plot.h

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/*
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 *  Copyright (c) 2015, Andreas ten Pas
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#ifndef PLOT_H
#define PLOT_H

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/point_cloud_color_handlers.h>

#include <geometry_msgs/Point.h>
#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>

#include <agile_grasp/grasp_hypothesis.h>
#include <agile_grasp/handle.h>
#include <agile_grasp/quadric.h>


typedef pcl::PointCloud<pcl::PointNormal> PointCloudNormal;
typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;

class Plot
{
        public:

    void plotFingers(const std::vector<Handle>& handle_list, const PointCloud::Ptr& cloud, std::string str,
      double outer_diameter = 0.09, double hand_depth = 0.09);

    void plotFingers(const std::vector<GraspHypothesis>& hand_list, const PointCloud::Ptr& cloud, std::string str,
      double outer_diameter = 0.09, double hand_depth = 0.09);
                
                void plotHands(const std::vector<GraspHypothesis>& hand_list, const PointCloud::Ptr& cloud, std::string str,
                        bool use_grasp_bottom = false);
                
                void plotHands(const std::vector<GraspHypothesis>& hand_list,
                        const std::vector<GraspHypothesis>& antipodal_hand_list, const PointCloud::Ptr& cloud, std::string str,
                        bool use_grasp_bottom = false);
                
                void plotSamples(const std::vector<int>& index_list, const PointCloud::Ptr& cloud);
                
                void plotLocalAxes(const std::vector<Quadric>& quadric_list, const PointCloud::Ptr& cloud);
                
                void plotCameraSource(const Eigen::VectorXi& pts_cam_source_in, const PointCloud::Ptr& cloud);
                
                void createVisualPublishers(ros::NodeHandle& node, double marker_lifetime);
                
                void plotGraspsRviz(const std::vector<GraspHypothesis>& hand_list, const std::string& frame, 
                        bool is_antipodal = false);
                
                void plotHandlesRviz(const std::vector<Handle>& handle_list, const std::string& frame);
                
                void plotHandles(const std::vector<Handle>& handle_list, const PointCloud::Ptr& cloud, std::string str);
                
        private:
                
                PointCloud::Ptr createFingersCloud(const std::vector<GraspHypothesis>& hand_list, double outer_diameter,
                  double hand_depth);

                PointCloudNormal::Ptr createNormalsCloud(const std::vector<GraspHypothesis>& hand_list,
                        bool plots_only_antipodal, bool plots_grasp_bottom);
                
                void addCloudToViewer(boost::shared_ptr<pcl::visualization::PCLVisualizer>& viewer,
                  const PointCloud::Ptr& cloud, const std::string& name, int point_size = 1);

                void addCloudNormalsToViewer(boost::shared_ptr<pcl::visualization::PCLVisualizer>& viewer,
                        const PointCloudNormal::Ptr& cloud, double line_width, double* color_cloud, double* color_normals,
                        const std::string& cloud_name, const std::string& normals_name);
                
                void plotHandsHelper(const PointCloudNormal::Ptr& hands_cloud, const PointCloudNormal::Ptr& antipodal_hands_cloud, 
                        const PointCloud::Ptr& cloud,   std::string str, bool use_grasp_bottom);
                
                void runViewer(boost::shared_ptr<pcl::visualization::PCLVisualizer>& viewer);
                
                boost::shared_ptr<pcl::visualization::PCLVisualizer> createViewer(std::string title);
                
                visualization_msgs::Marker createApproachMarker(const std::string& frame, const geometry_msgs::Point& center, 
                        const Eigen::Vector3d& approach, int id, const double* color, double alpha, double diam);
                
                visualization_msgs::Marker createMarker(const std::string& frame);
                
    void setPointColor(const GraspHypothesis& hand, pcl::PointXYZRGBA& p);

    pcl::PointXYZRGBA eigenVector3dToPointXYZRGBA(const Eigen::Vector3d& v);

                ros::Publisher hypotheses_pub_; 
                ros::Publisher antipodal_pub_; 
                ros::Publisher handles_pub_; 
                double marker_lifetime_; 
};

#endif /* PLOT_H */