extract_polygon_primitives_rvizmarkers.cpp
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36 #ifndef _extract_polygon_primitives_RVIZMARKERS_CPP_
37 #define _extract_polygon_primitives_RVIZMARKERS_CPP_
38 
42 #include "extract_polygon_primitives.h"
43 
44 visualization_msgs::Marker create_visualization_marker_header(
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
51  )
52 {
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;
60  return mk;
61 }
62 
63 void create_publish_marker_array(std::vector<c_polygon_primitive> *plg, visualization_msgs::MarkerArray *marker_array_msg)
64 {
65  //Create and publish the marker array
66  geometry_msgs::Point p;
67  std_msgs::ColorRGBA color;
68  std::vector<visualization_msgs::Marker> marker_vec;
69 
70  //for (int i=0, id=0; i<(int)plg->size();i++)
71  for (int i=0, id=0; i<plg->size();i++)
72  {
73 
74 
75  (*plg)[i].create_vizualization_msgs(marker_array_msg, 0+100*i);
76  continue;
77 
78  //if (true) //Polygon name marker (TEXT_VIEW_FACING)
79  //{
80  //visualization_msgs::Marker msg = create_visualization_marker_header(
81  //(*plg)[i].data.frames.global_name, ros::Time::now(),"name",
82  //visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::TEXT_VIEW_FACING,
83  //(*plg)[i].data.frames.current.origin.x, (*plg)[i].data.frames.current.origin.y, (*plg)[i].data.frames.current.origin.z,
84  //0,0,0,1,
85  //1,1,0.6,
86  //(*plg)[i].data.misc.color.r/255., (*plg)[i].data.misc.color.g/255., (*plg)[i].data.misc.color.b/255., 1
87  //);
88 
89  //char str[1024];
90  //sprintf(str,"%s A=%3.2f S=%3.2f",(*plg)[i].data.misc.name, (*plg)[i].data.hulls.convex.area, (*plg)[i].data.hulls.convex.solidity);
91  //std::string tmp_str(str);
92  //msg.text = tmp_str;
93  //marker_vec.push_back(msg);
94  //}
95 
96 
97  //if (true) //concave hull marker (LINE_STRIP)
98  //{
99  //visualization_msgs::Marker msg = create_visualization_marker_header(
100  //(*plg)[i].data.frames.global_name, ros::Time::now(),"concave_hull",
101  //visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::LINE_STRIP,
102  //0,0,0,
103  //0,0,0,1,
104  //0.05,1,1,
106  //0, 1, 0,1
107  //);
108 
109  //if ((int)(*plg)[i].data.hulls.concave.polygon->points.size() >0)
110  //{
111  //for (unsigned int u=0; u< (*plg)[i].data.hulls.concave.polygon->size(); u++)
112  //{
113  //p.x = (*plg)[i].data.hulls.concave.polygon->points[u].x;
114  //p.y = (*plg)[i].data.hulls.concave.polygon->points[u].y;
115  //p.z = (*plg)[i].data.hulls.concave.polygon->points[u].z;
116  //msg.points.push_back(p);
117  //}
118  //p.x = (*plg)[i].data.hulls.concave.polygon->points[0].x;
119  //p.y = (*plg)[i].data.hulls.concave.polygon->points[0].y;
120  //p.z = (*plg)[i].data.hulls.concave.polygon->points[0].z;
121  //msg.points.push_back(p);
122  //}
123  //else
124  //{
125  //p.x = 0; p.y = 0; p.z = 0;
126  //msg.points.push_back(p);
127  //p.x = 1; p.y = 1; p.z = 1;
128  //msg.points.push_back(p);
129  //}
130 
131  //ROS_INFO("msg r=%f g=%f b=%f", msg.color.r, msg.color.g, msg.color.b);
132  //marker_vec.push_back(msg);
133  //}
134 
135 
136  //if ((int)(*plg)[i].data.hulls.convex.polygon->points.size() >1) //convex hull marker (LINE_STRIP)
137  //{
138  //visualization_msgs::Marker msg = create_visualization_marker_header(
139  //(*plg)[i].data.frames.global_name, ros::Time::now(),"convex_hull",
140  //visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::LINE_STRIP,
141  //0,0,0,
142  //0,0,0,1,
143  //0.05,1,1,
145  //1,0,0, 1
146  //);
147 
148  //for (unsigned int u=0; u< (*plg)[i].data.hulls.convex.polygon->size(); u++)
149  //{
150  //p.x = (*plg)[i].data.hulls.convex.polygon->points[u].x;
151  //p.y = (*plg)[i].data.hulls.convex.polygon->points[u].y;
152  //p.z = (*plg)[i].data.hulls.convex.polygon->points[u].z;
153  //msg.points.push_back(p);
154  //}
155  //p.x = (*plg)[i].data.hulls.convex.polygon->points[0].x;
156  //p.y = (*plg)[i].data.hulls.convex.polygon->points[0].y;
