sampling_visualizer.h
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00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2014, Andreas ten Pas
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *
00018  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00031 
00032 #ifndef SAMPLING_H
00033 #define SAMPLING_H
00034 
00035 #include "handle_detector/cylindrical_shell.h"
00036 #include <pcl/point_types.h>
00037 #include <pcl/visualization/pcl_visualizer.h>
00038 #include <vector>
00039 
00040 typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;
00041 
00046 class SamplingVisualizer
00047 {
00048 public:
00056   pcl::ModelCoefficients
00057   createCylinder(Eigen::Vector3d pt_on_axis, Eigen::Vector3d axis_direction, double radius, double extent);
00058 
00065   void
00066   addCylinders(const std::vector<CylindricalShell> &shells, void* viewer_void, std::string handle_index = "", double r =
00067                    0.0,
00068                double g = 1.0, double b = 1.0);
00069 
00077   void
00078   createViewer(PointCloud::ConstPtr cloud, std::vector<CylindricalShell> shells, Eigen::MatrixXd samples,
00079                double target_radius);
00080 
00084   inline boost::shared_ptr<pcl::visualization::PCLVisualizer> getViewer()
00085   {
00086     return this->viewer;
00087   }
00088   ;
00089 
00090 private:
00091   boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
00092 };
00093 
00094 #endif


handle_detector
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autogenerated on Thu Jun 6 2019 17:36:23