Fawkes API  Fawkes Development Version
visualization_thread_base.cpp
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> &centroids) 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