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#include "representation_rviz.h"

vector<visualization_msgs::Marker> create_Markers_ElavationMap(Navigability_Map& nav_map, std::string grid_frame)
{
        static Markers marker_list;
        grid_nodePtr node_data;
        double Zmin=nav_map.Zmin_filter;
        double Zmax=nav_map.Zmax_filter;
        int colorrange=nav_map.colorrange;
        
        //Reduce the elements status, ADD to REMOVE and REMOVE to delete
        marker_list.decrement();
        
        // Create a colormap
        
        class_colormap colormap_positive("jet",colorrange, 1, false);
        class_colormap colormap_negative("pink",colorrange, 1, false);
        
        /***** Elevation Cell *****/
        visualization_msgs::Marker marker_cell;
        
        marker_cell.header.frame_id = grid_frame;
    marker_cell.header.stamp = ros::Time::now();;
        marker_cell.ns = "elvation_cell";
        marker_cell.action = visualization_msgs::Marker::ADD;
        marker_cell.type = visualization_msgs::Marker::CUBE;
        marker_cell.pose.orientation.x = 0;     marker_cell.pose.orientation.y = 0.0;   marker_cell.pose.orientation.z = 0;     marker_cell.pose.orientation.w = 1;
        
        marker_cell.scale.x = nav_map.Sx;
        marker_cell.scale.y = nav_map.Sy;

        geometry_msgs::Point p;
        
        /***** Confidence Cell *****/
        visualization_msgs::Marker marker_text;
        
        marker_text.header.frame_id = grid_frame;
    marker_text.header.stamp = ros::Time::now();;
        marker_text.ns = "confidence_cell";
        marker_text.action = visualization_msgs::Marker::ADD;
        marker_text.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
        marker_text.scale.x = 0.07;
        marker_text.scale.y = 0.07;
        marker_text.scale.z = 0.07;
        marker_text.color.a = 1.0;    
    marker_text.color.r = 0.0;   
    marker_text.color.g = 0.0;
    marker_text.color.b = 0.0;
        
        
        uint counter=0;
        for(uint row=0;row<nav_map.grid.rows();row++)
        {
                //X posistion
                p.x = row*nav_map.Sx+nav_map.Sx/2;
                
                for(uint col=0;col<nav_map.grid.cols();col++)
                {
                        
                        node_data = nav_map.grid(row,col);
                        
                        if (node_data->num_points>0 || node_data->interpolate_z_data) //node is occupied
                        {
                                //id
                                marker_cell.id = counter;
                                
                                //Y position
                                p.y = col*nav_map.Sy-nav_map.CARaxis_col*nav_map.Sy;
                                
                                //Scale and Color
                                
                                p.z= node_data->Zmed/2;
                                marker_cell.scale.z = node_data->Zmed;
                                
                                //color
                                if (node_data->Zmed>=0 )
                                        marker_cell.color = colormap_positive.color((colorrange*node_data->Zmed)/Zmax);
                                else
                                        marker_cell.color =colormap_positive.color((colorrange*abs(node_data->Zmed))/abs(Zmin));                                
                                        
                                //set cell pos
                                marker_cell.pose.position=p;
                                
                                //update marker
                                marker_list.update(marker_cell);
                                        
                                /****** Text Confidence cell *****/

                                //id
                                marker_text.id = counter;
                                
                                //position
                                marker_text.pose.position.x = p.x;
                                marker_text.pose.position.y = p.y;
                                if (p.z>=0)
                                        marker_text.pose.position.z = node_data->Zmed+0.05; 
                                else
                                        marker_text.pose.position.z = 0.05; 
                                
                                //text
                                boost::format fm("%d");
                                fm % node_data->Z_confidence;
//                              fm % node_data->angle_confidence_y;
//                              fm % node_data->Zmed;
                                marker_text.text = fm.str();
                                
                                //update marker
//                              marker_list.update(marker_text);

                                
                                
