marker_generator.h

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// Author(s): Marius Muja and Matei Ciocarlie

#ifndef _MARKER_GENERATOR_H_
#define _MARKER_GENERATOR_H_

#include <vector>

#include <boost/ptr_container/ptr_vector.hpp>

#include <visualization_msgs/Marker.h>
#include <shape_msgs/Mesh.h>
#include <geometry_msgs/Pose.h>

namespace tabletop_object_detector {

class ModelFitInfo;


class MarkerGenerator {
 public:
  static visualization_msgs::Marker getTableMarker(float xmin, float xmax, float ymin, float ymax);
  template <class PointCloudType>
  static visualization_msgs::Marker getCloudMarker(const PointCloudType& cloud);
  static visualization_msgs::Marker getFitMarker(const shape_msgs::Mesh &mesh, double rank);  
  static visualization_msgs::Marker getConvexHullTableMarker(const shape_msgs::Mesh &mesh);
  static visualization_msgs::Marker createMarker(std::string frame_id, double duration, double xdim, double ydim, double zdim,
                                          double r, double g, double b, int type, int id, std::string ns, geometry_msgs::Pose pose);
};

template <class PointCloudType>
visualization_msgs::Marker MarkerGenerator::getCloudMarker(const PointCloudType& cloud)
{
  static bool first_time = true;
  if (first_time) {
    srand ( time(NULL) );
    first_time = false;
  }

  //create the marker
  visualization_msgs::Marker marker;
  marker.action = visualization_msgs::Marker::ADD;
  marker.lifetime = ros::Duration();

  marker.type = visualization_msgs::Marker::POINTS;
  marker.scale.x = 0.002;
  marker.scale.y = 0.002;
  marker.scale.z = 1.0;

  marker.color.r = ((double)rand())/RAND_MAX;
  marker.color.g = ((double)rand())/RAND_MAX;
  marker.color.b = ((double)rand())/RAND_MAX;
  marker.color.a = 1.0;

  for(size_t i=0; i<cloud.points.size(); i++) {
    geometry_msgs::Point p;
    p.x = cloud.points[i].x;
    p.y = cloud.points[i].y;
    p.z = cloud.points[i].z;
    marker.points.push_back(p);
  }

  //the caller must decide the header; we are done here
  return marker;
}


}//namespace

#endif