///////////////////////////////////////////////////////////////////////////////////////////////
// left mouse button handlers
void PixRasterBaseCtrl::LeftDown(Point p, dword keyflags)
{
// translates mouse coordinate in page and page coordinates
int page;
Point pagePt;
if(!PointToPage(p, page, pagePt))
return;
// found a page on point, scan it to get the marker on it (if any)
// gets the PixRaster object
PixBase *pixBase = pixRasterCtrl->GetPixBase();
int minDist = ScaleToPage(5);
Markers *markers = pixBase->GetMarkersEx(page);
for(int i = 0; i < markers->GetCount(); i++)
{
Marker &marker = (*markers)[i];
int index;
Marker::HitKind hitKind = marker.Hit(pagePt, minDist, index);
if(hitKind == Marker::Miss)
continue;
// found a marker on cursor -- start drag op
dragPolygon = PointsToView(page, marker.DragOutline(pagePt, pagePt, minDist));
selectedMarker = ▮
dragPoint = pagePt;
dragPage = page;
}
} // END PixRasterBaseCtrl::LeftDown()
void Xml::loadMarkers(QVector<Markers> *markers)
{
QDomDocument xml("xml");
QFile file(fileName.append(".xml"));
while (!file.open(QIODevice::ReadOnly))
{
QString path = QFileDialog::getOpenFileName(0, tr("Open file"), QDir::homePath(), tr("Markers files").append(" (*.xml)"));
if (path.isEmpty()) // when file dialog was canceled
return;
file.setFileName(path);
}
if (!xml.setContent(&file))
{
file.close();
return;
}
file.close();
markers->clear(); // clear markers list after open XML file success
// print out the element names of all elements that are direct children
// of the outermost element.
QDomElement docElem = xml.documentElement();
Markers marker;
for (QDomElement e=docElem.firstChildElement(); !e.isNull(); e=e.nextSiblingElement())
{
marker.setLabel(e.tagName());
marker.setBeginOffset(e.attribute("beginOffset").toInt());
marker.setEndOffset(e.attribute("endOffset").toInt());
marker.setNote(e.attribute("note"));
markers->append(marker);
}
qDebug() << "Xml::loadMarkers -- markers loaded";
}
static void PageMarkers(Pix & source, PixRaster &pixRaster)
{
Markers *markers;
pixRaster.Add(source, true);
pixRaster.Add(source, true);
markers = pixRaster[0].GetMarkers();
markers->Add(new Marker(Point(100, 100), Point(300, 400)));
markers->Add(new Marker(Point(0, 500), Point(300, 800)));
markers = pixRaster[1].GetMarkers();
markers->Add(new Marker(Point(0, 0), Point(200, 100)));
markers->Add(new Marker(Point(400, 500), Point(900, 600)));
}
int main(int argc, char** argv)
{
marker.line_list(linelist);
ros::init (argc, argv, "uncovered_regions");
ros::NodeHandle nh;
//publishers
pub_waypoint = nh.advertise<pcl::PointCloud<pcl::PointXYZ>> ("waypoints", 1);
pub_waypoint_marker = nh.advertise<visualization_msgs::Marker> ("all_nodes", 10);
pub_mesh_marker= nh.advertise<visualization_msgs::Marker> ("mesh_marker", 10);
pub_linelist = nh.advertise<visualization_msgs::Marker> ("line_list",10);
pub_covered_regions=nh.advertise<visualization_msgs::Marker>("covered_regions",10);
//subscribers
ros::Subscriber odometry_sub = nh.subscribe<nav_msgs::Odometry>("quad_sim_sysid_node/pose", 1, GetOdom);
//reading stl file
Filereader file;
string path=ros::package::getPath("koptplanner")+"/src/mesh.txt";
file.read(path,mesh_coor);
marker.triangle_list(mesh_marker);
marker.triangle_list(covered_regions);
std_msgs::ColorRGBA mesh_color;
geometry_msgs::Point mesh_point;
//define mesh color
mesh_color.r = 0 ;
mesh_color.g = 0.5 ;
mesh_color.b = 0.5 ;
mesh_color.a = 0.5;
