markerpublisher.h

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#ifndef MARKERPUBLISHER_H
#define MARKERPUBLISHER_H
#define NAMESPACE "calibrationObject"
#define NAMESPACEOBJECT "calibrationObject/Object"   //The namespace to which the calibration Object is published
#define NAMESPACEMARKER "calibrationObject/Marker"   //The namespace to which the marker positions are published
#define NAMESPACECAMERA "calibrationObject/Camera"   //The namespace to which thecamera poses are published



#include "calibration_object.h"
#ifndef Q_MOC_RUN
#include <visualization_msgs/Marker.h>
#include <geometry_msgs/Point.h>
#include <Eigen/Dense>
#include <ros/ros.h>
#include <ros/init.h>
#include <boost/shared_ptr.hpp>
#endif

struct colouredCameraFrame
{
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    Eigen::Matrix4d pose;
    std_msgs::ColorRGBA color;
};

//Class used to publish a tetrahedon using markers
class MarkerPublisher
{
public:
    MarkerPublisher(boost::shared_ptr<Calibration_Object> calibrationObject);

    void publishTriangles(std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > *triangles);
    void publishTetrahedon(const Eigen::Vector2d &baseA, const Eigen::Vector2d &baseB, const Eigen::Vector2d &baseC, const Eigen::Vector3d &top);
    void publishARMarkers(bool activeLeft, bool activeRight, const Eigen::Matrix4d topFrame);
    void publishColouredCameraFrames(std::vector<colouredCameraFrame, Eigen::aligned_allocator<colouredCameraFrame> > * camFrames);
    void publishCameraFramePointer(const Eigen::Vector3d &startPoint, const Eigen::Vector3d &endPoint, bool isValid);
protected:
    void initialize();
    //Used to publish the active tetrahedon
    ros::Publisher pubObjectPosition;
    ros::Publisher pubMarkerPosition;
    ros::Publisher pubCameraPosition;
    visualization_msgs::Marker markerTop;
    visualization_msgs::Marker markerBottom;
    visualization_msgs::Marker markerTriangles;

    visualization_msgs::Marker markerARMarker_Left;
    visualization_msgs::Marker markerARMarker_Right;

    visualization_msgs::Marker markerCameraFrame;

    std::vector<visualization_msgs::Marker> markerCameraFrames;

    boost::shared_ptr<Calibration_Object> calibrationObject;

    double LINESCALE;
};



#endif // MARKERPUBLISHER_H