shape_mask.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_POINT_CONTAINMENT_FILTER_SELF_MASK_
#define MOVEIT_POINT_CONTAINMENT_FILTER_SELF_MASK_

#include <sensor_msgs/PointCloud.h>
#include <geometric_shapes/bodies.h>
#include <boost/function.hpp>
#include <string>
#include <vector>
#include <set>
#include <map>

#include <boost/thread/mutex.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

namespace point_containment_filter
{

typedef unsigned int ShapeHandle;

class ShapeMask
{

public:

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

  typedef boost::function<bool (ShapeHandle, Eigen::Affine3d&)> TransformCallback;

  ShapeMask(const TransformCallback& transform_callback = TransformCallback());

  ~ShapeMask();

  ShapeHandle addShape(const shapes::ShapeConstPtr &shape, double scale = 1.0, double padding = 0.0);
  void removeShape(ShapeHandle handle);

  void setTransformCallback (const TransformCallback& transform_callback);

  void maskContainment(const pcl::PointCloud<pcl::PointXYZ>& data_in,  const Eigen::Vector3d &sensor_pos,
                       const double min_sensor_dist, const double max_sensor_dist, std::vector<int> &mask);

  int getMaskContainment(double x, double y, double z) const;


  int getMaskContainment(const Eigen::Vector3d &pt) const;

private:

  struct SeeShape
  {
    SeeShape()
    {
      body = NULL;
    }

    bodies::Body *body;
    ShapeHandle handle;
    double volume;
  };

  struct SortBodies
  {
    bool operator()(const SeeShape &b1, const SeeShape &b2)
    {
      if (b1.volume > b2.volume)
        return true;
      if (b1.volume < b2.volume)
        return false;
      return b1.handle < b2.handle;
    }
  };

  void freeMemory();

  TransformCallback transform_callback_;
  ShapeHandle next_handle_;
  ShapeHandle min_handle_;

  mutable boost::mutex shapes_lock_;
  std::set<SeeShape, SortBodies> bodies_;
  std::map<ShapeHandle, std::set<SeeShape, SortBodies>::iterator> used_handles_;
  std::vector<bodies::BoundingSphere> bspheres_;
};

}

#endif