//assigning each triangle of mesh to triangle list marker
for(int i=0;i<mesh_coor.size();i++)
{
mesh_point.x = mesh_coor[i][0];
mesh_point.y = mesh_coor[i][1];
mesh_point.z = mesh_coor[i][2];
mesh_marker.points.push_back(mesh_point);
// marker.add_point(mesh_marker,mesh_point,mesh_color);
}
mesh_marker.color=mesh_color;
path=ros::package::getPath("boiler_gazebo")+"/src/latestPath.csv";
file.read(path,csv_values);
// display results
cout.precision(2);
cout.setf(ios::fixed,ios::floatfield);
path=ros::package::getPath("koptplanner")+"/src/tour.txt";
file.read(path,tour);
// display results
cout.precision(2);
cout.setf(ios::fixed,ios::floatfield);
//waypoint marker msg basically points
marker.points(waypoint_marker_msg);
//scaling down the size
waypoint_marker_msg.scale.x = 0.1;
waypoint_marker_msg.scale.y = 0.1;
waypoint_marker_msg.scale.z = 0.1;
std_msgs::ColorRGBA color_msg_local;
waypoint_marker_msg.points.resize(csv_values.size());
waypoint_marker_msg.colors.resize(csv_values.size());
waypoint_msg.header.frame_id = "world"; //point cloud of positions
waypoint_msg.height = 1; waypoint_msg.width =csv_values.size();
for (int i=0;i<csv_values.size();i++)
{
for(int j=0;j<csv_values[i].size();j++)
{
cout<<csv_values[i][j]<<" ";
}
cout<<endl;
waypoint_msg.points.push_back(pcl::PointXYZ(csv_values[i][0],csv_values[i][1],csv_values[i][2]));
}
geometry_msgs::Point point_local;
mesh_color.r=0.5;
for(int i=0;i<csv_values.size();i++)
{
int l=csv_values[i][6]-2;
if(l>=0)
{
point_local.x=csv_values[i][0];point_local.y=csv_values[i][1];point_local.z=csv_values[i][2];
marker.add_point(linelist,point_local,mesh_color);
point_local.x=(mesh_marker.points.at(l*3).x+mesh_marker.points.at(l*3+1).x+mesh_marker.points.at(l*3+2).x)/3;
point_local.y=(mesh_marker.points.at(l*3).y+mesh_marker.points.at(l*3+1).y+mesh_marker.points.at(l*3+2).y)/3;
point_local.z=(mesh_marker.points.at(l*3).z+mesh_marker.points.at(l*3+1).z+mesh_marker.points.at(l*3+2).z)/3;
marker.add_point(linelist,point_local,mesh_color);
}
}
//dummy_msg because by erasing the waypoint we will not get correct id of covered triangle
dummy_msg.header.frame_id = "world"; //point cloud of positions
dummy_msg.height = 1; dummy_msg.width =csv_values.size();
for (int i=0;i<csv_values.size();i++)
{
dummy_msg.points.push_back(pcl::PointXYZ(csv_values[i][0],csv_values[i][1],csv_values[i][2]));
}
ros::Rate loop_rate(10.0);
while(ros::ok())
{
pub_linelist.publish(linelist);
ros::spinOnce();
loop_rate.sleep();
}
}
// int covered_no=0;
void GetOdom(const nav_msgs::Odometry::ConstPtr &msg)
{
nav_msgs::Odometry curr_pose = *msg;
geometry_msgs::Point ps;
ps.x = curr_pose.pose.pose.position.x;
ps.y = curr_pose.pose.pose.position.y;
ps.z = curr_pose.pose.pose.position.z;
int i=0;
while(i<(waypoint_msg.height*waypoint_msg.width))
{
float error=sqrt(pow((waypoint_msg.points.at(i).x-ps.x),2)+pow((waypoint_msg.at(i).y-ps.y),2)+ pow((waypoint_msg.at(i).z-ps.z),2));
if (error<0.5)
{
waypoint_msg.erase(waypoint_msg.begin()+i);
}
i++;
}
i=0;
while(i<(dummy_msg.height*dummy_msg.width))
{
float error=sqrt(pow((dummy_msg.points.at(i).x-ps.x),2)+pow((dummy_msg.at(i).y-ps.y),2)+ pow((dummy_msg.at(i).z-ps.z),2));
if (error<0.5)
{
if (i==dummy_msg.width-1)
{
covered_ids.push_back(1);
cout<<"id::"<<1<<endl;
}
else
{
covered_ids.push_back(csv_values[i][6]);
cout<<"id::"<<csv_values[i][6]<<endl;
}
}
i++;
}
cout<<"no of waypoints to be covered:"<<(waypoint_marker_msg.points.size()/2)<<endl;
std_msgs::ColorRGBA color_msg_local,redcolor;
