forked from moveit/moveit2
/
octomap_render.h
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/
octomap_render.h
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2013, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* * Neither the name of Willow Garage 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 OWNER 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.
*********************************************************************/
/* Author: Julius Kammerl */
#pragma once
#include <memory>
#include <vector>
#include <octomap/octomap.h>
#include <rviz_default_plugins/displays/pointcloud/point_cloud_helpers.hpp>
#include <rviz_common/properties/color_property.hpp>
#include <moveit/rviz_plugin_render_tools/octomap_render.h>
#include <OGRE/OgrePrerequisites.h>
namespace octomap
{
class OcTree;
}
namespace moveit_rviz_plugin
{
enum OctreeVoxelRenderMode
{
OCTOMAP_FREE_VOXELS = 1,
OCTOMAP_OCCUPIED_VOXELS = 2,
OCTOMAP_DISABLED = 3
};
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::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_rendering::PointCloud::Point* point);
void setProbColor(double prob, rviz_rendering::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_rendering::PointCloud*> cloud_;
std::shared_ptr<const octomap::OcTree> octree_;
Ogre::SceneNode* scene_node_;
double colorFactor_;
std::size_t octree_depth_;
};
} // namespace moveit_rviz_plugin