00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2014, Andreas ten Pas 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * 00018 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00019 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00020 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00021 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00022 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00023 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00024 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00025 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00026 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00027 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00028 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef VISUALIZER_H 00033 #define VISUALIZER_H 00034 00035 #include <boost/lexical_cast.hpp> 00036 #include "cylindrical_shell.h" 00037 #include <geometry_msgs/PoseStamped.h> 00038 #include <pcl_ros/point_cloud.h> 00039 #include <tf/transform_datatypes.h> 00040 #include <visualization_msgs/MarkerArray.h> 00041 #include <vector> 00042 00043 typedef pcl::PointCloud<pcl::PointXYZ> PointCloud; 00044 typedef visualization_msgs::MarkerArray MarkerArray; 00045 00050 class Visualizer 00051 { 00052 public: 00056 Visualizer(double marker_lifetime); 00057 00062 MarkerArray 00063 createCylinders(const std::vector<CylindricalShell> &list, const std::string &frame); 00064 00069 MarkerArray 00070 createHandleNumbers(const std::vector<std::vector<CylindricalShell> > &handles, const std::string &frame); 00071 00081 void 00082 createHandles(const std::vector<std::vector<CylindricalShell> > &handles, const std::string &frame, 00083 std::vector<MarkerArray> &marker_arrays, MarkerArray &all_handle_markers); 00084 00085 private: 00086 double marker_lifetime; 00087 }; 00088 00089 #endif