22 #ifndef __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_ 23 #define __PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_BASE_H_ 25 #ifndef HAVE_VISUAL_DEBUGGING 26 # error TabletopVisualizationThread was disabled by build flags 30 #include <Eigen/StdVector> 31 #include <utils/time/time.h> 37 typedef std::vector<Eigen::Vector4f, Eigen::aligned_allocator<Eigen::Vector4f> >
V_Vector4f;
42 virtual void visualize(
const std::string &frame_id,
43 Eigen::Vector4f &table_centroid,
44 Eigen::Vector4f &normal,
45 V_Vector4f &table_hull_vertices,
46 V_Vector4f &table_model_vertices,
47 V_Vector4f &good_table_hull_edges,
48 V_Vector4f ¢roids)
throw() = 0;
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)=0
Visualize the given data.
std::vector< Eigen::Vector4f, Eigen::aligned_allocator< Eigen::Vector4f > > V_Vector4f
Aligned vector of vectors/points.
Base class for virtualization thread.
virtual ~TabletopVisualizationThreadBase()
Virtual empty destructor.