb2
Cleanup of mesh map:
amock Nov 14, 2024
edd9cb2
added template for generic mesh file loading
amock Nov 14, 2024
6324829
Added conversion from assimp scene to lvr meshbuffer
amock Nov 15, 2024
f1ed54a
added todos
amock Nov 15, 2024
ea31a4d
loaded geometry from a common mesh file format
amock Nov 15, 2024
544bbba
loading PLY works. DAE cannot be loaded still don't know why.
amock Nov 15, 2024
fa39eb4
added service to save the changed layers
amock Nov 15, 2024
ec6721f
layer are pointing to same named hdf5 datasets
amock Nov 15, 2024
1c9a67e
Update mesh_map/include/mesh_map/mesh_map.h
amock Nov 19, 2024
07ca274
Update mesh_map/src/mesh_map.cpp
amock Nov 19, 2024
acb2c0f
Update mesh_map/src/mesh_map.cpp
amock Nov 19, 2024
c983453
cleanup
amock Nov 19, 2024
0787ac1
Update mesh_map/src/util.cpp
amock Nov 19, 2024
c087a33
removed name member variable since it is not used anymore
amock Nov 19, 2024
2b95a06
added docs to saveLayers
amock Nov 19, 2024
8524819
added std_srvs Trigger instead of Empty
amock Nov 19, 2024
ef42e0a
if only a h5 is provided the same file is used as input and working file
amock Nov 19, 2024
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2 changes: 1 addition & 1 deletion mesh_layers/CMakeLists.txt
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@@ -1,7 +1,7 @@
cmake_minimum_required(VERSION 3.8)
project(mesh_layers)

find_package(ament_cmake_ros COMPONENTS)
find_package(ament_cmake_ros REQUIRED)
find_package(mesh_map)
find_package(LVR2)

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3 changes: 3 additions & 0 deletions mesh_layers/include/mesh_layers/border_layer.h
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Expand Up @@ -141,6 +141,9 @@ class BorderLayer : public mesh_map::AbstractLayer
double border_cost = 1.0;
double factor = 1.0;
} config_;

// put this to base class?
std::string name;
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codestyle

Suggested change
std::string name;
std::string name_;

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Wait, is this even used? I think you're only using the layer_name_ attribute from the base class in the cpp file.

Looks like this is a leftover from experimenting.

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@amock amock Nov 19, 2024 •
edited
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Yes, it's basically how it is written in the comments. "Put this to base class" then I jumped to the base class and saw, there is a variable already. So "name" can be removed safely.

};

} /* namespace mesh_layers */
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43 changes: 31 additions & 12 deletions mesh_layers/src/border_layer.cpp
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Expand Up @@ -48,13 +48,12 @@ namespace mesh_layers
bool BorderLayer::readLayer()
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Try to read border costs from map file...");
auto border_costs_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>("border");
auto border_costs_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float> >(layer_name_);

if (border_costs_opt)
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Border costs have been read successfully.");
border_costs_ = border_costs_opt.get();

return computeLethals();
}

Expand All @@ -80,7 +79,7 @@ bool BorderLayer::computeLethals()
bool BorderLayer::writeLayer()
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saving border costs to map file...");
if (mesh_io_ptr_->addDenseAttributeMap(border_costs_, "border"))
if (mesh_io_ptr_->addDenseAttributeMap(border_costs_, layer_name_))
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saved border costs to map file.");
return true;
Expand Down Expand Up @@ -113,56 +112,76 @@ rcl_interfaces::msg::SetParametersResult BorderLayer::reconfigureCallback(std::v
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;

bool has_threshold_changed = false;
for (auto parameter : parameters) {
// bool has_threshold_changed = false;
bool recompute_costs = false;
bool recompute_lethals = false;

for (auto parameter : parameters)
{
if (parameter.get_name() == mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold") {
config_.threshold = parameter.as_double();
has_threshold_changed = true;
recompute_lethals = true;
} else if (parameter.get_name() == mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".border_cost") {
config_.border_cost = parameter.as_double();
recompute_costs = true;
recompute_lethals = true;
} else if (parameter.get_name() == mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor") {
config_.factor = parameter.as_double();
}
}

if (has_threshold_changed) {
RCLCPP_INFO_STREAM(node_->get_logger(), "Recompute lethals and notify change from " << layer_name_ << " due to cfg change.");
if(recompute_costs)
{
RCLCPP_INFO_STREAM(node_->get_logger(), "'" << layer_name_ << "': Recompute layer costs due to cfg change.");
computeLayer();
}

