From 3c3baf686249a7499440eeb896297e957b96fd49 Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Tue, 28 Jun 2016 13:43:27 +0200
Subject: [PATCH] [Geometry] Moved assimp module to hpp-fcl
Conflicts:
CMakeLists.txt
---
CMakeLists.txt | 7 +-
src/CMakeLists.txt | 6 -
src/multibody/parser/from-collada-to-fcl.hpp | 181 -------------------
src/multibody/parser/urdf-with-geometry.hxx | 15 +-
unittest/CMakeLists.txt | 2 +-
5 files changed, 13 insertions(+), 198 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0f1f95482..8f9fa9539 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -90,12 +90,7 @@ IF(URDFDOM_FOUND)
ENDIF(${URDFDOM_VERSION} VERSION_LESS "0.3.0")
ENDIF(URDFDOM_FOUND)
-IF(HPP_FCL_FOUND AND URDFDOM_FOUND)
- ADD_REQUIRED_DEPENDENCY("assimp >= 2.0")
- IF(NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
- ADD_DEFINITIONS(-DASSIMP_UNIFIED_HEADER_NAMES)
- ENDIF(NOT ${ASSIMP_VERSION} VERSION_LESS "2.0.1150")
-ENDIF(HPP_FCL_FOUND AND URDFDOM_FOUND)
+
SET(BOOST_COMPONENTS filesystem unit_test_framework system)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 040b20cea..f3d566ba2 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -75,9 +75,6 @@ IF(UNIX)
IF(URDFDOM_FOUND)
PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} urdfdom)
- IF(HPP_FCL_FOUND)
- PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME} assimp)
- ENDIF(HPP_FCL_FOUND)
ENDIF(URDFDOM_FOUND)
IF(HPP_FCL_FOUND)
@@ -108,9 +105,6 @@ IF(BUILD_PYTHON_INTERFACE)
IF(URDFDOM_FOUND)
PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} urdfdom)
- IF(HPP_FCL_FOUND)
- PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} assimp)
- ENDIF(HPP_FCL_FOUND)
ENDIF(URDFDOM_FOUND)
IF(HPP_FCL_FOUND)
PKG_CONFIG_USE_DEPENDENCY(${PYWRAP} hpp-fcl)
diff --git a/src/multibody/parser/from-collada-to-fcl.hpp b/src/multibody/parser/from-collada-to-fcl.hpp
index fe31d6e11..76ee4894d 100644
--- a/src/multibody/parser/from-collada-to-fcl.hpp
+++ b/src/multibody/parser/from-collada-to-fcl.hpp
@@ -26,25 +26,6 @@
#include <boost/foreach.hpp>
#include <boost/format.hpp>
-#ifdef ASSIMP_UNIFIED_HEADER_NAMES
-# include <assimp/DefaultLogger.hpp>
-# include <assimp/IOStream.hpp>
-# include <assimp/IOSystem.hpp>
-# include <assimp/scene.h>
-# include <assimp/Importer.hpp>
-# include <assimp/postprocess.h>
-#else
-# include <assimp/DefaultLogger.h>
-# include <assimp/assimp.hpp>
-# include <assimp/IOStream.h>
-# include <assimp/IOSystem.h>
-# include <assimp/aiScene.h>
-# include <assimp/aiPostProcess.h>
-#endif
-
-#include <hpp/fcl/BV/OBBRSS.h>
-#include <hpp/fcl/BVH/BVH_model.h>
-
#include "pinocchio/tools/file-explorer.hpp"
#include <boost/filesystem.hpp>
@@ -52,169 +33,7 @@
namespace se3
{
- typedef fcl::BVHModel< fcl::OBBRSS > PolyhedronType;
- typedef boost::shared_ptr <PolyhedronType> Polyhedron_ptr;
-
- struct TriangleAndVertices
- {
- void clear()
- {
- vertices_.clear ();
- triangles_.clear ();
- }
- std::vector <fcl::Vec3f> vertices_;
- std::vector <fcl::Triangle> triangles_;
- };
-
-
- /**
- * @brief Recursive procedure for building a mesh
- *
- * @param[in] scale Scale to apply when reading the ressource
- * @param[in] scene Pointer to the assimp scene