                        }       
                        counter++;
                }
        }

        //Remove markers that should not be transmitted
        marker_list.clean();
        
        //Clean the marker_vector and put new markers in it;
        return marker_list.getOutgoingMarkers();
}



visualization_msgs::Marker create_Markers_Normals(Navigability_Map& nav_map, std::string grid_frame)
{
        grid_nodePtr node_data;
        double px_aux=0;
        double py_aux=0;
        double pz_aux=0;
        //publish a marker to rviz with the normals
        visualization_msgs::Marker mk; //declare the array
        
        geometry_msgs::Point p;
        std_msgs::ColorRGBA color;

        mk.header.frame_id = grid_frame; mk.header.stamp = ros::Time::now();    mk.ns = "normals";
        mk.action = visualization_msgs::Marker::ADD;    mk.type = visualization_msgs::Marker::LINE_LIST; mk.id = 0;
        mk.pose.position.x = 0; mk.pose.position.y = 0; mk.pose.position.z = 0;
        mk.pose.orientation.x = 0;      mk.pose.orientation.y = 0;      mk.pose.orientation.z = 0;      mk.pose.orientation.w = 1;
        mk.scale.x = 0.01; mk.scale.y = 0.01; mk.scale.z = 0;
        mk.color.r = 0.7; mk.color.g = 0; mk.color.b = 0; mk.color.a = 1;

        for(uint row=0;row<nav_map.grid.rows();row++)
        {
                for(uint col=0;col<nav_map.grid.cols();col++)
                {
                        node_data = nav_map.grid(row,col);
                        
                        if (node_data->has_normal) //node has_normal 
                        {
                                //X posistion
                                p.x = row*nav_map.Sx+nav_map.Sx/2;
                                px_aux = p.x;
                                
                                //Y position
                                p.y = col*nav_map.Sy-nav_map.CARaxis_col*nav_map.Sy;
                                py_aux = p.y;
                                
                                //Z posistion
                                p.z= node_data->Zmed;
                                if (p.z>=0)
                                        pz_aux=p.z; 
                                else
                                {
                                        p.z =0;
                                        pz_aux = 0; 
                                }
                                        
                                mk.points.push_back(p); 

                                double rat=0.5;

                                p.x = px_aux + (cos(node_data->med_angle_X))*rat;
                                p.y = py_aux + (cos(node_data->med_angle_Y))*rat;
                                p.z = pz_aux + (cos(node_data->med_angle_Z))*rat;
                
                                mk.points.push_back(p); 
                        }
                }
        }
        
        return mk;
}

vector<visualization_msgs::Marker> create_Markers_AccessibilityMap(Navigability_Map& nav_map, std::string grid_frame)
{
        static Markers marker_list;
        grid_nodePtr node_data;

        int colorrange=nav_map.colorrange;
        
        //Reduce the elements status, ADD to REMOVE and REMOVE to delete
        marker_list.decrement();
        
        // Create a colormap
        
        class_colormap colormap_positive("jet",colorrange, 1, false);
        
        /***** _Accessibility Cell *****/
        visualization_msgs::Marker marker_cell;
        
        marker_cell.header.frame_id = grid_frame;
    marker_cell.header.stamp = ros::Time::now();;
        marker_cell.ns = "accessibility_cell";
        marker_cell.action = visualization_msgs::Marker::ADD;
        marker_cell.type = visualization_msgs::Marker::CUBE;
        marker_cell.pose.orientation.x = 0;     marker_cell.pose.orientation.y = 0.0;   marker_cell.pose.orientation.z = 0;     marker_cell.pose.orientation.w = 1;
        
        marker_cell.scale.x = nav_map.Sx;
        marker_cell.scale.y = nav_map.Sy;

        geometry_msgs::Point p;
        
