mesh_distance.ipynb

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     "metadata": {},
     "output_type": "display_data"
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   ],
   "source": [
    "using FileIO\n",
    "using MeshIO\n",
    "using GeometryTypes\n",
    "using StaticArrays\n",
    "using Plots\n",
    "gr()\n",
    "using DrakeVisualizer\n",
    "using Interact"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 73,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "Process(`drake-visualizer`, ProcessRunning)"
      ]
     },
     "execution_count": 73,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "DrakeVisualizer.new_window()"
   ]
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  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
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   "outputs": [
    {
     "data": {
      "text/plain": [
       "HomogenousMesh(\n",
       "    normals: 27xGeometryTypes.Normal{3,Float32},     vertices: 27xFixedSizeArrays.Point{3,Float32},     faces: 50xGeometryTypes.Face{3,UInt32,-1}, )\n"
      ]
     },
     "execution_count": 3,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "mesh = load(\"/Users/rdeits/locomotion/drake-distro/drake/examples/Atlas/urdf/meshes/pelvis_chull.obj\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 39,
   "metadata": {
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   "outputs": [
    {
     "data": {
      "text/plain": [
       "DrakeVisualizer.Visualizer(DrakeVisualizer.Robot(DrakeVisualizer.Link[DrakeVisualizer.Link(DrakeVisualizer.GeometryData[DrakeVisualizer.GeometryData{CoordinateTransformations.IdentityTransformation,GeometryTypes.HomogenousMesh{FixedSizeArrays.Point{3,Float32},GeometryTypes.Face{3,UInt32,-1},GeometryTypes.Normal{3,Float32},Void,Void,Void,Void}}(HomogenousMesh(\n",
       "    normals: 27xGeometryTypes.Normal{3,Float32},     vertices: 27xFixedSizeArrays.Point{3,Float32},     faces: 50xGeometryTypes.Face{3,UInt32,-1}, )\n",
       ",CoordinateTransformations.IdentityTransformation(),RGBA{Float64}(1.0,0.0,0.0,0.5))],\"link\")]),1,PyLCM.LCM(PyObject <LCM object at 0x31b15cd50>))"
      ]
     },
     "execution_count": 39,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "Visualizer(mesh)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "import AdaptiveDistanceFields"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {
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   },
   "outputs": [
    {
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     "output_type": "stream",
     "text": [
      "WARNING: replacing module AdaptiveDistanceFields\n",
      "WARNING: Method definition needs_refinement(RegionTrees.Cell, Any, Any, Any) in module AdaptiveDistanceFields at /Users/rdeits/.julia/v0.5/AdaptiveDistanceFields/src/adaptivesampling.jl:12 overwritten in module AdaptiveDistanceFields at /Users/rdeits/.julia/v0.5/AdaptiveDistanceFields/src/adaptivesampling.jl:12.\n",
      "WARNING: Method definition convert(Type{#S<:StaticArrays.SVector}, GeometryTypes.Simplex{#N<:Any, T<:Any}) in module ConvexMesh at /Users/rdeits/.julia/v0.5/AdaptiveDistanceFields/src/meshdistance.jl:25 overwritten in module ConvexMesh at /Users/rdeits/.julia/v0.5/AdaptiveDistanceFields/src/meshdistance.jl:25.\n"
     ]
    }
   ],
   "source": [
    "reload(\"AdaptiveDistanceFields\")"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(::#7) (generic function with 1 method)"
      ]
     },
     "execution_count": 7,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "s = AdaptiveDistanceFields.ConvexMesh.signed_distance(mesh)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 87,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(::AdaptiveDistanceField) (generic function with 1 method)"
      ]
     },
     "execution_count": 87,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "origin = SVector(-2., -2, -2)\n",
    "widths = SVector(4., 4, 4)\n",
    "adaptive = AdaptiveDistanceFields.AdaptiveDistanceField(s, origin, widths, 1e-2, 1e-2)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 88,
   "metadata": {
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   "outputs": [],
   "source": [
    "verts = Point{3, Float64}[]\n",
    "faces = Face{3, Int, 0}[]\n",
    "for cell in RegionTrees.allcells(adaptive.root)\n",
    "    for face in RegionTrees.faces(cell.boundary)\n",
    "        i = length(verts)\n",
    "        for vert in face\n",
    "            push!(verts, Point(vert[1], vert[2], vert[3]))\n",
    "        end\n",
