shape_to_marker.cpp

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#include <shape_tools/shape_to_marker.h>
#include <sstream>
#include <stdexcept>

void shape_tools::constructMarkerFromShape(const shape_msgs::SolidPrimitive &shape_msg, visualization_msgs::Marker &mk)
{  
  switch (shape_msg.type)
  {
  case shape_msgs::SolidPrimitive::SPHERE:
    if (shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::SPHERE_RADIUS)
      throw std::runtime_error("Insufficient dimensions in sphere definition");
    else
    {
      mk.type = visualization_msgs::Marker::SPHERE;
      mk.scale.x = mk.scale.y = mk.scale.z = shape_msg.dimensions[shape_msgs::SolidPrimitive::SPHERE_RADIUS] * 2.0;
    }
    break;
  case shape_msgs::SolidPrimitive::BOX:
    if (shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::BOX_X ||
        shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::BOX_Y ||
        shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::BOX_Z)
      throw std::runtime_error("Insufficient dimensions in box definition");
    else
    {
      mk.type = visualization_msgs::Marker::CUBE;
      mk.scale.x = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_X];
      mk.scale.y = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Y];
      mk.scale.z = shape_msg.dimensions[shape_msgs::SolidPrimitive::BOX_Z];
    }
    break;
  case shape_msgs::SolidPrimitive::CONE:
    if (shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::CONE_RADIUS ||
        shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::CONE_HEIGHT)
      throw std::runtime_error("Insufficient dimensions in cone definition");
    else
    {
      // there is no CONE marker, so this produces a cylinder marker as well 
      mk.type = visualization_msgs::Marker::CYLINDER;
      mk.scale.x = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_RADIUS] * 2.0;
      mk.scale.y = mk.scale.x;
      mk.scale.z = shape_msg.dimensions[shape_msgs::SolidPrimitive::CONE_HEIGHT];
    }
    break;
  case shape_msgs::SolidPrimitive::CYLINDER:
    if (shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::CYLINDER_RADIUS ||
        shape_msg.dimensions.size() <= shape_msgs::SolidPrimitive::CYLINDER_HEIGHT)
      throw std::runtime_error("Insufficient dimensions in cylinder definition");
    else
    {
      mk.type = visualization_msgs::Marker::CYLINDER;
      mk.scale.x = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_RADIUS] * 2.0;
      mk.scale.y = mk.scale.x;
      mk.scale.z = shape_msg.dimensions[shape_msgs::SolidPrimitive::CYLINDER_HEIGHT];
    }
    break;
  default:
    {
      std::stringstream ss;
      ss << shape_msg.type;
      throw std::runtime_error("Unknown shape type: " + ss.str());
    }
  }
}

void shape_tools::constructMarkerFromShape(const shape_msgs::Mesh &shape_msg, visualization_msgs::Marker &mk, bool use_mesh_triangle_list)
{
  if (shape_msg.triangles.empty() || shape_msg.vertices.empty())
    throw std::runtime_error("Mesh definition is empty");
  if (use_mesh_triangle_list)
  {
    mk.type = visualization_msgs::Marker::TRIANGLE_LIST;
    mk.scale.x = mk.scale.y = mk.scale.z = 1.0;
    for (std::size_t i = 0 ; i < shape_msg.triangles.size() ; ++i)
    {
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[0]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[1]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[2]]);
    }
  }
  else
  {
    mk.type = visualization_msgs::Marker::LINE_LIST;
    mk.scale.x = mk.scale.y = mk.scale.z = 0.01;
    for (std::size_t i = 0 ; i < shape_msg.triangles.size() ; ++i)
    {
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[0]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[1]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[0]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[2]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[1]]);
      mk.points.push_back(shape_msg.vertices[shape_msg.triangles[i].vertex_indices[2]]);
    }
  }    
  
}