Computing a mask for a pointcloud that states which points are inside the robot. More...

#include <self_mask.h>

Classes
struct	SeeLink
struct	SortBodies
Public Member Functions
void	assumeFrame (const std::string &frame_id, const ros::Time &stamp)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.
void	assumeFrame (const std::string &frame_id, const ros::Time &stamp, const std::string &sensor_frame, const double min_sensor_dist)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.
void	assumeFrame (const std::string &frame_id, const ros::Time &stamp, const tf::Vector3 &sensor_pos, const double min_sensor_dist)
	Assume subsequent calls to getMaskX() will be in the frame passed to this function. Also specify which possition to assume for the sensor (frame is not needed)
void	getLinkNames (std::vector< std::string > &frames) const
	Get the set of link names that have been instantiated for self filtering.
int	getMaskContainment (double x, double y, double z) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskContainment (const tf::Vector3 &pt) const
	Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskIntersection (double x, double y, double z, const boost::function< void(const tf::Vector3 &)> &intersectionCallback=NULL) const
	Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.
int	getMaskIntersection (const tf::Vector3 &pt, const boost::function< void(const tf::Vector3 &)> &intersectionCallback=NULL) const
	Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.
void	maskContainment (const pcl::PointCloud< pcl::PointXYZ > &data_in, std::vector< int > &mask)
	Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE.
void	maskIntersection (const pcl::PointCloud< pcl::PointXYZ > &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)
	Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The sensor frame is specified to obtain the origin of the sensor. A callback can be registered for the first intersection point on each body.
void	maskIntersection (const pcl::PointCloud< pcl::PointXYZ > &data_in, const tf::Vector3 &sensor, const double min_sensor_dist, std::vector< int > &mask, const boost::function< void(const tf::Vector3 &)> &intersectionCallback=NULL)
	Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The origin of the sensor is specified as well.
	SelfMask (tf::TransformListener &tf, const std::vector< LinkInfo > &links)
	Construct the filter.
	~SelfMask (void)
	Destructor to clean up.
Private Member Functions
void	computeBoundingSpheres (void)
	Compute bounding spheres for the checked robot links.
bool	configure (const std::vector< LinkInfo > &links)
	Configure the filter.
void	freeMemory (void)
	Free memory.
void	maskAuxContainment (const pcl::PointCloud< pcl::PointXYZ > &data_in, std::vector< int > &mask)
	Perform the actual mask computation.
void	maskAuxIntersection (const pcl::PointCloud< pcl::PointXYZ > &data_in, std::vector< int > &mask, const boost::function< void(const tf::Vector3 &)> &callback)
	Perform the actual mask computation.
Private Attributes
std::vector< SeeLink >	bodies_
std::vector < bodies::BoundingSphere >	bspheres_
std::vector< double >	bspheresRadius2_
double	min_sensor_dist_
ros::NodeHandle	nh_
tf::Vector3	sensor_pos_
tf::TransformListener &	tf_

Detailed Description

Computing a mask for a pointcloud that states which points are inside the robot.

Definition at line 61 of file self_mask.h.

Constructor & Destructor Documentation

robot_self_filter::SelfMask::SelfMask	(	tf::TransformListener &	tf,
		const std::vector< LinkInfo > &	links
	)		`[inline]`

Construct the filter.

Definition at line 90 of file self_mask.h.

robot_self_filter::SelfMask::~SelfMask ( void ) [inline]

Destructor to clean up.

Definition at line 96 of file self_mask.h.

Member Function Documentation

void robot_self_filter::SelfMask::assumeFrame	(	const std::string &	frame_id,
		const ros::Time &	stamp
	)

Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.

Definition at line 303 of file self_mask.cpp.

void robot_self_filter::SelfMask::assumeFrame	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const std::string &	sensor_frame,
		const double	min_sensor_dist
	)

Assume subsequent calls to getMaskX() will be in the frame passed to this function. The frame in which the sensor is located is optional.

Definition at line 276 of file self_mask.cpp.

void robot_self_filter::SelfMask::assumeFrame	(	const std::string &	frame_id,
		const ros::Time &	stamp,
		const tf::Vector3 &	sensor_pos,
		const double	min_sensor_dist
	)

Assume subsequent calls to getMaskX() will be in the frame passed to this function. Also specify which possition to assume for the sensor (frame is not needed)

Definition at line 269 of file self_mask.cpp.

void robot_self_filter::SelfMask::computeBoundingSpheres ( void ) [private]

Compute bounding spheres for the checked robot links.

Definition at line 259 of file self_mask.cpp.

bool robot_self_filter::SelfMask::configure ( const std::vector< LinkInfo > & links ) [private]

Configure the filter.

Definition at line 115 of file self_mask.cpp.

void robot_self_filter::SelfMask::freeMemory ( void ) [private]

Free memory.

Definition at line 49 of file self_mask.cpp.

void robot_self_filter::SelfMask::getLinkNames ( std::vector< std::string > & frames ) const

Get the set of link names that have been instantiated for self filtering.

Definition at line 211 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskContainment	(	double	x,
		double	y,
		double	z
	)		const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 445 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskContainment ( const tf::Vector3 & pt ) const

Get the containment mask (INSIDE or OUTSIDE) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 435 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskIntersection	(	double	x,
		double	y,
		double	z,
		const boost::function< void(const tf::Vector3 &)> &	intersectionCallback = `NULL`
	)		const

Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 493 of file self_mask.cpp.

int robot_self_filter::SelfMask::getMaskIntersection	(	const tf::Vector3 &	pt,
		const boost::function< void(const tf::Vector3 &)> &	intersectionCallback = `NULL`
	)		const

Get the intersection mask (INSIDE, OUTSIDE or SHADOW) value for an individual point. No setup is performed, assumeFrame() should be called before use.

Definition at line 450 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskAuxContainment	(	const pcl::PointCloud< pcl::PointXYZ > &	data_in,
		std::vector< int > &	mask
	)		`[private]`

Perform the actual mask computation.

Definition at line 335 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskAuxIntersection	(	const pcl::PointCloud< pcl::PointXYZ > &	data_in,
		std::vector< int > &	mask,
		const boost::function< void(const tf::Vector3 &)> &	callback
	)		`[private]`

Perform the actual mask computation.

Definition at line 360 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskContainment	(	const pcl::PointCloud< pcl::PointXYZ > &	data_in,
		std::vector< int > &	mask
	)

Compute the containment mask (INSIDE or OUTSIDE) for a given pointcloud. If a mask element is INSIDE, the point is inside the robot. The point is outside if the mask element is OUTSIDE.

Definition at line 217 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskIntersection	(	const pcl::PointCloud< pcl::PointXYZ > &	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`
	)

Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The sensor frame is specified to obtain the origin of the sensor. A callback can be registered for the first intersection point on each body.

Definition at line 229 of file self_mask.cpp.

void robot_self_filter::SelfMask::maskIntersection	(	const pcl::PointCloud< pcl::PointXYZ > &	data_in,
		const tf::Vector3 &	sensor,
		const double	min_sensor_dist,
		std::vector< int > &	mask,
		const boost::function< void(const tf::Vector3 &)> &	intersectionCallback = `NULL`
	)

Compute the intersection mask for a given pointcloud. If a mask element can have one of the values INSIDE, OUTSIDE or SHADOW. If the value is SHADOW, the point is on a ray behind the robot and should not have been seen. If the mask element is INSIDE, the point is inside the robot. The origin of the sensor is specified as well.

Definition at line 246 of file self_mask.cpp.