mesh_filter_base.h

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/* Author: Suat Gedikli */
 
#pragma once
 
#include <map>
#include <moveit/macros/class_forward.h>
#include <moveit/mesh_filter/gl_renderer.h>
#include <moveit/mesh_filter/sensor_model.h>
#include <Eigen/Geometry>  // for Isometry3d
#include <queue>
#include <thread>
#include <condition_variable>
#include <mutex>
 
// forward declarations
namespace shapes
{
class Mesh;
}
 
namespace mesh_filter
{
MOVEIT_CLASS_FORWARD(Job);     // Defines JobPtr, ConstPtr, WeakPtr... etc
MOVEIT_CLASS_FORWARD(GLMesh);  // Defines GLMeshPtr, ConstPtr, WeakPtr... etc
 
typedef unsigned int MeshHandle;
typedef uint32_t LabelType;
 
class MeshFilterBase
{
  // inner types and typedefs
public:
  typedef std::function<bool(MeshHandle, Eigen::Isometry3d&)> TransformCallback;
  // \todo @suat: to avoid a few comparisons, it would be much nicer if background = 14 and shadow = 15 (near/far clip
  // can be anything below that)
  // this would allow me to do a single comparison instead of 3, in the code i write
  enum
  {
    BACKGROUND = 0,
    SHADOW = 1,
    NEAR_CLIP = 2,
    FAR_CLIP = 3,
    FIRST_LABEL = 16
  };
 
public:
  MeshFilterBase(const TransformCallback& transform_callback, const SensorModel::Parameters& sensor_parameters,
                 const std::string& render_vertex_shader = "", const std::string& render_fragment_shader = "",
                 const std::string& filter_vertex_shader = "", const std::string& filter_fragment_shader = "");
 
  ~MeshFilterBase();
 
  MeshHandle addMesh(const shapes::Mesh& mesh);
 
  void removeMesh(MeshHandle mesh_handle);
 
  void filter(const void* sensor_data, GLushort type, bool wait = false) const;
 
  void getFilteredLabels(LabelType* labels) const;
 
  void getFilteredDepth(float* depth) const;
 
  void getModelLabels(LabelType* labels) const;
 
  void getModelDepth(float* depth) const;
 
  void setShadowThreshold(float threshold);
 
  void setTransformCallback(const TransformCallback& transform_callback);
 
  void setPaddingScale(float scale);
 
  void setPaddingOffset(float offset);
 
protected:
  void initialize(const std::string& render_vertex_shader, const std::string& render_fragment_shader,
                  const std::string& filter_vertex_shader, const std::string& filter_fragment_shader);
 
  void deInitialize();
 
  void run(const std::string& render_vertex_shader, const std::string& render_fragment_shader,
           const std::string& filter_vertex_shader, const std::string& filter_fragment_shader);
 
  void doFilter(const void* sensor_data, const int encoding) const;
 
  void addMeshHelper(MeshHandle handle, const shapes::Mesh& cmesh);
 
  bool removeMeshHelper(MeshHandle handle);
 
  void addJob(const JobPtr& job) const;
 
  void setSize(unsigned int width, unsigned int height);
 
  std::map<MeshHandle, GLMeshPtr> meshes_;
 
  SensorModel::ParametersPtr sensor_parameters_;
 
  MeshHandle next_handle_;
 
  MeshHandle min_handle_;
 
  std::thread filter_thread_;
 
  mutable std::condition_variable jobs_condition_;
 
  mutable std::mutex jobs_mutex_;
 
  mutable std::queue<JobPtr> jobs_queue_;
 
  mutable std::mutex meshes_mutex_;
 
  mutable std::mutex transform_callback_mutex_;
 
  bool stop_;
 
  GLRendererPtr mesh_renderer_;
 
  GLRendererPtr depth_filter_;
 
  GLuint canvas_;
 
  GLuint sensor_depth_texture_;
 
  GLuint shadow_threshold_location_;
 
  TransformCallback transform_callback_;
 
  float padding_scale_;
 
  float padding_offset_;
 
  float shadow_threshold_;
};
}  // namespace mesh_filter