Fawkes API  Fawkes Development Version
visualization_thread_base.h
00001 
00002 /***************************************************************************
00003  *  visualization_thread_base.h - Visualization base class
00004  *
00005  *  Created: Fri Nov 11 00:11:23 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 #ifndef __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_
00023 #define __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_
00024 
00025 #ifndef HAVE_VISUAL_DEBUGGING
00026 #  error TabletopVisualizationThread was disabled by build flags
00027 #endif
00028 
00029 #include <Eigen/Core>
00030 #include <Eigen/StdVector>
00031 #include <utils/time/time.h>
00032 
00033 class TabletopVisualizationThreadBase
00034 {
00035  public:
00036   /** Aligned vector of vectors/points. */
00037   typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> > V_Vector4f;
00038   // Eigen::aligned_allocator<Eigen::Vector4f> 
00039 
00040   virtual ~TabletopVisualizationThreadBase();
00041 
00042   virtual void visualize(const std::string &frame_id,
00043                          Eigen::Vector4f &table_centroid,
00044                          Eigen::Vector4f &normal,
00045                          V_Vector4f &table_hull_vertices,
00046                          V_Vector4f &table_model_vertices,
00047                          V_Vector4f &good_table_hull_edges,
00048                          V_Vector4f &centroids) throw() = 0;
00049 };
00050 
00051 #endif