Fawkes API  Fawkes Development Version
visualization_thread_base.cpp
1 
2 /***************************************************************************
3  * visualization_thread.h - Visualization
4  *
5  * Created: Fri Nov 11 00:53:07 2011
6  * Copyright 2011 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #include "visualization_thread_base.h"
23 
24 /** @class TabletopVisualizationThreadBase "visualization_thread_base.h"
25  * Base class for virtualization thread.
26  * This is only required to create a level of indirection to cope
27  * with the re-defined msgs problem in PCL.
28  *
29  * @fn void TabletopVisualizationThreadBase::visualize(std::string &frame_id, Eigen::Vector4f &table_centroid, Eigen::Vector4f &normal, std::vector<Eigen::Vector4f> &table_hull_vertices, V_Vector4f &table_model_vertices, V_Vector4f &good_table_hull_edges, std::vector<Eigen::Vector4f> &centroids) throw()
30  * Visualize the given data.
31  * @param frame_id reference frame ID
32  * @param table_centroid centroid of table
33  * @param normal normal vector of table
34  * @param table_hull_vertices points of the table hull
35  * @param table_model_vertices points of the fitted table model
36  * @param good_table_hull_edges "good" egdes in table hull, i.e. edges that have
37  * been considered for determining the table orientation
38  * @param centroids object cluster centroids
39  * @param cylinder_params The result of the cylinder fitting of the objects
40  * @param obj_confidence The fitting confidences
41  * @param best_obj_guess The best guesses of the objects
42  */
43 
44 /** Virtual empty destructor. */
46 {
47 }
48 
virtual ~TabletopVisualizationThreadBase()
Virtual empty destructor.