marker_generator.cpp

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// Author(s): Marius Muja and Matei Ciocarlie

#include "tabletop_object_detector/marker_generator.h"

//for random colors
#include <stdlib.h>
#include <time.h>

#include <geometry_msgs/Pose.h>

#include <tf/transform_datatypes.h>

#include "tabletop_object_detector/model_fitter.h"

namespace tabletop_object_detector {

visualization_msgs::Marker MarkerGenerator::getFitMarker(const shape_msgs::Mesh &mesh, double rank)
{
  //create the marker
  visualization_msgs::Marker marker;
  marker.action = visualization_msgs::Marker::ADD;
  marker.lifetime = ros::Duration();
  marker.type = visualization_msgs::Marker::POINTS;
  //marker will be published in object frame, so its pose is identity
  marker.color.a = 1.0;

  marker.color.r = rank;
  marker.color.g = 1 - rank;
  marker.color.b = 0.0;

  marker.scale.x = 0.003;
  marker.scale.y = 0.003;
  marker.points.insert(marker.points.begin(), mesh.vertices.begin(), mesh.vertices.end());

  for (int i=0; i<40; i++)
  {
    geometry_msgs::Point p;
    p.x = 0.0005 * i;
    p.y = p.z = 0.0;
    marker.points.push_back(p);
  }

  return marker;
}

visualization_msgs::Marker MarkerGenerator::getTableMarker(float xmin, float xmax, float ymin, float ymax)
{
  visualization_msgs::Marker marker;
  marker.action = visualization_msgs::Marker::ADD;
  marker.type = visualization_msgs::Marker::LINE_STRIP;
  marker.lifetime = ros::Duration();

  //create the marker in the table reference frame
  //the caller is responsible for setting the pose of the marker to match

  marker.scale.x = 0.001;
  marker.scale.y = 0.001;
  marker.scale.z = 0.001;

  marker.points.resize(5);
  marker.points[0].x = xmin;
  marker.points[0].y = ymin;
  marker.points[0].z = 0;
  
  marker.points[1].x = xmin;
  marker.points[1].y = ymax;
  marker.points[1].z = 0;
  
  marker.points[2].x = xmax;
  marker.points[2].y = ymax;
  marker.points[2].z = 0;
  
  marker.points[3].x = xmax;
  marker.points[3].y = ymin;
  marker.points[3].z = 0;
  
  marker.points[4].x = xmin;
  marker.points[4].y = ymin;
  marker.points[4].z = 0;

  marker.points.resize(6);
  marker.points[5].x = xmin;
  marker.points[5].y = ymin;
  marker.points[5].z = 0.02;
   
  marker.color.r = 1.0;
  marker.color.g = 1.0;
  marker.color.b = 0.0;
  marker.color.a = 1.0;

  return marker;
}

visualization_msgs::Marker MarkerGenerator::getConvexHullTableMarker(const shape_msgs::Mesh &mesh)
{
  visualization_msgs::Marker marker;
  marker.action = visualization_msgs::Marker::ADD;
  marker.lifetime = ros::Duration();
  marker.type = visualization_msgs::Marker::LINE_STRIP;
  marker.color.r = 0.0;
  marker.color.g = 1.0;
  marker.color.b = 1.0;
  marker.color.a = 1.0;
  marker.scale.x = 0.001;
  marker.scale.y = 0.001;
  marker.scale.z = 0.001;
  for(size_t i=0; i<mesh.triangles.size(); i++)
  {
    marker.points.push_back( mesh.vertices[ mesh.triangles[i].vertex_indices[0] ] );
    marker.points.push_back( mesh.vertices[ mesh.triangles[i].vertex_indices[1] ] );
    marker.points.push_back( mesh.vertices[ mesh.triangles[i].vertex_indices[2] ] );
  }
  return marker;
}


visualization_msgs::Marker MarkerGenerator::createMarker(std::string frame_id, double duration, double xdim, double ydim, double zdim,
                                                         double r, double g, double b, int type, int id, std::string ns, geometry_msgs::Pose pose)
{
  visualization_msgs::Marker marker;
  marker.action = visualization_msgs::Marker::ADD;
  marker.lifetime = ros::Duration(duration);
  marker.type = type;
  marker.id = id;
  marker.ns = ns;
  marker.pose = pose;
  marker.header.frame_id = frame_id;
  marker.color.r = r;
  marker.color.g = g;
  marker.color.b = b;
  marker.color.a = 1.0;
  marker.scale.x = xdim;
  marker.scale.y = ydim;
  marker.scale.z = zdim;
  return marker;
}


} //namespace tabletop_object_detector