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. | |
Public Member Functions | |
virtual | ~TabletopVisualizationThreadBase () |
Virtual empty destructor. | |
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, V_Vector4f ¢roids)=0 throw () |
Visualize the given data. |
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.
typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > TabletopVisualizationThreadBase::V_Vector4f |
Aligned vector of vectors/points.
Definition at line 37 of file visualization_thread_base.h.
TabletopVisualizationThreadBase::~TabletopVisualizationThreadBase | ( | ) | [virtual] |
Virtual empty destructor.
Definition at line 42 of file visualization_thread_base.cpp.
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, | ||
V_Vector4f & | centroids | ||
) | throw () [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 |
Implemented in TabletopVisualizationThread.