sampling_visualizer.h

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/*
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 *  Copyright (c) 2014, Andreas ten Pas
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#ifndef SAMPLING_H
#define SAMPLING_H

#include "handle_detector/cylindrical_shell.h"
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <vector>

typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef pcl::PointCloud<pcl::PointXYZRGB> PointCloudRGB;

class SamplingVisualizer
{
public:
  pcl::ModelCoefficients
  createCylinder(Eigen::Vector3d pt_on_axis, Eigen::Vector3d axis_direction, double radius, double extent);

  void
  addCylinders(const std::vector<CylindricalShell> &shells, void* viewer_void, std::string handle_index = "", double r =
                   0.0,
               double g = 1.0, double b = 1.0);

  void
  createViewer(PointCloud::ConstPtr cloud, std::vector<CylindricalShell> shells, Eigen::MatrixXd samples,
               double target_radius);

  void
  createViewerRGB(PointCloudRGB::ConstPtr cloud, std::vector<CylindricalShell> shells, Eigen::MatrixXd samples,
                  double target_radius);

  inline boost::shared_ptr<pcl::visualization::PCLVisualizer> getViewer()
  {
    return this->viewer;
  }
  ;

private:
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
};

#endif