        
        /***** debug Cell *****/
        visualization_msgs::Marker marker_text;
        
        marker_text.header.frame_id = grid_frame;
    marker_text.header.stamp = ros::Time::now();;
        marker_text.ns = "debug_cell";
        marker_text.action = visualization_msgs::Marker::ADD;
        marker_text.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
        marker_text.scale.x = 0.07;
        marker_text.scale.y = 0.07;
        marker_text.scale.z = 0.07;
        marker_text.color.a = 1.0;    
    marker_text.color.r = 0.0;   
    marker_text.color.g = 0.0;
    marker_text.color.b = 0.0;
        
        
        uint counter=0;
        for(uint row=0;row<nav_map.grid.rows();row++)
        {
                //X posistion
                p.x = row*nav_map.Sx+nav_map.Sx/2;
                
                for(uint col=0;col<nav_map.grid.cols();col++)
                {
                        
                        node_data = nav_map.grid(row,col);
                        
                        if (node_data->num_points>0 || node_data->interpolate_z_data) //node is occupied
                        {
                                //id
                                marker_cell.id = counter;
                                
                                //Y position
                                p.y = col*nav_map.Sy-nav_map.CARaxis_col*nav_map.Sy;
                                
//                              Scale and Color
                                if (nav_map.debug_accessibility==1)
                                        p.z=(1-node_data->z_accessibility)/2;
                                else if (nav_map.debug_accessibility==2)
                                        p.z=(1-node_data->angleX_accessibility)/2;
                                else if (nav_map.debug_accessibility==3)
                                        p.z=(1-node_data->angleY_accessibility)/2;
                                else if (nav_map.debug_accessibility==4)
                                        p.z=(1-node_data->angleZ_accessibility)/2;
                                else if (nav_map.debug_accessibility==5)
                                        p.z=(1-node_data->total_accessibility)/2;
                                
                                if (nav_map.debug_accessibility==1)
                                        marker_cell.scale.z =1-node_data->z_accessibility;
                                else if (nav_map.debug_accessibility==2)
                                        marker_cell.scale.z =1-node_data->angleX_accessibility;
                                else if (nav_map.debug_accessibility==3)
                                        marker_cell.scale.z =1-node_data->angleY_accessibility;
                                else if (nav_map.debug_accessibility==4)
                                        marker_cell.scale.z =1-node_data->angleZ_accessibility;
                                else if (nav_map.debug_accessibility==5)
                                        marker_cell.scale.z =1-node_data->total_accessibility;
                                
                                //color
                                if (nav_map.debug_accessibility==1)
                                        marker_cell.color = colormap_positive.color(colorrange*(1-node_data->z_accessibility)-1);
                                else if (nav_map.debug_accessibility==2)
                                        marker_cell.color = colormap_positive.color(colorrange*(1-node_data->angleX_accessibility)-1);
                                else if (nav_map.debug_accessibility==3)
                                        marker_cell.color = colormap_positive.color(colorrange*(1-node_data->angleY_accessibility)-1);
                                else if (nav_map.debug_accessibility==4)
                                        marker_cell.color = colormap_positive.color(colorrange*(1-node_data->angleZ_accessibility)-1);
                                else if (nav_map.debug_accessibility==5)
                                        marker_cell.color = colormap_positive.color(colorrange*(1-node_data->total_accessibility)-1);

                                
                                //set cell pos
                                marker_cell.pose.position=p;
                                
                                //update marker
                                marker_list.update(marker_cell);
                                
                                
                                /******  debug Confidence cell *****/
//                              id
                                marker_text.id = counter;
                                
                                //position
                                marker_text.pose.position.x = p.x;
                                marker_text.pose.position.y = p.y;
                                
                                if (nav_map.debug_accessibility==1)
                                        marker_text.pose.position.z = (1-node_data->z_accessibility)+0.1; 
                                else if (nav_map.debug_accessibility==2)
                                        marker_text.pose.position.z = (1-node_data->angleX_accessibility)+0.1; 
                                else if (nav_map.debug_accessibility==3)
                                        marker_text.pose.position.z = (1-node_data->angleY_accessibility)+0.1; 
                                else if (nav_map.debug_accessibility==4)
                                        marker_text.pose.position.z = (1-node_data->angleZ_accessibility)+0.1; 
                                else if (nav_map.debug_accessibility==5)
                                        marker_text.pose.position.z = (1-node_data->total_accessibility)+0.1;
                                