if (recompute_lethals)
{
RCLCPP_INFO_STREAM(node_->get_logger(), "'" << layer_name_ << "': Recompute lethals due to cfg change.");
computeLethals();
}

if(recompute_costs || recompute_lethals)
{
RCLCPP_INFO_STREAM(node_->get_logger(), "'" << layer_name_ << "': Notify changes.");
notifyChange();
}

return result;
}


bool BorderLayer::initialize()
{
{ // threshold
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Threshold for the local border costs to be counted as lethal.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.05;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.threshold = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold", config_.threshold);
config_.threshold = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold", config_.threshold, descriptor);
}
{ // border cost
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "The cost value used for the border vertices.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.02;
range.to_value = 10.0;
descriptor.floating_point_range.push_back(range);
config_.border_cost = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".border_cost", config_.border_cost);
config_.border_cost = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".border_cost", config_.border_cost, descriptor);
}
{ // factor
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Using this factor to weight this layer.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.0;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor, descriptor);
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Whoops, was the descriptor never used when declaring the parameter? 🫢
Nice fix.

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Yeah, but at least it was described for anyone reading the code 😅

}
dyn_params_handler_ = node_->add_on_set_parameters_callback(std::bind(
&BorderLayer::reconfigureCallback, this, std::placeholders::_1));
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20 changes: 12 additions & 8 deletions mesh_layers/src/height_diff_layer.cpp
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Expand Up @@ -48,7 +48,7 @@ namespace mesh_layers
bool HeightDiffLayer::readLayer()
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Try to read height differences from map file...");
auto height_diff_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>("height_diff");
auto height_diff_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>(layer_name_);

if (height_diff_opt)
{
Expand Down Expand Up @@ -78,7 +78,7 @@ bool HeightDiffLayer::computeLethals()
bool HeightDiffLayer::writeLayer()
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saving height_differences to map file...");
if (mesh_io_ptr_->addDenseAttributeMap(height_diff_, "height_diff"))
if (mesh_io_ptr_->addDenseAttributeMap(height_diff_, layer_name_))
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saved height differences to map file.");
return true;
Expand Down Expand Up @@ -111,19 +111,20 @@ rcl_interfaces::msg::SetParametersResult HeightDiffLayer::reconfigureCallback(st
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;

bool has_threshold_changed = false;
bool recompute_lethals = false;
for (auto parameter : parameters) {
if (parameter.get_name() == mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold") {
config_.threshold = parameter.as_double();
has_threshold_changed = true;
recompute_lethals = true;
} else if (parameter.get_name() == mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".radius") {
config_.radius = parameter.as_double();
recompute_lethals = true;
} else if (parameter.get_name() == mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor") {
config_.factor = parameter.as_double();
}
}

if (has_threshold_changed) {
if (recompute_lethals) {
RCLCPP_INFO_STREAM(node_->get_logger(), "Recompute lethals and notify change from " << layer_name_ << " due to cfg change.");
computeLethals();
notifyChange();
Expand All @@ -138,29 +139,32 @@ bool HeightDiffLayer::initialize()
{ // threshold
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Threshold for the local height difference to be counted as lethal.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.05;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.threshold = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold", config_.threshold);
config_.threshold = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold", config_.threshold, descriptor);
}
{ // radius
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "The radius used for calculating the local height difference.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.02;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".radius", config_.radius);
config_.radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".radius", config_.radius, descriptor);
}
{ // factor
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Using this factor to weight this layer.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.0;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor, descriptor);
}
dyn_params_handler_ = node_->add_on_set_parameters_callback(std::bind(
&HeightDiffLayer::reconfigureCallback, this, std::placeholders::_1));
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25 changes: 16 additions & 9 deletions mesh_layers/src/inflation_layer.cpp
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Expand Up @@ -50,7 +50,7 @@ bool InflationLayer::readLayer()
{
// riskiness
RCLCPP_INFO_STREAM(node_->get_logger(), "Try to read riskiness from map file...");
auto riskiness_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>("riskiness");
auto riskiness_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>(layer_name_);

if (riskiness_opt)
{
Expand All @@ -68,7 +68,7 @@ bool InflationLayer::writeLayer()
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saving " << riskiness_.numValues() << " riskiness values to map file...");

