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 Types
typedef pcl::PointCloud< PointT >	PointCloud
Public Member Functions
void	assumeFrame (const std_msgs::Header &header)
	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_msgs::Header &header, 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	assumeFrame (const std_msgs::Header &header, 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	getLinkNames (std::vector< std::string > &frames) const
	Get the set of link names that have been instantiated for self filtering.
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	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	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 PointCloud &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 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)
	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 PointCloud &data_in, const tf::Vector3 &sensor_pos, 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 PointCloud &data_in, std::vector< int > &mask)
	Perform the actual mask computation.
void	maskAuxIntersection (const PointCloud &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

template<typename PointT>
class robot_self_filter::SelfMask< PointT >

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

Definition at line 145 of file self_mask.h.

Member Typedef Documentation

template<typename PointT>

typedef pcl::PointCloud<PointT> robot_self_filter::SelfMask< PointT >::PointCloud

Definition at line 172 of file self_mask.h.

Constructor & Destructor Documentation

template<typename PointT>

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

Construct the filter.

Definition at line 175 of file self_mask.h.

template<typename PointT>

robot_self_filter::SelfMask< PointT >::~SelfMask ( void ) [inline]

Destructor to clean up.

Definition at line 182 of file self_mask.h.

Member Function Documentation

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::assumeFrame ( const std_msgs::Header & header ) [inline]

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 256 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::assumeFrame	(	const std_msgs::Header &	header,
		const tf::Vector3 &	sensor_pos,
		const double	min_sensor_dist
	)		`[inline]`

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 293 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::assumeFrame	(	const std_msgs::Header &	header,
		const std::string &	sensor_frame,
		const double	min_sensor_dist
	)		`[inline]`

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 302 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::computeBoundingSpheres ( void ) [inline, private]

Compute bounding spheres for the checked robot links.

Definition at line 528 of file self_mask.h.

template<typename PointT>

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

Configure the filter.

Definition at line 430 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::freeMemory ( void ) [inline, private]

Free memory.

Definition at line 415 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::getLinkNames ( std::vector< std::string > & frames ) const [inline]

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

Definition at line 406 of file self_mask.h.

template<typename PointT>

int robot_self_filter::SelfMask< PointT >::getMaskContainment ( const tf::Vector3 & pt ) const [inline]

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 332 of file self_mask.h.

template<typename PointT>

int robot_self_filter::SelfMask< PointT >::getMaskContainment	(	double	x,
		double	y,
		double	z
	)		const `[inline]`

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 344 of file self_mask.h.

template<typename PointT>

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

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 352 of file self_mask.h.

template<typename PointT>

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

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 360 of file self_mask.h.

template<typename PointT>

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

Perform the actual mask computation.

Definition at line 540 of file self_mask.h.

template<typename PointT>

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

Perform the actual mask computation.

Definition at line 566 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::maskContainment	(	const PointCloud &	data_in,
		std::vector< int > &	mask
	)		`[inline]`

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 190 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::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`
	)		`[inline]`

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 213 of file self_mask.h.

template<typename PointT>

void robot_self_filter::SelfMask< PointT >::maskIntersection	(	const PointCloud &	data_in,
		const tf::Vector3 &	sensor_pos,
		const double	min_sensor_dist,
		std::vector< int > &	mask,
		const boost::function< void(const tf::Vector3 &)> &	intersectionCallback = `NULL`
	)		`[inline]`

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 239 of file self_mask.h.