ArVizDrawer.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @package    RobotComponents::ArmarXObjects::
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2021
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
 
#include <Eigen/Geometry>
 
#include <RobotAPI/components/ArViz/Client/ScopedClient.h>
// TODO(fabian.reister): use forward decl
#include <RobotComponents/libraries/cartographer/map_registration/MapRegistration.h>
 
namespace armarx
{
 
}
 
namespace armarx::viz
{
    struct Layer;
}
 
namespace armarx::cartographer
{
    class ArVizDrawer : virtual public armarx::viz::ScopedClient
    {
    public:
        ArVizDrawer(armarx::viz::Client& arviz);
        virtual ~ArVizDrawer();
 
        void drawFrames(const Eigen::Affine3f& world_T_map);
 
        void drawPointCloud(const MapRegistration::PointCloud& cloud,
                            const Eigen::Affine3f& world_T_map);
 
        void drawClusters(const MapRegistration::Clusters& clusters,
                          const Eigen::Affine3f& world_T_map);
 
        void drawRobotPoses(const std::vector<Eigen::Affine3f>& robotPoses,
                            const Eigen::Affine3f& world_T_map);
 
        void drawModels(const std::vector<wykobi::Model>& models);
 
        void drawModelAssociations(const std::vector<MapRegistration::Association>& associations,
                                   const Eigen::Affine3f& world_T_map);
 
        void drawMapBoundaries(const RotatedRect& boundingRect, const Eigen::Affine3f& world_T_map);
 
        void drawSelectedBoundingBoxCorner(const Eigen::Affine3f& boundingBoxCornerPose,
                                           const Eigen::Affine3f& world_T_map);
 
        void clear();
 
    protected:
        void drawCluster(const MapRegistration::Cluster& cluster,
                         const Eigen::Affine3f& world_T_map,
                         viz::Layer& layer) const;
 
        void drawRobotPose(const Eigen::Affine3f& robotPose,
                           const Eigen::Affine3f& world_T_map,
                           viz::Layer& layer) const;
 
        void drawModel(const wykobi::Model& model, viz::Layer& layer) const;
 
        void drawModelAssociation(const MapRegistration::Association& association,
                                  const Eigen::Affine3f& world_T_map,
                                  viz::Layer& layer) const;
 
    private:
        struct
        {
            std::string mapBoundaries{"map_boundaries"};
            std::string modelSceneAssociations{"model_scene_associations"};
            std::string sceneModels{"scene_models"};
            std::string robotPoses{"robot_poses"};
            std::string selectedBoundingBoxCorner{"selected_bounding_box_corner"};
            std::string clusters{"clusters"};
            std::string pointCloud{"point_cloud"};
            std::string frames{"frames"};
        } layers;
    };
 
} // namespace armarx::cartographer