self_mask.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
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 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. 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
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 */

#ifndef ROBOT_SELF_FILTER_SELF_MASK_
#define ROBOT_SELF_FILTER_SELF_MASK_

#include <pcl/point_types.h>
#include <pcl_ros/point_cloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <pr2_navigation_self_filter/bodies.h>
#include <tf/transform_listener.h>
#include <boost/bind.hpp>
#include <string>
#include <vector>

namespace robot_self_filter
{
  typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;

    enum
    {
        INSIDE = 0,
        OUTSIDE = 1,
        SHADOW = 2,
    };

struct LinkInfo
{
  std::string name;
  double padding;
  double scale;
};
    

    class SelfMask
    {   
    protected:
        
        struct SeeLink
        {
            SeeLink(void)
            {
                body = unscaledBody = NULL;
            }
            
            std::string   name;
            bodies::Body *body;
            bodies::Body *unscaledBody;
            tf::Transform   constTransf;
            double        volume;
        };
        
        struct SortBodies
        {
            bool operator()(const SeeLink &b1, const SeeLink &b2)
            {
                return b1.volume > b2.volume;
            }
        };
        
    public:
        
        SelfMask(tf::TransformListener &tf, const std::vector<LinkInfo> &links) : tf_(tf)
        {
            configure(links);
        }
        
        ~SelfMask(void)
        {
            freeMemory();
        }
        
        void maskContainment(const PointCloud& data_in, std::vector<int> &mask);

        void maskIntersection(const PointCloud& data_in, const std::string &sensor_frame, const double min_sensor_dist,
                              std::vector<int> &mask, const boost::function<void(const tf::Vector3&)> &intersectionCallback = NULL);

        void maskIntersection(const PointCloud& data_in, const tf::Vector3 &sensor, const double min_sensor_dist,
                              std::vector<int> &mask, const boost::function<void(const tf::Vector3&)> &intersectionCallback = NULL);
        
        void assumeFrame(const std_msgs::Header& header);
        
        void assumeFrame(const std_msgs::Header& header, const std::string &sensor_frame, const double min_sensor_dist);

        void assumeFrame(const std_msgs::Header& header, const tf::Vector3 &sensor_pos, const double min_sensor_dist);
        
        int  getMaskContainment(double x, double y, double z) const;
        
        int  getMaskContainment(const tf::Vector3 &pt) const;
        
        int  getMaskIntersection(double x, double y, double z, const boost::function<void(const tf::Vector3&)> &intersectionCallback = NULL) const;
        
        int  getMaskIntersection(const tf::Vector3 &pt, const boost::function<void(const tf::Vector3&)> &intersectionCallback = NULL) const;
        
        void getLinkNames(std::vector<std::string> &frames) const;
        
    private:

        void freeMemory(void);

        bool configure(const std::vector<LinkInfo> &links);
        
        void computeBoundingSpheres(void);
        
        void maskAuxContainment(const PointCloud& data_in, std::vector<int> &mask);

        void maskAuxIntersection(const PointCloud& data_in, std::vector<int> &mask, const boost::function<void(const tf::Vector3&)> &callback);
        
        tf::TransformListener              &tf_;
        ros::NodeHandle                     nh_;
        
        tf::Vector3                           sensor_pos_;
        double                              min_sensor_dist_;
        
        std::vector<SeeLink>                bodies_;
        std::vector<double>                 bspheresRadius2_;
        std::vector<bodies::BoundingSphere> bspheres_;
        
    };
    
}

#endif