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,
64 void triangulate_hull();
68 std::string frame_id_;
69 Eigen::Vector4f table_centroid_;
70 Eigen::Vector4f normal_;
76 ros::Publisher *vispub_;
78 ros::Publisher *posepub_;
82 bool cfg_show_frustrum_;
83 float cfg_horizontal_va_;
84 float cfg_vertical_va_;
85 bool cfg_show_cvxhull_vertices_;
86 bool cfg_show_cvxhull_line_highlighting_;
87 bool cfg_show_cvxhull_vertex_ids_;
88 unsigned int cfg_duration_;
90 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 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)
Visualize the given data.
virtual void finalize()
Finalize the thread.
Mutex mutual exclusion lock.
Send Marker messages to rviz.