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00001 /********************************************************************* 00002 * 00003 * Copyright (c) 2009, Willow Garage, Inc. 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 00008 * are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * 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 * * Neither the name of the Willow Garage nor the names of its 00017 * contributors may be used to endorse or promote products derived 00018 * from this software without 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 00023 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00024 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00025 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00026 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00027 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00028 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00029 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00030 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00031 * POSSIBILITY OF SUCH DAMAGE. 00032 *********************************************************************/ 00033 00034 // Author(s): Marius Muja and Matei Ciocarlie 00035 00036 #include "tabletop_vfh_cluster_detector/marker_generator.h" 00037 00038 //for random colors 00039 #include <stdlib.h> 00040 #include <time.h> 00041 00042 #include <geometry_msgs/Pose.h> 00043 00044 #include <tf/transform_datatypes.h> 00045 00046 namespace tabletop_vfh_cluster_detector { 00047 00048 visualization_msgs::Marker MarkerGenerator::getFitMarker(const arm_navigation_msgs::Shape &mesh, double rank) 00049 { 00050 //create the marker 00051 visualization_msgs::Marker marker; 00052 marker.action = visualization_msgs::Marker::ADD; 00053 marker.lifetime = ros::Duration(); 00054 marker.type = visualization_msgs::Marker::POINTS; 00055 //marker will be published in object frame, so its pose is identity 00056 marker.color.a = 1.0; 00057 00058 marker.color.r = rank; 00059 marker.color.g = 1 - rank; 00060 marker.color.b = 0.0; 00061 00062 marker.scale.x = 0.003; 00063 marker.scale.y = 0.003; 00064 marker.points.insert(marker.points.begin(), mesh.vertices.begin(), mesh.vertices.end()); 00065 00066 for (int i=0; i<40; i++) 00067 { 00068 geometry_msgs::Point p; 00069 p.x = 0.0005 * i; 00070 p.y = p.z = 0.0; 00071 marker.points.push_back(p); 00072 } 00073 00074 return marker; 00075 } 00076 00077 } //namespace tabletop_object_detector