- * @param[in] node Current node of the scene
- * @param subMeshIndexes Submesh triangles indexes interval
- * @param[in] mesh The mesh that must be built
- * @param tv Triangles and Vertices of the mesh submodels
- */
- inline void buildMesh (const ::urdf::Vector3 & scale,
- const aiScene* scene,
- const aiNode* node,
- std::vector<unsigned> & subMeshIndexes,
- const Polyhedron_ptr & mesh,
- TriangleAndVertices & tv)
- {
- if (!node) return;
-
- aiMatrix4x4 transform = node->mTransformation;
- aiNode *pnode = node->mParent;
- while (pnode)
- {
- // Don't convert to y-up orientation, which is what the root node in
- // Assimp does
- if (pnode->mParent != NULL)
- {
- transform = pnode->mTransformation * transform;
- }
- pnode = pnode->mParent;
- }
-
- for (uint32_t i = 0; i < node->mNumMeshes; i++)
- {
- aiMesh* input_mesh = scene->mMeshes[node->mMeshes[i]];
-
- unsigned oldNbPoints = (unsigned) mesh->num_vertices;
- unsigned oldNbTriangles = (unsigned) mesh->num_tris;
-
- // Add the vertices
- for (uint32_t j = 0; j < input_mesh->mNumVertices; j++)
- {
- aiVector3D p = input_mesh->mVertices[j];
- p *= transform;
- tv.vertices_.push_back (fcl::Vec3f (p.x * scale.x,
- p.y * scale.y,
- p.z * scale.z));
- }
-
- // add the indices
- for (uint32_t j = 0; j < input_mesh->mNumFaces; j++)
- {
- aiFace& face = input_mesh->mFaces[j];
- if (face.mNumIndices != 3) {
- std::stringstream ss;
- ss << "Mesh " << input_mesh->mName.C_Str() << " has a face with "
- << face.mNumIndices << " vertices. This is not supported\n";
- ss << "Node name is: " << node->mName.C_Str() << "\n";
- ss << "Mesh index: " << i << "\n";
- ss << "Face index: " << j << "\n";
- throw std::invalid_argument (ss.str());
- }
- tv.triangles_.push_back (fcl::Triangle( oldNbPoints + face.mIndices[0],
- oldNbPoints + face.mIndices[1],
- oldNbPoints + face.mIndices[2]));
- }
-
- // Save submesh triangles indexes interval.
- if (subMeshIndexes.size () == 0)
- {
- subMeshIndexes.push_back (0);
- }
-
- subMeshIndexes.push_back (oldNbTriangles + input_mesh->mNumFaces);
- }
-
- for (uint32_t i=0; i < node->mNumChildren; ++i)
- {
- buildMesh(scale, scene, node->mChildren[i], subMeshIndexes, mesh, tv);
- }
- }
-
-
-
- /**
- * @brief Convert an assimp scene to a mesh
- *
- * @param[in] name File (ressource) transformed into an assimp scene in loa
- * @param[in] scale Scale to apply when reading the ressource
- * @param[in] scene Pointer to the assimp scene
- * @param[out] mesh The mesh that must be built
- */
- inline void meshFromAssimpScene (const std::string & name,
- const ::urdf::Vector3 & scale,
- const aiScene* scene,
- const Polyhedron_ptr & mesh) throw (std::invalid_argument)
- {
- TriangleAndVertices tv;
- if (!scene->HasMeshes())
- throw std::invalid_argument (std::string ("No meshes found in file ")+name);
-
- std::vector<unsigned> subMeshIndexes;
- int res = mesh->beginModel ();
-
- if (res != fcl::BVH_OK)
- {
- std::ostringstream error;
- error << "fcl BVHReturnCode = " << res;
- throw std::runtime_error (error.str ());
- }
-
- tv.clear();
-
- buildMesh (scale, scene, scene->mRootNode, subMeshIndexes, mesh, tv);