geometry_msgs::Point point_local;
waypoint_marker_msg.points.resize(waypoint_msg.height*waypoint_msg.width);
waypoint_marker_msg.colors.resize(waypoint_msg.height*waypoint_msg.width);
for (int i=0;i<(waypoint_msg.height*waypoint_msg.width);i++)
{
waypoint_marker_msg.points.at(i).x = waypoint_msg.points.at(i).x;
waypoint_marker_msg.points.at(i).y = waypoint_msg.points.at(i).y;
waypoint_marker_msg.points.at(i).z = waypoint_msg.points.at(i).z;
waypoint_marker_msg.colors.at(i).r=0;
waypoint_marker_msg.colors.at(i).g=0;
waypoint_marker_msg.colors.at(i).b=1;
waypoint_marker_msg.colors.at(i).a=1;
}
//assigning each triangle of mesh to triangle list marker
redcolor.r=1;redcolor.b=0;redcolor.g=0;redcolor.a=1;
for(int i=0;i<covered_ids.size();i++)
{ int x=int(covered_ids.at(i)-2)*3;
if(x>=0)
{
marker.add_point(covered_regions,mesh_marker.points.at(x),redcolor);
marker.add_point(covered_regions,mesh_marker.points.at(x+1),redcolor);
marker.add_point(covered_regions,mesh_marker.points.at(x+2),redcolor);
}
}
covered_ids.clear();
pub_waypoint_marker.publish(waypoint_marker_msg);
pub_waypoint.publish(waypoint_msg);
pub_mesh_marker.publish(mesh_marker);
pub_covered_regions.publish(covered_regions);
}
void PixRasterBaseCtrl::MouseMove(Point p, dword keyflags)
{
Point endDragPoint;
int endDragPage;
if(!pixRasterCtrl || !pixRasterCtrl->GetPixBase())
return;
// check what we're dragging....
if(keyflags & K_MOUSEMIDDLE)
{
// moves with middle button pressed -- panning image
// gets distance between current and pan point
int dx = panPoint.x - p.x + panHScroll;
int dy = panPoint.y - p.y + panVScroll;
// gets max scrolling values
int hMax = hScrollBar.GetTotal();
int vMax = vScrollBar.GetTotal();
// sets new pan position
if(dx < 0) dx = 0;
if(dx > hMax) dx = hMax;
if(dy < 0) dy = 0;
if(dy > vMax) dy = vMax;
hScrollBar.Set(dx);
vScrollBar.Set(dy);
Refresh();
}
else if((keyflags & K_MOUSELEFT) && selectedMarker)
{
// dragging a marker
int minDist = ScaleToPage(5);
PointToPage(p, endDragPage, endDragPoint);
if(endDragPage == dragPage)
dragPolygon = PointsToView(dragPage, selectedMarker->DragOutline(dragPoint, endDragPoint, minDist));
else
dragPolygon.Clear();
pixRasterCtrl->Refresh();
}
else
{
// nothing else, just highlight marker under cursor
// and set the appropriate cursor
int page;
Point pagePt;
int minDist = ScaleToPage(5);
Marker *newMarker = NULL;
if(PointToPage(p, page, pagePt))
{
PixBase *pixBase = pixRasterCtrl->GetPixBase();
Markers *markers = pixBase->GetMarkersEx(page);
for(int iMarker = 0; iMarker < markers->GetCount(); iMarker++)
{
Marker &marker = (*markers)[iMarker];
int index;
if(marker.Hit(pagePt, minDist, index) != Marker::Miss)
{
newMarker = ▮
break;
}
}
}
if(highlightMarker != newMarker)
{
highlightMarker = newMarker;
pixRasterCtrl->Refresh();
}
}
} // END PixRasterBaseCtrl::MouseMove()
/**
@brief Markers publication for the visualization of the calibration ressult on rviz
@param[in] clouds ball center acquisitions in all sensors
@param[in] lasers position of the sensors
@return vector<visualization_msgs::Marker>
*/
vector<visualization_msgs::Marker> createTargetMarkers(vector<pcl::PointCloud<pcl::PointXYZ> > clouds, vector<geometry_msgs::Pose> lasers, vector<string> deviceNames,
const vector<double>& RPY, const vector<double>& translation )
{
tf::Transform t_rpy;
tf::Quaternion q;
if (translation.empty() && RPY.empty()) //user does not want to translate/rotate clouds and sensors.