if (mesh_io_ptr_->addDenseAttributeMap(riskiness_, "riskiness"))
if (mesh_io_ptr_->addDenseAttributeMap(riskiness_, layer_name_))
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saved riskiness to map file.");
return true;
Expand Down Expand Up @@ -678,61 +678,68 @@ bool InflationLayer::initialize()
{ // inscribed_radius
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Defines the inscribed radius.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.01;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.inscribed_radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".inscribed_radius", config_.inscribed_radius);
config_.inscribed_radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".inscribed_radius", config_.inscribed_radius, descriptor);
}
{ // inflation_radius
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Defines the maximum inflation radius.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.01;
range.to_value = 3.0;
descriptor.floating_point_range.push_back(range);
config_.inflation_radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".inflation_radius", config_.inflation_radius);
config_.inflation_radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".inflation_radius", config_.inflation_radius, descriptor);
}
{ // factor
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "The factor to weight this layer";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.0;
range.to_value = 1.-0;
descriptor.floating_point_range.push_back(range);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor, descriptor);
}
{ // lethal_value
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Defines the 'lethal' value for obstacles. -1 results in infinity";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = -1.0;
range.to_value = 100000.0;
descriptor.floating_point_range.push_back(range);
config_.lethal_value = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".lethal_value", config_.lethal_value);
config_.lethal_value = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".lethal_value", config_.lethal_value, descriptor);
}
{ // inscribed_value
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Defines the 'inscribed' value for obstacles.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.0;
range.to_value = 100000.0;
descriptor.floating_point_range.push_back(range);
config_.inscribed_value = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".inscribed_value", config_.inscribed_value);
config_.inscribed_value = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".inscribed_value", config_.inscribed_value, descriptor);
}
{ // min_contour_size
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Defines the minimum size for a contour to be classified as 'lethal'.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER;
rcl_interfaces::msg::IntegerRange range;
range.from_value = 0;
range.to_value = 100000;
descriptor.integer_range.push_back(range);
config_.min_contour_size = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".min_contour_size", config_.min_contour_size);
config_.min_contour_size = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".min_contour_size", config_.min_contour_size, descriptor);
}
{ // repulsive_field
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Enable the repulsive vector field.";
config_.repulsive_field = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".repulsive_field", config_.repulsive_field);
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL;
config_.repulsive_field = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".repulsive_field", config_.repulsive_field, descriptor);
}
dyn_params_handler_ = node_->add_on_set_parameters_callback(std::bind(&InflationLayer::reconfigureCallback, this, std::placeholders::_1));
return true;
Expand Down
13 changes: 8 additions & 5 deletions mesh_layers/src/ridge_layer.cpp
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Expand Up @@ -50,7 +50,7 @@ namespace mesh_layers
bool RidgeLayer::readLayer()
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Try to read ridge from map file...");
auto ridge_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>("ridge");
auto ridge_opt = mesh_io_ptr_->getDenseAttributeMap<lvr2::DenseVertexMap<float>>(layer_name_);
if (ridge_opt)
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Successfully read ridge from map file.");
Expand All @@ -63,7 +63,7 @@ bool RidgeLayer::readLayer()

bool RidgeLayer::writeLayer()
{
if (mesh_io_ptr_->addDenseAttributeMap(ridge_, "ridge"))
if (mesh_io_ptr_->addDenseAttributeMap(ridge_, layer_name_))
{
RCLCPP_INFO_STREAM(node_->get_logger(), "Saved ridge to map file.");
return true;
Expand Down Expand Up @@ -219,29 +219,32 @@ bool RidgeLayer::initialize()
{ // threshold
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Threshold for the local ridge to be counted as lethal.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.01;
range.to_value = 3.1415;
descriptor.floating_point_range.push_back(range);
config_.threshold = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold", config_.threshold);
config_.threshold = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".threshold", config_.threshold, descriptor);
}
{ // radius
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "Radius of the inscribed area.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.01;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".radius", config_.radius);
config_.radius = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".radius", config_.radius, descriptor);
}
{ // factor
rcl_interfaces::msg::ParameterDescriptor descriptor;
descriptor.description = "The local ridge factor to weight this layer.";
descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE;
rcl_interfaces::msg::FloatingPointRange range;
range.from_value = 0.0;
range.to_value = 1.0;
descriptor.floating_point_range.push_back(range);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor);
config_.factor = node_->declare_parameter(mesh_map::MeshMap::MESH_MAP_NAMESPACE + "." + layer_name_ + ".factor", config_.factor, descriptor);
}
dyn_params_handler_ = node_->add_on_set_parameters_callback(std::bind(
&RidgeLayer::reconfigureCallback, this, std::placeholders::_1));
Expand Down
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