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visualization_thread_base.h
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/***************************************************************************
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* visualization_thread_base.h - Visualization base class
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*
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* Created: Fri Nov 11 00:11:23 2011
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* Copyright 2011 Tim Niemueller [www.niemueller.de]
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****************************************************************************/
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/* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Library General Public License for more details.
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*
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* Read the full text in the LICENSE.GPL file in the doc directory.
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*/
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#ifndef __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_
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#define __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_
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#ifndef HAVE_VISUAL_DEBUGGING
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# error TabletopVisualizationThread was disabled by build flags
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#endif
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#include <Eigen/Core>
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#include <Eigen/StdVector>
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#include <utils/time/time.h>
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class
TabletopVisualizationThreadBase
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{
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public
:
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/** Aligned vector of vectors/points. */
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typedef
std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >
V_Vector4f
;
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// Eigen::aligned_allocator<Eigen::Vector4f>
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virtual
~TabletopVisualizationThreadBase
();
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virtual
void
visualize
(
const
std::string &frame_id,
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Eigen::Vector4f &table_centroid,
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Eigen::Vector4f &normal,
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V_Vector4f
&table_hull_vertices,
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V_Vector4f
&table_model_vertices,
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V_Vector4f
&good_table_hull_edges,
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V_Vector4f
¢roids)
throw
() = 0;
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};
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#endif
src
plugins
perception
tabletop-objects
visualization_thread_base.h
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