Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * visualization_thread.h - Visualization 00004 * 00005 * Created: Fri Nov 11 00:53:07 2011 00006 * Copyright 2011 Tim Niemueller [www.niemueller.de] 00007 ****************************************************************************/ 00008 00009 /* This program is free software; you can redistribute it and/or modify 00010 * it under the terms of the GNU General Public License as published by 00011 * the Free Software Foundation; either version 2 of the License, or 00012 * (at your option) any later version. 00013 * 00014 * This program is distributed in the hope that it will be useful, 00015 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00016 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00017 * GNU Library General Public License for more details. 00018 * 00019 * Read the full text in the LICENSE.GPL file in the doc directory. 00020 */ 00021 00022 #include "visualization_thread_base.h" 00023 00024 /** @class TabletopVisualizationThreadBase "visualization_thread_base.h" 00025 * Base class for virtualization thread. 00026 * This is only required to create a level of indirection to cope 00027 * with the re-defined msgs problem in PCL. 00028 * 00029 * @fn void TabletopVisualizationThreadBase::visualize(std::string &frame_id, Eigen::Vector4f &table_centroid, Eigen::Vector4f &normal, std::vector<Eigen::Vector4f> &table_hull_vertices, std::vector<Eigen::Vector4f> ¢roids) throw() 00030 * Visualize the given data. 00031 * @param frame_id reference frame ID 00032 * @param table_centroid centroid of table 00033 * @param normal normal vector of table 00034 * @param table_hull_vertices points of the table hull 00035 * @param table_model_vertices points of the fitted table model 00036 * @param good_table_hull_edges "good" egdes in table hull, i.e. edges that have 00037 * been considered for determining the table orientation 00038 * @param centroids object cluster centroids 00039 */ 00040 00041 /** Virtual empty destructor. */ 00042 TabletopVisualizationThreadBase::~TabletopVisualizationThreadBase() 00043 { 00044 } 00045