visualizer.h

Go to the documentation of this file.

/*
 * Copyright (c) 2020 Roboception GmbH
 *
 * Author: Elena Gambaro
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_SILHOUETTEMATCH_CLIENT_VISUALIZER_H
#define RC_SILHOUETTEMATCH_CLIENT_VISUALIZER_H

#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <tf2_ros/transform_broadcaster.h>

#include <rc_silhouettematch_client/Instance.h>
#include <rc_silhouettematch_client/EstimatedPlane.h>

namespace rc_silhouettematch_client
{
class Visualizer
{
public:
  Visualizer(ros::NodeHandle& nh);
  ~Visualizer();

  void visBasePlane(const EstimatedPlane& plane, const ros::Time timestamp);

  void visInstances(const std::vector<Instance>& instances);

  void deleteMarkers();

private:
  std::string tf_prefix_;
  ros::Publisher marker_pub_;
  visualization_msgs::MarkerArray markers_;
  tf2_ros::TransformBroadcaster tfb_;
};

}  // namespace rc_silhouettematch_client

#endif  // RC_SILHOUETTEMATCH_CLIENT_VISUALIZER_H