157  //p.z = (*plg)[i].data.hulls.convex.polygon->points[0].z;
158  //msg.points.push_back(p);
159 
160  //marker_vec.push_back(msg);
161  //}
162 
163  //if ((int)(*plg)[i].data.hulls.convex.extended_polygon->points.size() >1) //extended convex hull marker (LINE_STRIP)
164  //{
165  //visualization_msgs::Marker msg = create_visualization_marker_header(
166  //(*plg)[i].data.frames.global_name, ros::Time::now(),"extended_convex_hull",
167  //visualization_msgs::Marker::ADD, id++, visualization_msgs::Marker::LINE_STRIP,
168  //0,0,0,
169  //0,0,0,1,
170  //0.05,1,1,
171  //(*plg)[i].data.misc.color.r/255./4, (*plg)[i].data.misc.color.g/255./4, (*plg)[i].data.misc.color.b/255./4, 1
172  //);
173 
174  //for (unsigned int u=0; u< (*plg)[i].data.hulls.convex.extended_polygon->size(); u++)
175  //{
176  //p.x = (*plg)[i].data.hulls.convex.extended_polygon->points[u].x;
177  //p.y = (*plg)[i].data.hulls.convex.extended_polygon->points[u].y;
178  //p.z = (*plg)[i].data.hulls.convex.extended_polygon->points[u].z;
179  //msg.points.push_back(p);
180  //}
181  //p.x = (*plg)[i].data.hulls.convex.extended_polygon->points[0].x;
182  //p.y = (*plg)[i].data.hulls.convex.extended_polygon->points[0].y;
183  //p.z = (*plg)[i].data.hulls.convex.extended_polygon->points[0].z;
184  //msg.points.push_back(p);
185 
186  //marker_vec.push_back(msg);
187  //}
188 
189 
190 
191  //}
192 
193 
194 
195 
196 
197 
198  //Draw the camera projections
199 
200  //for (size_t j=0; j< (*plg)[i].cp.size(); j++)
201  //{
202  //visualization_msgs::Marker msg11; //declare the msg
203  //msg11.header.frame_id = (*plg)[i].data.frames.global_name;
204  //msg11.header.stamp = ros::Time::now();
205  //msg11.ns = "raw_projection";
206  //msg11.action = visualization_msgs::Marker::ADD;
207  //msg11.pose.orientation.w = 1.0;
208  //msg11.type = visualization_msgs::Marker::POINTS;
209  //msg11.id = id++;
210 
211  //msg11.scale.x = 1;
212  //msg11.scale.y = 1;
213  //msg11.color.r = (*plg)[i].data.misc.color.r/255.;
214  //msg11.color.g = (*plg)[i].data.misc.color.g/255.;
215  //msg11.color.b = (*plg)[i].data.misc.color.b/255.;
216  //msg11.color.a = 1;
217 
218  //for (size_t u=0; u< (*plg)[i].cp[j].vertex_projectable.points.size(); u++)
219  //{
220  //p.x = (*plg)[i].cp[j].vertex_projectable.points[u].x;
221  //p.y = (*plg)[i].cp[j].vertex_projectable.points[u].y;
222  //p.z = (*plg)[i].cp[j].vertex_projectable.points[u].z;
224 
225  //msg11.points.push_back(p);
226 
227  //uint32_t rgb = (uint32_t)(*plg)[i].cp[j].vertex_projectable.points[u].rgb;
228  //uint8_t r = (rgb >> 16) & 0x0000ff;
229  //uint8_t g = (rgb >> 8) & 0x0000ff;
230  //uint8_t b = (rgb) & 0x0000ff;
231 
232 
233  //color.r = (float)r/255.0;
234  //color.g = (float)g/255.0;
235  //color.b = (float)b/255.0;
236  //color.r = 1.0;
237  //color.g = 0.0;
238  //color.b = 0.0;
239  //color.a =1;
240 
241  //msg11.colors.push_back(color);
242 
243  //}
244 
245  //marker_vec.push_back(msg11);
246  //}
247  }
248 
249 // marker_array_msg->set_markers_vec(marker_vec);
250 }
251 
252 
253 
254 
255 #endif
256 
cr
unsigned char cr[16]
create_publish_marker_array
void create_publish_marker_array(std::vector< c_polygon_primitive > *plg, visualization_msgs::MarkerArray *marker_array_msg)
Definition: extract_polygon_primitives_rvizmarkers.cpp:63
create_visualization_marker_header
visualization_msgs::Marker create_visualization_marker_header(std::string frame_id, ros::Time stamp, std::string name, int action, int id, int type, double px, double py, double pz, double qx, double qy, double qz, double qw, double sx, double sy, double sz, double cr, double cg, double cb, double alpha)
Definition: extract_polygon_primitives_rvizmarkers.cpp:44
Point
K::Point_2 Point
Definition: preh.h:66
extract_polygon_primitives.h
Header of the extract polygon primitives binary.

polygon_primitives_extraction
Author(s): Miguel Oliveira
autogenerated on Mon Mar 2 2015 01:32:42