octomap_render.h
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00034 
00035 /* Author: Julius Kammerl */
00036 
00037 #ifndef MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
00038 #define MOVEIT_VISUALIZATION_SCENE_DISPLAY_RVIZ_OCTOMAP_RENDER_
00039 
00040 #include <vector>
00041 #include <rviz/ogre_helpers/point_cloud.h>
00042 
00043 #include <moveit/rviz_plugin_render_tools/octomap_render.h>
00044 
00045 namespace octomap
00046 {
00047 class OcTree;
00048 }
00049 
00050 namespace Ogre
00051 {
00052 class SceneManager;
00053 class SceneNode;
00054 class AxisAlignedBox;
00055 }
00056 
00057 namespace moveit_rviz_plugin
00058 {
00059 enum OctreeVoxelRenderMode
00060 {
00061   OCTOMAP_FREE_VOXELS = 1,
00062   OCTOMAP_OCCUPIED_VOXELS = 2
00063 };
00064 
00065 enum OctreeVoxelColorMode
00066 {
00067   OCTOMAP_Z_AXIS_COLOR,
00068   OCTOMAP_PROBABLILTY_COLOR,
00069 };
00070 
00071 class OcTreeRender
00072 {
00073 public:
00074   OcTreeRender(const boost::shared_ptr<const octomap::OcTree>& octree, OctreeVoxelRenderMode octree_voxel_rendering,
00075                OctreeVoxelColorMode octree_color_mode, std::size_t max_octree_depth, Ogre::SceneManager* scene_manager,
00076                Ogre::SceneNode* parent_node);
00077   virtual ~OcTreeRender();
00078 
00079 private:
00080   void setColor(double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point* point);
00081   void setProbColor(double prob, rviz::PointCloud::Point* point);
00082 
00083   void octreeDecoding(const boost::shared_ptr<const octomap::OcTree>& octree,
00084                       OctreeVoxelRenderMode octree_voxel_rendering, OctreeVoxelColorMode octree_color_mode);
00085 
00086   // Ogre-rviz point clouds
00087   std::vector<rviz::PointCloud*> cloud_;
00088   boost::shared_ptr<const octomap::OcTree> octree_;
00089 
00090   Ogre::SceneNode* scene_node_;
00091   Ogre::SceneManager* scene_manager_;
00092 
00093   double colorFactor_;
00094   std::size_t octree_depth_;
00095 };
00096 }
00097 #endif


visualization
Author(s): Ioan Sucan , Dave Coleman , Sachin Chitta
autogenerated on Wed Jun 19 2019 19:25:00