Visualizer.h

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/*
 * Visualizer.h
 *
 *  Created on: May 8, 2012
 *      Author: sdries
 */

#ifndef VISUALIZER_H_
#define VISUALIZER_H_

#include "ros/ros.h"
#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <wire_msgs/Property.h>

#include "tf/transform_listener.h"

#include "problib/conversions.h"



#include <map>

// Color struct
struct Color {
                double r;
                double g;
                double b;

                Color() {};
                Color(double red, double green, double blue) : r(red), g(green), b(blue) {};
        };


class Visualizer {

public:

        Visualizer();

        virtual ~Visualizer();

        bool setParameters(ros::NodeHandle& n, const std::string& ns);

        bool createMarkers(const std_msgs::Header& header, long ID,
                        const std::vector<wire_msgs::Property>& props,
                        std::vector<visualization_msgs::Marker>& markers_out,
                        const std::string& frame_id);

        void setTFListener(tf::TransformListener* tf_listener);

protected:

        // Structure storing marker information
        struct MarkerInfo {
                visualization_msgs::Marker shape_marker;
                visualization_msgs::Marker text_marker;
                visualization_msgs::Marker cov_marker;
                bool show_cov;
                bool show_text;
        };

        // Color mapping
        std::map<std::string, Color> color_mapping_;

        // Tf listener
        tf::TransformListener* tf_listener_;

        // Mapping from object class to marker
        std::map<std::string, MarkerInfo> object_class_to_marker_map_;

        // Mapping that defines per attribute if it has to be shown
        std::map<std::string, bool> attribute_map_;

        // Get marker parameters
        bool getMarkerParameters(ros::NodeHandle& n, const std::string& ns);

        // Get attribute settings
        bool getAttributeSettings(ros::NodeHandle& n, const std::string& ns);

        // Get most probable Gaussian from a pdf
        const pbl::Gaussian* getBestGaussian(const pbl::PDF& pdf, double min_weight = 0);

        // Set marker type
        void setMarkerType(XmlRpc::XmlRpcValue& v, MarkerInfo& m);

        // Overloaded get value function
        void getStructValue(XmlRpc::XmlRpcValue& s, const std::string& name, float& f, float default_value);
        void getStructValue(XmlRpc::XmlRpcValue& s, const std::string& name, double& d, double default_value);
        void getStructValue(XmlRpc::XmlRpcValue& s, const std::string& name, bool& b, bool default_value);
        void getStructValue(XmlRpc::XmlRpcValue& s, const std::string& name, std::string& str, const std::string& default_value);
};

#endif /* VISUALIZER_H_ */