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> 53 virtual void finalize();
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.
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.
Thread aspect to access configuration data.
Mutex mutual exclusion lock.
Send Marker messages to rviz.