- mesh->addSubModel (tv.vertices_, tv.triangles_);
-
- mesh->endModel ();
- }
-
-
-
- /**
- * @brief Read a mesh file and convert it to a polyhedral mesh
- *
- * @param[in] resource_path Path to the ressource mesh file to be read
- * @param[in] scale Scale to apply when reading the ressource
- * @param[out] polyhedron The resulted polyhedron
- */
- inline void loadPolyhedronFromResource (const std::string & resource_path,
- const ::urdf::Vector3 & scale,
- const Polyhedron_ptr & polyhedron) throw (std::invalid_argument)
- {
- Assimp::Importer importer;
- const aiScene* scene = importer.ReadFile(resource_path.c_str(), aiProcess_SortByPType| aiProcess_GenNormals|
- aiProcess_Triangulate|aiProcess_GenUVCoords|
- aiProcess_FlipUVs);
- if (!scene)
- {
- const std::string exception_message (std::string ("Could not load resource ") + resource_path + std::string("\n") +
- importer.GetErrorString () + std::string("\n") +
- "Hint: the mesh directory may be wrong.");
- throw std::invalid_argument(exception_message);
- }
-
- meshFromAssimpScene (resource_path, scale, scene, polyhedron);
- }
-
/**
* @brief Transform a package://.. mesh path to an absolute path, searching for a valid file
diff --git a/src/multibody/parser/urdf-with-geometry.hxx b/src/multibody/parser/urdf-with-geometry.hxx
index b345f8479..49dd57a4e 100644
--- a/src/multibody/parser/urdf-with-geometry.hxx
+++ b/src/multibody/parser/urdf-with-geometry.hxx
@@ -25,12 +25,16 @@
#include "pinocchio/multibody/model.hpp"
#include "pinocchio/multibody/parser/from-collada-to-fcl.hpp"
+#include <hpp/fcl/mesh_loader/assimp.h>
+
namespace se3
{
namespace urdf
{
-
+ typedef fcl::BVHModel< fcl::OBBRSS > PolyhedronType;
+ typedef boost::shared_ptr <PolyhedronType> PolyhedronPtrType;
+
inline fcl::CollisionObject retrieveCollisionGeometry(const boost::shared_ptr < ::urdf::Geometry> urdf_geometry,
const std::vector < std::string > & package_dirs,
std::string & mesh_path)
@@ -45,12 +49,15 @@
mesh_path = convertURDFMeshPathToAbsolutePath(collisionFilename, package_dirs);
- ::urdf::Vector3 scale = collisionGeometry->scale;
+ fcl::Vec3f scale = fcl::Vec3f(collisionGeometry->scale.x,
+ collisionGeometry->scale.y,
+ collisionGeometry->scale.z
+ );
// Create FCL mesh by parsing Collada file.
- Polyhedron_ptr polyhedron (new PolyhedronType);
+ PolyhedronPtrType polyhedron (new PolyhedronType);
- loadPolyhedronFromResource (mesh_path, scale, polyhedron);
+ fcl::loadPolyhedronFromResource (mesh_path, scale, polyhedron);
geometry = polyhedron;
}
diff --git a/unittest/CMakeLists.txt b/unittest/CMakeLists.txt
index 7435edfd3..ba9a79d89 100644
--- a/unittest/CMakeLists.txt
+++ b/unittest/CMakeLists.txt
@@ -68,7 +68,7 @@ IF(URDFDOM_FOUND)
ADD_UNIT_TEST(value "eigen3;urdfdom")
ADD_TEST_CFLAGS(value '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
IF(HPP_FCL_FOUND)
- ADD_UNIT_TEST(geom "eigen3;urdfdom;assimp;hpp-fcl")
+ ADD_UNIT_TEST(geom "eigen3;urdfdom;hpp-fcl")
ADD_TEST_CFLAGS(geom '-DPINOCCHIO_SOURCE_DIR=\\\"${${PROJECT_NAME}_SOURCE_DIR}\\\"')
ADD_TEST_CFLAGS(geom "-DWITH_HPP_FCL")
IF(BUILD_TESTS_WITH_HPP)
--
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