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
q = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation
t_rpy.setRotation( q );
}
else if (translation.empty()) // only rotation given by the user, no translation
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
else // rotation and translation given by the user
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(translation[0]), tfScalar(translation[1]), tfScalar(translation[2])) ); // translation given by the user
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
static Markers marker_list;
int nLasers=lasers.size();
std::cout << "number of lasers: " << nLasers << std::endl;
//Reduce the elements status, ADD to REMOVE and REMOVE to delete
marker_list.decrement();
// Create a colormap
class_colormap colormap("hsv", nLasers, 1, false);
visualization_msgs::Marker marker_centers;
visualization_msgs::Marker marker_lasers[nLasers*5]; // *5 to make space for Y, Z axis and square that represents the laser
marker_centers.header.frame_id = "/my_frame3";
marker_centers.header.stamp = ros::Time::now();
marker_centers.ns = "centers";
marker_centers.id = 0;
marker_centers.action = visualization_msgs::Marker::ADD;
marker_centers.type = visualization_msgs::Marker::SPHERE_LIST;
marker_centers.scale.x = 0.08;
marker_centers.scale.y = 0.08;
marker_centers.scale.z = 0.08;
marker_centers.pose.orientation.x=q[0];
marker_centers.pose.orientation.y=q[1];
marker_centers.pose.orientation.z=q[2];
marker_centers.pose.orientation.w=q[3];
marker_lasers[0].color.a=1;
marker_lasers[0].color.g=1;
marker_lasers[1].color.b=1;
marker_lasers[1].color.a=1;
marker_lasers[2].color.r=1;
marker_lasers[2].color.a=1;
for(int n=0; n<clouds.size(); n++)
{
pcl::PointCloud<pcl::PointXYZ> cloud = clouds[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
for ( int i = 0; i< cloud.points.size(); i++)
{
geometry_msgs::Point pt;
pt.x= cloud.points[i].x;
pt.y= cloud.points[i].y;
pt.z= cloud.points[i].z;
marker_centers.points.push_back(pt);
marker_centers.colors.push_back(color);
} //end for
marker_list.update(marker_centers);
}
//position and orientation of laser
int counter = 0;
for(int n=0; n<lasers.size(); n++)
{
std::cout << "laser "<< n << std::endl;
geometry_msgs::Pose laser = lasers[n];
tf::Transform t_laser;
t_laser.setOrigin( tf::Vector3(laser.position.x, laser.position.y, laser.position.z) );
tf::Quaternion q_laser(laser.orientation.x, laser.orientation.y, laser.orientation.z, laser.orientation.w);
t_laser.setRotation(q_laser);
std::cout << "laser transform" << std::endl;
for (int k=0; k<5; k++)
{
marker_lasers[counter].header.frame_id = "/my_frame3";
marker_lasers[counter].header.stamp = ros::Time::now();
std::stringstream ss;
ss << "Laser " << n << "Marker: " << k;
marker_lasers[counter].ns = ss.str();
marker_lasers[counter].action = visualization_msgs::Marker::ADD;
std_msgs::ColorRGBA color;
if (k<3)
{
marker_lasers[counter].type = visualization_msgs::Marker::ARROW;
marker_lasers[counter].scale.x = 0.5;
marker_lasers[counter].scale.y = 0.05;
marker_lasers[counter].scale.z = 0.05;
color.r = 0;
color.g = 0;
color.b = 0;
color.a = 1;
}
else if (k == 3)
{
marker_lasers[counter].type = visualization_msgs::Marker::CUBE;
marker_lasers[counter].scale.x = 0.15;
marker_lasers[counter].scale.y = 0.15;
marker_lasers[counter].scale.z = 0.15;
}
else
{
marker_lasers[counter].type = visualization_msgs::Marker::TEXT_VIEW_FACING;
marker_lasers[counter].text = deviceNames[n];
marker_lasers[counter].scale.x = 0.15;
