SamplingVisualizer visualizes individual steps of importance sampling. This can be used to illustrate the different sampling methods. More...

Public Member Functions
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)
pcl::ModelCoefficients	createCylinder (Eigen::Vector3d pt_on_axis, Eigen::Vector3d axis_direction, double radius, double extent)
void	createViewer (PointCloud::ConstPtr cloud, std::vector< CylindricalShell > shells, Eigen::MatrixXd samples, double target_radius)
boost::shared_ptr < pcl::visualization::PCLVisualizer >	getViewer ()
Private Attributes
boost::shared_ptr < pcl::visualization::PCLVisualizer >	viewer

Detailed Description

SamplingVisualizer visualizes individual steps of importance sampling. This can be used to illustrate the different sampling methods.

Definition at line 46 of file sampling_visualizer.h.

Member Function Documentation

void SamplingVisualizer::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`
	)

Add a set of cylindrical shells to a given pcl-viewer. The color for all shells is defined by the three optional parameters.

Parameters:

shells	the set of cylindrical shells to be added
viewer_void	the pcl-viewer

Definition at line 18 of file sampling_visualizer.cpp.

pcl::ModelCoefficients SamplingVisualizer::createCylinder	(	Eigen::Vector3d	pt_on_axis,
		Eigen::Vector3d	axis_direction,
		double	radius,
		double	extent
	)

Create a visual cylinder from a point on its axis, its axis, its radius, and its extent.

Parameters:

pt_on_axis	a point on the cylinder's axis
axis_direction	the vector that represents the cylinder's axis
radius	the radius of the cylinder
extent	the extent of the cylinder

Definition at line 3 of file sampling_visualizer.cpp.

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

Create a pcl-viewer that shows a point cloud, a set of cylindrical shells, and a set of samples.

Parameters:

cloud	the cloud to be shown
shells	the set of cylindrical shells to be shown
samples	the set of samples to be shown
target_radius	the target radius

Definition at line 38 of file sampling_visualizer.cpp.

boost::shared_ptr<pcl::visualization::PCLVisualizer> SamplingVisualizer::getViewer ( ) [inline]

Returns the pcl-viewer.

Definition at line 84 of file sampling_visualizer.h.

boost::shared_ptr<pcl::visualization::PCLVisualizer> SamplingVisualizer::viewer [private]

Definition at line 88 of file sampling_visualizer.h.

The documentation for this class was generated from the following files: