Fawkes API  Fawkes Development Version
TabletopVisualizationThreadBase Class Referenceabstract

Base class for virtualization thread. More...

#include "visualization_thread_base.h"

Inheritance diagram for TabletopVisualizationThreadBase:

Public Types

typedef std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > V_Vector4f
 Aligned vector of vectors/points. More...
 
typedef 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. More...
 

Public Member Functions

virtual ~TabletopVisualizationThreadBase ()
 Virtual empty destructor. More...
 
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 &centroids, M_Vector4f &cylinder_params, std::map< unsigned int, double > &obj_confidence, std::map< unsigned int, signed int > &best_obj_guess)=0 throw ()
 Visualize the given data. More...
 

Detailed Description

Base class for virtualization thread.

This is only required to create a level of indirection to cope with the re-defined msgs problem in PCL.

Definition at line 35 of file visualization_thread_base.h.

Member Typedef Documentation

◆ M_Vector4f

typedef std::map<unsigned int, Eigen::Vector4f, std::less<unsigned int>, Eigen::aligned_allocator<std::pair<const unsigned int, Eigen::Vector4f> > > TabletopVisualizationThreadBase::M_Vector4f

aligned map of vectors.

Definition at line 43 of file visualization_thread_base.h.

◆ V_Vector4f

typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > TabletopVisualizationThreadBase::V_Vector4f

Aligned vector of vectors/points.

Definition at line 39 of file visualization_thread_base.h.

Constructor & Destructor Documentation

◆ ~TabletopVisualizationThreadBase()

TabletopVisualizationThreadBase::~TabletopVisualizationThreadBase ( )
virtual

Virtual empty destructor.

Definition at line 45 of file visualization_thread_base.cpp.

Member Function Documentation

◆ visualize()

void TabletopVisualizationThreadBase::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 centroids,
M_Vector4f cylinder_params,
std::map< unsigned int, double > &  obj_confidence,
std::map< unsigned int, signed int > &  best_obj_guess 
)
throw (
)
pure virtual

Visualize the given data.

Parameters
frame_idreference frame ID
table_centroidcentroid of table
normalnormal vector of table
table_hull_verticespoints of the table hull
table_model_verticespoints of the fitted table model
good_table_hull_edges"good" egdes in table hull, i.e. edges that have been considered for determining the table orientation
centroidsobject cluster centroids
cylinder_paramsThe result of the cylinder fitting of the objects
obj_confidenceThe fitting confidences
best_obj_guessThe best guesses of the objects

The documentation for this class was generated from the following files: