22 #ifndef __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_ 23 #define __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_ 25 #ifndef HAVE_VISUAL_DEBUGGING 26 # error TabletopVisualizationThread was disabled by build flags 30 #include <Eigen/StdVector> 31 #include <utils/time/time.h> 39 typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >
V_Vector4f;
41 typedef std::map<unsigned int, Eigen::Vector4f, std::less<unsigned int>,
42 Eigen::aligned_allocator<std::pair<const unsigned int, Eigen::Vector4f>>>
48 virtual void visualize(
const std::string &frame_id,
49 Eigen::Vector4f &table_centroid,
50 Eigen::Vector4f &normal,
51 V_Vector4f &table_hull_vertices,
52 V_Vector4f &table_model_vertices,
53 V_Vector4f &good_table_hull_edges,
56 std::map<unsigned int, double> &obj_confidence,
57 std::map<unsigned int, signed int>& best_obj_guess)
throw() = 0;
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > V_Vector4f
Aligned vector of vectors/points.
Base class for virtualization thread.
virtual void visualize(const std::string &frame_id, Eigen::Vector4f &table_centroid, Eigen::Vector4f &normal, V_Vector4f &table_hull_vertices, V_Vector4f &table_model_vertices, V_Vector4f &good_table_hull_edges, M_Vector4f ¢roids, M_Vector4f &cylinder_params, std::map< unsigned int, double > &obj_confidence, std::map< unsigned int, signed int > &best_obj_guess)=0
Visualize the given data.
virtual ~TabletopVisualizationThreadBase()
Virtual empty destructor.
std::map< unsigned int, Eigen::Vector4f, std::less< unsigned int >, Eigen::aligned_allocator< std::pair< const unsigned int, Eigen::Vector4f > > > M_Vector4f
aligned map of vectors.