                                //text
                                boost::format fm("%d");
                                if (nav_map.debug_accessibility==1)
                                        fm % node_data->z_accessibility;
                                else if (nav_map.debug_accessibility==2)
                                        fm % node_data->angleX_accessibility;
                                else if (nav_map.debug_accessibility==3)
                                        fm % node_data->angleY_accessibility;
                                else if (nav_map.debug_accessibility==4)
                                        fm % node_data->angleZ_accessibility;
                                else if (nav_map.debug_accessibility==5)
                                        fm % node_data->total_accessibility;
                        
                                marker_text.text = fm.str();
                                //update marker
//                              marker_list.update(marker_text);
                                
                        }
                        counter++;
                }       
        }

        //Remove markers that should not be transmitted
        marker_list.clean();
        
        //Clean the marker_vector and put new markers in it;
        return marker_list.getOutgoingMarkers();        
}



visualization_msgs::Marker create_Markers_Polygon(Navigability_Map& nav_map, std::string grid_frame)
{
        //publish a marker to rviz with the polygon
        visualization_msgs::Marker mk; //declare the array
        
        std_msgs::ColorRGBA color;

        mk.header.frame_id = grid_frame; mk.header.stamp = ros::Time::now();    mk.ns = "polygon";
        mk.action = visualization_msgs::Marker::ADD;    mk.type = visualization_msgs::Marker::LINE_STRIP; mk.id = 0;
        mk.pose.position.x = 0; mk.pose.position.y = 0; mk.pose.position.z = 0;
        mk.pose.orientation.x = 0;      mk.pose.orientation.y = 0;      mk.pose.orientation.z = 0;      mk.pose.orientation.w = 1;
        mk.scale.x = 0.08; mk.scale.y = 0.01; mk.scale.z = 0;
        mk.color.r = 0; mk.color.g = 1; mk.color.b = 0; mk.color.a = 1;

        
        for (uint i=0; i<nav_map.polygon_points.size(); i++)
                mk.points.push_back(nav_map.polygon_points[i]); 
        
        nav_map.polygon_points.erase(nav_map.polygon_points.begin(),nav_map.polygon_points.end());
        return mk;
}

visualization_msgs::Marker create_Markers_Obstacle(Navigability_Map& nav_map, std::string grid_frame)
{
        //publish a marker to rviz with the polygon
        visualization_msgs::Marker mk; //declare the array
        
        std_msgs::ColorRGBA color;

        mk.header.frame_id = grid_frame; mk.header.stamp = ros::Time::now();    mk.ns = "polygon_obstacle";
        mk.action = visualization_msgs::Marker::ADD;    mk.type = visualization_msgs::Marker::LINE_STRIP; mk.id = 0;
        mk.pose.position.x = 0; mk.pose.position.y = 0; mk.pose.position.z = 0;
        mk.pose.orientation.x = 0;      mk.pose.orientation.y = 0;      mk.pose.orientation.z = 0;      mk.pose.orientation.w = 1;
        mk.scale.x = 0.08; mk.scale.y = 0.01; mk.scale.z = 0;
        mk.color.r = 1; mk.color.g = 0; mk.color.b = 0; mk.color.a = 1;

        
        for (uint i=0; i<nav_map.obstacle_points.size(); i++)
                mk.points.push_back(nav_map.obstacle_points[i]);        
        
        nav_map.obstacle_points.erase(nav_map.obstacle_points.begin(),nav_map.obstacle_points.end());
        return mk;
}

---

navigability_map
Author(s): Matos
autogenerated on Wed Jul 23 04:33:41 2014