octomap_render.h

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/* Author: Julius Kammerl */

#ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
#define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_

#include <memory>
#include <vector>
#include <rviz/ogre_helpers/point_cloud.h>

#include <moveit/rviz_plugin_render_tools/octomap_render.h>

namespace octomap
{
class OcTree;
}

namespace Ogre
{
class SceneManager;
class SceneNode;
class AxisAlignedBox;
class Vector3;
class Quaternion;
}

namespace moveit_rviz_plugin
{
enum OctreeVoxelRenderMode
{
  OCTOMAP_FREE_VOXELS = 1,
  OCTOMAP_OCCUPIED_VOXELS = 2
};

enum OctreeVoxelColorMode
{
  OCTOMAP_Z_AXIS_COLOR,
  OCTOMAP_PROBABLILTY_COLOR,
};

class OcTreeRender
{
public:
  OcTreeRender(const std::shared_ptr<const octomap::OcTree>& octree, OctreeVoxelRenderMode octree_voxel_rendering,
               OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneManager* scene_manager,
               Ogre::SceneNode* parent_node);
  virtual ~OcTreeRender();

  void setPosition(const Ogre::Vector3& position);
  void setOrientation(const Ogre::Quaternion& orientation);

private:
  void setColor(double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point* point);
  void setProbColor(double prob, rviz::PointCloud::Point* point);

  void octreeDecoding(const std::shared_ptr<const octomap::OcTree>& octree,
                      OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode);

  // Ogre-rviz point clouds
  std::vector<rviz::PointCloud*> cloud_;
  std::shared_ptr<const octomap::OcTree> octree_;

  Ogre::SceneNode* scene_node_;
  Ogre::SceneManager* scene_manager_;

  double colorFactor_;
  std::size_t octree_depth_;
};
}
#endif