Fawkes API
Fawkes Development Version
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Base class for virtualization thread. More...
#include "visualization_thread_base.h"
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 ¢roids, 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... | |
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.
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.
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.
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virtual |
Virtual empty destructor.
Definition at line 45 of file visualization_thread_base.cpp.
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pure virtual |
Visualize the given data.
frame_id | reference frame ID |
table_centroid | centroid of table |
normal | normal vector of table |
table_hull_vertices | points of the table hull |
table_model_vertices | points 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 |
centroids | object cluster centroids |
cylinder_params | The result of the cylinder fitting of the objects |
obj_confidence | The fitting confidences |
best_obj_guess | The best guesses of the objects |