marker_lasers[counter].scale.y = 0.15;
marker_lasers[counter].scale.z = 0.15;
std::cout << deviceNames[n] << std::endl;
}
tf::Transform t_aux;
tf::Quaternion q_aux;
t_aux.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
switch (k) {
case 0:
{
q_aux = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation->this is the X axis
color.r = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 1:
{
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, M_PI/2 ); // rotation to get Y axis from X
color.g = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 2:
{
q_aux = tf::createQuaternionFromRPY( 0.0, -M_PI/2, 0.0); // rotation to get Z axis from X
color.b = 1.0;
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
case 3:
{
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, 0.0); // no rotation->this is the square at the axes origin that represents the sensor
color = colormap.color(n);
//std::cout << "2 " << k << " " << q[0] << " " << q[1] << " " << q[2] << " " << q[3] << " " << color << std::endl;
break;
}
default:
{
std::cout << "text" << std::endl;
q_aux = tf::createQuaternionFromRPY( 0.0, 0.0, 0.0); // no rotation->this is the square at the axes origin that represents the sensor
color.r = 1.0;
color.g = 1.0;
color.b = 1.0;
color.a = 1.0;
}
}
t_aux.setRotation( q_aux );
tf::Transform transform_laser = t_rpy * t_laser * t_aux;
tf::Quaternion rotation_laser = transform_laser.getRotation();
tf::Vector3 translation_laser = transform_laser.getOrigin();
std::cout << "Transformation" << std::endl;
std::cout << "translation " << translation_laser[0] << " " << translation_laser[1] << " " << translation_laser[2] << std::endl;
std::cout << "rotation " << rotation_laser[0] << " " << rotation_laser[1] << " " << rotation_laser[2] << " " << rotation_laser[3] << std::endl;
marker_lasers[counter].pose.position.y=translation_laser[1];
if (k!=4)
{
marker_lasers[counter].pose.position.x=translation_laser[0];
marker_lasers[counter].pose.position.z=translation_laser[2];
std::cout << "k!4" << std::endl;
}
else
{
marker_lasers[counter].pose.position.x=translation_laser[0]+0.15;
marker_lasers[counter].pose.position.z=translation_laser[2]+0.25;
std::cout << "text" << std::endl;
}
marker_lasers[counter].pose.orientation.x=rotation_laser[0];
marker_lasers[counter].pose.orientation.y=rotation_laser[1];
marker_lasers[counter].pose.orientation.z=rotation_laser[2];
marker_lasers[counter].pose.orientation.w=rotation_laser[3];
std::cout << "pose" << std::endl;
marker_lasers[counter].color=color;
std::cout << "color" << std::endl;
marker_list.update(marker_lasers[counter]);
std::cout << "update" << std::endl;
counter++;
}
}
std::cout << "clean" << std::endl;
//Remove markers that should not be transmitted
marker_list.clean();
std::cout << "finished" << std::endl;
//Clean the marker_vector and put new markers in it;
return marker_list.getOutgoingMarkers();
} //end function
/**
@brief Markers publication for the visualization of the calibration ressult on rviz
@param[in] clouds ball center acquisitions in all sensors
@param[in] lasers position of the sensors
@return vector<visualization_msgs::Marker>
*/
vector<visualization_msgs::Marker> createTargetMarkers(vector<pcl::PointCloud<pcl::PointXYZ> > clouds, vector<geometry_msgs::Pose> lasers,
const vector<double>& RPY, const vector<double>& translation )
{
tf::Transform t_rpy;
tf::Quaternion q;
if (translation.empty() && RPY.empty()) //user does not want to translate/rotate clouds and sensors.
