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 <sensor_msgs/PointCloud.h>
#include <geometric_shapes/bodies.h>
#include <tf/transform_listener.h>
#include <boost/bind.hpp>
#include <string>
#include <vector>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

namespace robot_self_filter
{
    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 pcl::PointCloud<pcl::PointXYZ>& data_in, std::vector<int> &mask);

        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);

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

        void assumeFrame (const std::string &frame_id, const ros::Time &stamp, 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 pcl::PointCloud<pcl::PointXYZ>& data_in, std::vector<int> &mask);

        void maskAuxIntersection (const pcl::PointCloud<pcl::PointXYZ>& 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