shape_mask.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <geometric_shapes/bodies.h>
#include <vector>
#include <set>
#include <map>
#include <mutex>
#include <functional>
 
namespace point_containment_filter
{
typedef unsigned int ShapeHandle;
 
class ShapeMask
{
public:
  enum
  {
    INSIDE = 0,
    OUTSIDE = 1,
    CLIP = 2
  };
 
  typedef std::function<bool(ShapeHandle, Eigen::Isometry3d&)> TransformCallback;
 
  ShapeMask(const TransformCallback& transform_callback = TransformCallback());
 
  virtual ~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 sensor_msgs::msg::PointCloud2& 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;
 
protected:
  struct SeeShape
  {
    SeeShape()
    {
      body = nullptr;
    }
 
    bodies::Body* body;
    ShapeHandle handle;
    double volume;
  };
 
  struct SortBodies
  {
    bool operator()(const SeeShape& b1, const SeeShape& b2) const
    {
      if (b1.volume > b2.volume)
        return true;
      if (b1.volume < b2.volume)
        return false;
      return b1.handle < b2.handle;
    }
  };
 
  TransformCallback transform_callback_;
 
  mutable std::mutex shapes_lock_;
  std::set<SeeShape, SortBodies> bodies_;
  std::vector<bodies::BoundingSphere> bspheres_;
 
private:
  void freeMemory();
 
  ShapeHandle next_handle_;
  ShapeHandle min_handle_;
  std::map<ShapeHandle, std::set<SeeShape, SortBodies>::iterator> used_handles_;
};
}  // namespace point_containment_filter