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation is done
q = tf::createQuaternionFromRPY(0.0, 0.0, 0.0 ); // no rotation
t_rpy.setRotation( q );
}
else if (translation.empty()) // only rotation given by the user, no translation
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(0), tfScalar(0), tfScalar(0)) ); // no translation
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
else // rotation and translation given by the user
{
t_rpy.setOrigin( tf::Vector3 (tfScalar(translation[0]), tfScalar(translation[1]), tfScalar(translation[2])) ); // translation given by the user
q = tf::createQuaternionFromRPY( RPY[0], RPY[1], RPY[2] ); // quaternion computation from given angles
t_rpy.setRotation( q );
}
static Markers marker_list;
int nLasers=lasers.size();
//Reduce the elements status, ADD to REMOVE and REMOVE to delete
marker_list.decrement();
// Create a colormap
class_colormap colormap("hsv",10, 1, false);
visualization_msgs::Marker marker_centers;
visualization_msgs::Marker marker_lasers[nLasers];
marker_centers.header.frame_id = "/my_frame3";
marker_centers.header.stamp = ros::Time::now();
marker_centers.ns = "centers";
marker_centers.action = visualization_msgs::Marker::ADD;
marker_centers.type = visualization_msgs::Marker::SPHERE_LIST;
marker_centers.scale.x = 0.08;
marker_centers.scale.y = 0.08;
marker_centers.scale.z = 0.08;
marker_centers.pose.orientation.x=q[0];
marker_centers.pose.orientation.y=q[1];
marker_centers.pose.orientation.z=q[2];
marker_centers.pose.orientation.w=q[3];
/*marker_centers.color.b=1;
marker_centers.color.a=1;*/
marker_lasers[0].color.a=1;
marker_lasers[0].color.g=1;
marker_lasers[1].color.b=1;
marker_lasers[1].color.a=1;
marker_lasers[2].color.r=1;
marker_lasers[2].color.a=1;
for(int n=0; n<clouds.size(); n++)
{
{
pcl::PointCloud<pcl::PointXYZ> cloud = clouds[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
for ( int i = 0; i< cloud.points.size(); i++)
{
geometry_msgs::Point pt;
pt.x= cloud.points[i].x;
pt.y= cloud.points[i].y;
pt.z= cloud.points[i].z;
marker_centers.points.push_back(pt);
marker_centers.colors.push_back(color);
} //end for
marker_list.update(marker_centers);
}
}
//position and orientation of laser
for(int n=0; n<lasers.size(); n++)
{
{
marker_lasers[n].header.frame_id = "/my_frame3";
marker_lasers[n].header.stamp = ros::Time::now();
std::stringstream ss;
ss << "Laser " << n;
marker_lasers[n].ns = ss.str();
marker_lasers[n].action = visualization_msgs::Marker::ADD;
marker_lasers[n].type = visualization_msgs::Marker::ARROW;
marker_lasers[n].scale.x = 0.2;
marker_lasers[n].scale.y = 0.1;
marker_lasers[n].scale.z = 0.1;
geometry_msgs::Pose laser = lasers[n];
std_msgs::ColorRGBA color;
color = colormap.color(n);
tf::Transform t_laser;
t_laser.setOrigin( tf::Vector3(laser.position.x, laser.position.y, laser.position.z) );
tf::Quaternion q_laser(laser.orientation.x, laser.orientation.y, laser.orientation.z, laser.orientation.w);
t_laser.setRotation(q_laser);
t_laser= t_rpy * t_laser;
q_laser = t_laser.getRotation();
tf::Vector3 trans_laser = t_laser.getOrigin();
marker_lasers[n].pose.position.x=trans_laser[0];
marker_lasers[n].pose.position.y=trans_laser[1];
marker_lasers[n].pose.position.z=trans_laser[2];
marker_lasers[n].pose.orientation.x=q_laser[0];
marker_lasers[n].pose.orientation.y=q_laser[1];
marker_lasers[n].pose.orientation.z=q_laser[2];
marker_lasers[n].pose.orientation.w=q_laser[3];
marker_lasers[n].color=color;
marker_list.update(marker_lasers[n]);
}
}
//Remove markers that should not be transmitted
marker_list.clean();
//Clean the marker_vector and put new markers in it;
return marker_list.getOutgoingMarkers();
} //end function