36 #ifndef _extract_polygon_primitives_RVIZMARKERS_CPP_
37 #define _extract_polygon_primitives_RVIZMARKERS_CPP_
45 std::string frame_id, ros::Time stamp, std::string name,
46 int action,
int id,
int type,
47 double px,
double py,
double pz,
48 double qx,
double qy,
double qz,
double qw,
49 double sx,
double sy,
double sz,
50 double cr,
double cg,
double cb,
double alpha
53 visualization_msgs::Marker mk;
54 mk.header.frame_id = frame_id; mk.header.stamp = stamp; mk.ns = name;
55 mk.action = action; mk.type = type; mk.id = id;
56 mk.pose.position.x = px; mk.pose.position.y = py; mk.pose.position.z = pz;
57 mk.pose.orientation.x = qx; mk.pose.orientation.y = qy; mk.pose.orientation.z = qz; mk.pose.orientation.w = qw;
58 mk.scale.x = sx; mk.scale.y = sy; mk.scale.z = sz;
59 mk.color.r =
cr; mk.color.g = cg; mk.color.b = cb; mk.color.a = alpha;
67 std_msgs::ColorRGBA color;
68 std::vector<visualization_msgs::Marker> marker_vec;
71 for (
int i=0,
id=0; i<plg->size();i++)
75 (*plg)[i].create_vizualization_msgs(marker_array_msg, 0+100*i);