visualizer.cpp

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#include <handle_detector/visualizer.h>


Visualizer::Visualizer(double marker_lifetime)
{
  this->marker_lifetime = marker_lifetime;
}

MarkerArray Visualizer::createCylinders(const std::vector<CylindricalShell> &list, const std::string &frame)
{
  // create and resize a marker array message
  MarkerArray marker_array;
  marker_array.markers.resize(list.size());

  for (std::size_t i = 0; i < list.size(); i++)
  {
    // create marker
    visualization_msgs::Marker marker;
    marker.header.frame_id = frame;
    marker.header.stamp = ros::Time::now();

    // namespace and id to give the marker a unique identification
    marker.ns = "cylinders_ns";
    marker.id = i;

    // how long the marker exists
    marker.lifetime = ros::Duration(this->marker_lifetime);

    // type of marker (cylinder)
    marker.type = visualization_msgs::Marker::CYLINDER;
    marker.action = visualization_msgs::Marker::ADD;

    // marker position
    marker.pose.position.x = list[i].getCentroid()(0);
    marker.pose.position.y = list[i].getCentroid()(1);
    marker.pose.position.z = list[i].getCentroid()(2);

    // marker rotation
    geometry_msgs::PoseStamped cylinder_pose_msg;
    Eigen::Vector3d axis = list[i].getCurvatureAxis();
    Eigen::Vector3d normal = list[i].getNormal();
    Eigen::Vector3d perp = normal.cross(axis);
    tf::Matrix3x3 rotation_matrix(perp(0), normal(0), axis(0), perp(1), normal(1), axis(1), perp(2), normal(2),
                                  axis(2));
    tf::Quaternion quaternion;
    rotation_matrix.getRotation(quaternion);
    tf::Stamped<tf::Transform> cylinder_tf_pose(tf::Transform(quaternion), marker.header.stamp, frame);
    tf::poseStampedTFToMsg(cylinder_tf_pose, cylinder_pose_msg);
    marker.pose.orientation = cylinder_pose_msg.pose.orientation;

    // marker scale
    marker.scale.x = list[i].getRadius() * 2; // diameter in x-direction
    marker.scale.y = list[i].getRadius() * 2; // diameter in y-direction
    marker.scale.z = list[i].getExtent(); // height

    // marker color and transparency
    marker.color.a = 0.3;
    marker.color.r = 0;
    marker.color.g = 255;
    marker.color.b = 255;

    marker_array.markers[i] = marker;
  }

  return marker_array;
}

MarkerArray Visualizer::createHandleNumbers(const std::vector<std::vector<CylindricalShell> > &handles,
                                            const std::string &frame)
{
  // create and resize a marker array message
  MarkerArray marker_array;
  marker_array.markers.resize(handles.size() * 2);

  for (std::size_t i = 0; i < handles.size() * 2; i++)
  {
    visualization_msgs::Marker marker;
    marker.header.frame_id = frame;
    marker.header.stamp = ros::Time::now();
    marker.ns = "handle_numbers";
    marker.id = i;
    marker.lifetime = ros::Duration(this->marker_lifetime);

    if (i % 2 == 0)
    {
      marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
      marker.action = visualization_msgs::Marker::ADD;

      // height of an upper-case "A"
      marker.scale.z = 0.03;

      // marker position
      marker.pose.position.x = handles[i / 2][0].getCentroid()(0);
      marker.pose.position.y = handles[i / 2][0].getCentroid()(1);
      marker.pose.position.z = handles[i / 2][0].getCentroid()(2) - 0.06;

      // marker color and transparency
      marker.color.a = 1.0;
      marker.color.r = 1.0;
      marker.color.g = 0.0;
      marker.color.b = 0.0;

      // displayed text
      marker.text = boost::lexical_cast < std::string > ((i / 2) + 1);
    }
    else
    {
      // type of marker (cylinder)
      marker.type = visualization_msgs::Marker::CUBE;
      marker.action = visualization_msgs::Marker::ADD;

      // height of an upper-case "A"
      marker.scale.x = 0.03;
      marker.scale.y = 0.03;
      marker.scale.z = 0.001;

      // marker position
      marker.pose.position.x = marker_array.markers[i - 1].pose.position.x;
      marker.pose.position.y = marker_array.markers[i - 1].pose.position.y;
      marker.pose.position.z = marker_array.markers[i - 1].pose.position.z + 0.015;

      // marker color and transparency
      marker.color.a = 1.0;
      marker.color.r = 1.0;
      marker.color.g = 1.0;
      marker.color.b = 1.0;
    }
    marker_array.markers[i] = marker;
  }

  return marker_array;
}

void Visualizer::createHandles(const std::vector<std::vector<CylindricalShell> > &handles, const std::string &frame,
                               std::vector<MarkerArray> &marker_arrays, MarkerArray &all_handle_markers)
{
  marker_arrays.resize(handles.size());
  std::vector<CylindricalShell> handle_shells;
  int k = 0;

  for (std::size_t i = 0; i < handles.size(); i++)
  {
    marker_arrays[i] = this->createCylinders(handles[i], frame);
    for (int j = 0; j < handles[i].size(); j++)
      handle_shells.push_back(handles[i][j]);
  }

  all_handle_markers = this->createCylinders(handle_shells, frame);
}