void robot_self_filter_color::SelfMask::maskIntersection(const pcl::PointCloud<pcl::PointXYZRGB>& data_in, const tf::Vector3 &sensor_pos, const double min_sensor_dist,
std::vector<int> &mask, const boost::function<void(const tf::Vector3&)> &callback)
{
mask.resize(data_in.points.size());
if (bodies_.empty())
std::fill(mask.begin(), mask.end(), (int)OUTSIDE);
else
{
assumeFrame(data_in.header.frame_id, data_in.header.stamp, sensor_pos, min_sensor_dist);
maskAuxIntersection(data_in, mask, callback);
}
}
void robot_self_filter::SelfMask::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 Eigen::Vector3d&)> &callback)
{
mask.resize(data_in.points.size());
if (bodies_.empty()) {
std::fill(mask.begin(), mask.end(), (int)OUTSIDE);
}
else
{
assumeFrame(data_in.header.frame_id, pcl_conversions::fromPCL(data_in.header).stamp, sensor_frame, min_sensor_dist);
if (sensor_frame.empty())
maskAuxContainment(data_in, mask);
else
maskAuxIntersection(data_in, mask, callback);
}
}