fast_plane_detection: fast_plane_detection: utils.h Source File

00001 /*
00002  * Copyright (c) 2011, Jeannette Bohg and Mårten Björkman 
00003  * ({bohg,celle}@csc.kth.se) 
00004  * All rights reserved.
00005  *
00006  * Redistribution and use in source and binary forms, with or without
00007  * modification, are permitted provided that the following conditions are
00008  * met:
00009  *
00010  *  1.Redistributions of source code must retain the above copyright
00011  *    notice, this list of conditions and the following disclaimer.
00012  *  2.Redistributions in binary form must reproduce the above
00013  *    copyright notice, this list of conditions and the following
00014  *    disclaimer in the documentation and/or other materials provided
00015  *    with the distribution.  
00016  *  3.The name of Jeannette Bohg or Mårten Björkman may not be used to 
00017  *    endorse or promote products derived from this software without 
00018  *    specific prior written permission.
00019  *
00020  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00021  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00022  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
00023  * A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
00024  * HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
00025  * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
00026  * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
00027  * DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
00028  * THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00029  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00030  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00031  */
00032 
00033 #include <visualization_msgs/Marker.h>
00034 #include <geometry_msgs/Point32.h>
00035 
00036 namespace fast_plane_detection {
00037   
00038   visualization_msgs::Marker 
00039     getPlaneMarker( geometry_msgs::Point32 top_left,
00040                     geometry_msgs::Point32 top_right,
00041                     geometry_msgs::Point32 bottom_left,
00042                     geometry_msgs::Point32 bottom_right)
00043     {
00044       visualization_msgs::Marker marker;
00045       marker.action = visualization_msgs::Marker::ADD;
00046       marker.type = visualization_msgs::Marker::LINE_STRIP;
00047       marker.lifetime = ros::Duration();
00048 
00049       // create the marker in the table reference frame
00050       // the caller is responsible for setting the pose of 
00051       // the marker to match
00052 
00053       marker.scale.x = 0.001;
00054       marker.scale.y = 0.001;
00055       marker.scale.z = 0.001;
00056 
00057       marker.points.resize(5);
00058       marker.points[0].x = top_left.x;
00059       marker.points[0].y = top_left.y;
00060       marker.points[0].z = 0;
00061   
00062       marker.points[1].x = top_right.x;
00063       marker.points[1].y = top_right.y;
00064       marker.points[1].z = 0;
00065       
00066       marker.points[2].x = bottom_right.x;
00067       marker.points[2].y = bottom_right.y;
00068       marker.points[2].z = 0;
00069       
00070       marker.points[3].x = bottom_left.x;
00071       marker.points[3].y = bottom_left.y;
00072       marker.points[3].z = 0;
00073       
00074       marker.points[4].x = top_left.x;
00075       marker.points[4].y = top_left.y;
00076       marker.points[4].z = 0;
00077 
00078       marker.points.resize(6);
00079       marker.points[5].x = top_left.x;
00080       marker.points[5].y = top_left.y;
00081       marker.points[5].z = 0.02;
00082    
00083       marker.color.r = 1.0;
00084       marker.color.g = 1.0;
00085       marker.color.b = 0.0;
00086       marker.color.a = 1.0;
00087 
00088       return marker;
00089     }
00090 
00091 }