22 #ifndef __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_THREAD_H_ 23 #define __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_THREAD_H_ 25 #ifndef HAVE_VISUAL_DEBUGGING 26 # error TabletopVisualizationThread was disabled by build flags 29 #include "visualization_thread_base.h" 31 #include <core/threading/thread.h> 32 #include <core/threading/mutex.h> 33 #include <aspect/tf.h> 34 #include <aspect/configurable.h> 35 #include <plugins/ros/aspect/ros.h> 55 virtual void visualize(
const std::string &frame_id,
56 Eigen::Vector4f &table_centroid,
57 Eigen::Vector4f &normal,
63 std::map<unsigned int, double> &obj_confidence,
64 std::map<unsigned int, signed int>& best_obj_guess)
throw();
67 void triangulate_hull();
71 std::string frame_id_;
72 Eigen::Vector4f table_centroid_;
73 Eigen::Vector4f normal_;
80 std::map<unsigned int, double> obj_confidence_;
81 std::map<unsigned int, signed int> best_obj_guess_;
82 ros::Publisher *vispub_;
84 ros::Publisher *posepub_;
88 bool cfg_show_frustrum_;
89 float cfg_horizontal_va_;
90 float cfg_vertical_va_;
91 bool cfg_show_cvxhull_vertices_;
92 bool cfg_show_cvxhull_line_highlighting_;
93 bool cfg_show_cvxhull_vertex_ids_;
94 unsigned int cfg_duration_;
95 bool cfg_cylinder_fitting_;
96 std::string cfg_base_frame_;
98 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Thread aspect to get access to a ROS node handle.
virtual void loop()
Code to execute in the thread.
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > V_Vector4f
Aligned vector of vectors/points.
Thread class encapsulation of pthreads.
Base class for virtualization thread.
virtual void init()
Initialize the thread.
TabletopVisualizationThread()
Constructor.
Thread aspect to access configuration data.
virtual void finalize()
Finalize the thread.
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.
Mutex mutual exclusion lock.
Send Marker messages to rviz.
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)
Visualize the given data.