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/>.
 *
 * @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 <string>
#include <vector>
 
#include <SimoxUtility/color/Color.h>
#include <VirtualRobot/VirtualRobot.h>
 
#include <RobotAPI/components/ArViz/Client/Client.h>
#include <RobotAPI/components/ArViz/Client/Layer.h>
#include <RobotAPI/libraries/armem_laser_scans/types.h>
 
#include <armarx/navigation/components/laser_scanner_feature_extraction/EnclosingEllipsoid.h>
#include <armarx/navigation/components/laser_scanner_feature_extraction/FeatureExtractor.h>
 
namespace armarx::navigation::components::laser_scanner_feature_extraction
{
 
    class ArVizDrawer
    {
    public:
        using Points = std::vector<Eigen::Vector2f>;
 
        struct Parameters
        {
            bool drawCircles = true;
            bool drawConvexHulls = true;
            bool drawEllipsoids = true;
            bool drawChains = true;
        };
 
        ArVizDrawer(armarx::viz::Client& arviz, const Parameters& parameters) :
            arviz(arviz), parameters(parameters)
        {
        }
 
        void draw(const std::vector<Features>& features,
                  const std::string& frame,
                  const Eigen::Isometry3f& globalSensorPose);
 
        void draw(const armem::laser_scans::LaserScanStamped& msg,
                  const Eigen::Isometry3f& globalSensorPose,
                  const simox::Color& color);
 
        void draw(const std::string& layerName,
                  const Circle& circle,
                  const Eigen::Isometry3f& robotGlobalPose,
                  const simox::Color& color);
 
        void draw(const std::string& layerName,
                  const VirtualRobot::MathTools::ConvexHull2D& robotHull,
                  const Eigen::Isometry3f& robotGlobalPose,
                  const simox::Color& color = simox::Color::red(100, 80));
 
    private:
        void drawCircles(const std::vector<Features>& features,
                         const std::string& frame,
                         const Eigen::Isometry3f& globalSensorPose);
        void drawCircle(viz::Layer& layer,
                        const Circle& circle,
                        const Eigen::Isometry3f& globalSensorPose,
                        const simox::Color& color);
 
        void drawConvexHulls(const std::vector<Features>& features,
                             const std::string& frame,
                             const Eigen::Isometry3f& globalSensorPose);
        void drawConvexHull(viz::Layer& layer,
                            const VirtualRobot::MathTools::ConvexHull2D& hull,
                            const Eigen::Isometry3f& globalSensorPose,
                            const simox::Color& color);
 
        void drawEllipsoids(const std::vector<Features>& features,
                            const std::string& frame,
                            const Eigen::Isometry3f& globalSensorPose);
 
        void drawEllipsoid(viz::Layer& layer,
                           const Ellipsoid& ellipsoid,
                           const Eigen::Isometry3f& globalSensorPose);
 
        void drawChains(const std::vector<Features>& features,
                        const std::string& frame,
                        const Eigen::Isometry3f& globalSensorPose);
        void drawChain(viz::Layer& layer,
                       const Points& chain,
                       const Eigen::Isometry3f& globalSensorPose);
 
        armarx::viz::Client arviz;
 
        const Parameters parameters;
    };
} // namespace armarx::navigation::components::laser_scanner_feature_extraction