    "#         push!(faces, Face(i+1, i+2, i+1))\n",
    "#         push!(faces, Face(i+1, i+3, i+1))\n",
    "#         push!(faces, Face(i+2, i+4, i+2))\n",
    "#         push!(faces, Face(i+3, i+4, i+3))\n",
    "        push!(faces, Face(i+1, i+2, i+4))\n",
    "        push!(faces, Face(i+4, i+3, i+1))\n",
    "    end\n",
    "end\n",
    "\n",
    "boxmesh = HomogenousMesh(verts, faces)\n",
    "Visualizer(boxmesh);"
   ]
  },
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   "cell_type": "code",
   "execution_count": 36,
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      ]
     },
     "execution_count": 36,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "xs = linspace(-2, 2)\n",
    "plot(xs, [s(SVector(x, 0.0, 0.0)) for x in xs], ylim=(-1, 2))\n",
    "plot!(xs, [adaptive(SVector(x, 0.0, 0.0)) for x in xs], ylim=(-1, 2))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 37,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/html": [],
      "text/plain": [
       "Interact.Slider{Float64}(Signal{Float64}(0.0, nactions=0),\"isolevel\",0.0,linspace(-1.0,1.0,101),\".3f\",true)"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "DrakeVisualizer.Visualizer(DrakeVisualizer.Robot(DrakeVisualizer.Link[DrakeVisualizer.Link(DrakeVisualizer.GeometryData[DrakeVisualizer.GeometryData{CoordinateTransformations.IdentityTransformation,GeometryTypes.HomogenousMesh{FixedSizeArrays.Point{3,Float64},GeometryTypes.Face{3,Int64,0},Void,Void,Void,Void,Void}}(HomogenousMesh(\n",
       "    vertices: 156xFixedSizeArrays.Point{3,Float64},     faces: 308xGeometryTypes.Face{3,Int64,0}, )\n",
       ",CoordinateTransformations.IdentityTransformation(),RGBA{Float64}(1.0,0.0,0.0,0.5))],\"link\")]),1,PyLCM.LCM(PyObject <LCM object at 0x31b15cc60>))"
      ]
     },
     "execution_count": 37,
     "metadata": {
      "comm_id": "3a4eeaad-2bb3-4d8b-b14d-07c747ab59d7",
      "reactive": true
     },
     "output_type": "execute_result"
    }
   ],
   "source": [
    "@manipulate for isolevel in linspace(-1.0, 1.0, 101)\n",
    "    Visualizer(contour_mesh(s, SVector(-1., -1, -1), SVector(1., 1, 1), isolevel))\n",
    "end"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 38,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/html": [],
      "text/plain": [
       "Interact.Slider{Float64}(Signal{Float64}(0.0, nactions=0),\"isolevel\",0.0,linspace(-1.0,1.0,101),\".3f\",true)"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    },
    {
     "data": {
      "text/plain": [
       "DrakeVisualizer.Visualizer(DrakeVisualizer.Robot(DrakeVisualizer.Link[DrakeVisualizer.Link(DrakeVisualizer.GeometryData[DrakeVisualizer.GeometryData{CoordinateTransformations.IdentityTransformation,GeometryTypes.HomogenousMesh{FixedSizeArrays.Point{3,Float64},GeometryTypes.Face{3,Int64,0},Void,Void,Void,Void,Void}}(HomogenousMesh(\n",
       "    vertices: 3890xFixedSizeArrays.Point{3,Float64},     faces: 7776xGeometryTypes.Face{3,Int64,0}, )\n",
       ",CoordinateTransformations.IdentityTransformation(),RGBA{Float64}(1.0,0.0,0.0,0.5))],\"link\")]),1,PyLCM.LCM(PyObject <LCM object at 0x31b15ce70>))"
      ]
     },
     "execution_count": 38,
     "metadata": {
      "comm_id": "e0ff1ca9-9f5d-4a13-9de4-276cd6fc867c",
      "reactive": true
     },
     "output_type": "execute_result"
    }
   ],
   "source": [
    "@manipulate for isolevel in linspace(-1.0, 1.0, 101)\n",
    "    Visualizer(contour_mesh(adaptive, SVector(-1., -1, -1), SVector(1., 1, 1), isolevel, 0.02))\n",
    "end"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 41,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "using BenchmarkTools"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 89,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "BenchmarkTools.Trial: \n",
       "  memory estimate:  0.00 bytes\n",
       "  allocs estimate:  0\n",
       "  --------------\n",
       "  minimum time:     83.116 ns (0.00% GC)\n",
       "  median time:      85.980 ns (0.00% GC)\n",
       "  mean time:        96.864 ns (0.00% GC)\n",
       "  maximum time:     402.611 ns (0.00% GC)\n",
       "  --------------\n",
       "  samples:          10000\n",
       "  evals/sample:     963\n",
       "  time tolerance:   5.00%\n",
       "  memory tolerance: 1.00%"
      ]
     },
     "execution_count": 89,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "p = SVector(0.25, 0, 0)\n",
    "@benchmark $adaptive($p)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": []
  }
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