octomap_render.hpp

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/* Author: Julius Kammerl */
 
#pragma once
 
#include <memory>
#include <octomap/octomap.h>
#include <OgrePrerequisites.h>
#include <rviz_common/properties/color_property.hpp>
#include <rviz_default_plugins/displays/pointcloud/point_cloud_helpers.hpp>
#include <vector>
 
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