rviz_markers.hpp

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#ifndef _RVIZ_MARKERS_HPP_
#define _RVIZ_MARKERS_HPP_

#include <pointcloud_segmentation/rviz_markers.h>

template <class T>
std::string to_string (const T& t)
{
    std::stringstream ss;
    ss << t;
    return ss.str();
};

template <class T>
visualization_msgs::Marker markers<T>::unmark(std::string frame_id, std::string ns, int id)
{
    uint32_t shape = visualization_msgs::Marker::CUBE;
    visualization_msgs::Marker marker;
    marker.header.frame_id = frame_id;
    marker.header.stamp = ros::Time::now();
    
    marker.pose.position.x = 100;
    marker.pose.position.y = 100;
    marker.pose.position.z = 100;
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;
    
    marker.scale.x = 0.1;
    marker.scale.y = 0.1;
    marker.scale.z = 0.1;
    
    marker.color.r = 1.0f;
    marker.color.g = 0.0f;
    marker.color.b = 0.0f;
    marker.color.a = 0.5;
    
    marker.ns = ns;
    marker.id = id;
    marker.type = shape;
    marker.action = visualization_msgs::Marker::ADD;
    marker.lifetime = ros::Duration();
    return marker;
}; 

template <class T>
visualization_msgs::Marker markers<T>::mark(typename PointCloud<T>::Ptr cloud_cluster, string ns ,int id, float r, float g, float b)
{
    Eigen::Vector4f centroid;
    Eigen::Vector4f min;
    Eigen::Vector4f max;
    
    compute3DCentroid (*cloud_cluster, centroid);
    getMinMax3D (*cloud_cluster, min, max);
    
    uint32_t shape = visualization_msgs::Marker::CUBE;
    visualization_msgs::Marker marker;
    marker.header.frame_id = cloud_cluster->header.frame_id;
    marker.header.stamp = ros::Time::now();
    
    marker.ns = ns;
    marker.id = id;
    marker.type = shape;
    marker.action = visualization_msgs::Marker::ADD;
    
    marker.pose.position.x = centroid[0];
    marker.pose.position.y = centroid[1];
    marker.pose.position.z = centroid[2];
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;
    
    marker.scale.x = (max[0]-min[0]);
    marker.scale.y = (max[1]-min[1]);
    marker.scale.z = (max[2]-min[2]);
    
    if (marker.scale.x ==0)
        marker.scale.x=0.1;
    
    if (marker.scale.y ==0)
        marker.scale.y=0.1;
    
    if (marker.scale.z ==0)
        marker.scale.z=0.1;
    
    marker.color.r = r;
    marker.color.g = g;
    marker.color.b = b;
    marker.color.a = 0.3;
    
    marker.lifetime = ros::Duration();
    //   marker.lifetime = ros::Duration(0.5);
    return marker;
};

template<class T>
visualization_msgs::Marker markers<T>::mark_text(typename PointCloud<T>::Ptr cloud_cluster, string ns ,int id, float r, float g, float b)
{
    Eigen::Vector4f centroid;
    Eigen::Vector4f min;
    Eigen::Vector4f max;
    
    compute3DCentroid (*cloud_cluster, centroid);
    pcl::getMinMax3D (*cloud_cluster, min, max);
    
    uint32_t shape = visualization_msgs::Marker::TEXT_VIEW_FACING;
    visualization_msgs::Marker marker;
    marker.header.frame_id = cloud_cluster->header.frame_id;
    marker.header.stamp = ros::Time::now();
    
    marker.ns = ns;
    marker.id = id;
    marker.type = shape;
    marker.action = visualization_msgs::Marker::ADD;
    
    marker.pose.position.x = centroid[0];
    marker.pose.position.y = centroid[1];
    marker.pose.position.z = max[2]+0.2;
    
    marker.scale.z = 0.4;
    marker.color.r = r;
    marker.color.g = g;
    marker.color.b = b;
    marker.color.a = 1.0;
    
    // Setup the text to show
    string text;
    text = "Cluster" + to_string(id) + "\n X=" + to_string(round(centroid[0])) + ", Y=" + to_string(round(centroid[1])) + ", Z=" + to_string(round(centroid[2])) ;
    marker.text=text;
    marker.lifetime = ros::Duration();   
    return marker;
};

#endif