old_result_visualizer_rviz.hpp

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#pragma once
//Ilcas include
#include <asr_ism_visualizations/visualizer_rviz.hpp>
#include <ISM/common_type/RecognitionResult.hpp>


namespace VIZ
{
class OLD_ResultVisualizerRVIZ : public VisualizerRVIZ
{

public:
    OLD_ResultVisualizerRVIZ(const ros::Publisher& publisher, std::string baseFrame, double stepLength,
                             std::string prefix, double markerLifetime) :
        VisualizerRVIZ(publisher),
        baseFrame(baseFrame), stepLength(stepLength), prefix(prefix),
        markerLifetime(markerLifetime)
    {}
    ~OLD_ResultVisualizerRVIZ();

    void addVisualization(const ISM::RecognitionResultPtr recognition_result,
                          std::string name_space_prefix = "");

private:
    visualization_msgs::MarkerArray getMarkersFromResult(const ISM::RecognitionResultPtr result,
                                                         int depth,
                                                         std::string name_space_prefix = "");

    /* Helper method to translate a point. So we can see the tree
             *depth objects residing in trough their corresponding marker
            */
    ISM::PointPtr getAdjustedPosition(ISM::PosePtr pose, int depth);
    
    std::string baseFrame;
    double stepLength;
    std::string prefix;
    double markerLifetime;
};
typedef boost::shared_ptr<OLD_ResultVisualizerRVIZ> OLD_ResultVisualizerRVIZPtr;
}