plot.h

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/*
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 *  Copyright (c) 2015, Andreas ten Pas
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#ifndef PLOT_H
#define PLOT_H

#include <pcl/visualization/pcl_visualizer.h>

#include <agile_grasp/grasp_hypothesis.h>
#include <agile_grasp/quadric.h>


typedef pcl::PointCloud<pcl::PointXYZ> PointCloud;
typedef pcl::PointCloud<pcl::PointNormal> PointCloudNormal;

class Plot
{
        public:
                
                void plotHands(const std::vector<GraspHypothesis>& hand_list, const PointCloud::Ptr& cloud, std::string str,
                        bool use_grasp_bottom = false);
                
                void plotHands(const std::vector<GraspHypothesis>& hand_list,
                        const std::vector<GraspHypothesis>& antipodal_hand_list, const PointCloud::Ptr& cloud, std::string str,
                        bool use_grasp_bottom = false);
                
                void plotSamples(const std::vector<int>& index_list, const PointCloud::Ptr& cloud);
                
                void plotLocalAxes(const std::vector<Quadric>& quadric_list, const PointCloud::Ptr& cloud);
                
                void plotCameraSource(const Eigen::VectorXi& pts_cam_source_in, const PointCloud::Ptr& cloud);
                
        private:
                
                PointCloudNormal::Ptr createNormalsCloud(const std::vector<GraspHypothesis>& hand_list,
                        bool plots_only_antipodal, bool plots_grasp_bottom);
                
                void addCloudNormalsToViewer(boost::shared_ptr<pcl::visualization::PCLVisualizer>& viewer,
                        const PointCloudNormal::Ptr& cloud, double line_width, double* color_cloud, double* color_normals,
                        const std::string& cloud_name, const std::string& normals_name);
                
                void plotHandsHelper(const PointCloudNormal::Ptr& hands_cloud,
                        const PointCloudNormal::Ptr& antipodal_hands_cloud, const PointCloud::Ptr& cloud,
                        std::string str, bool use_grasp_bottom);
                
                void runViewer(boost::shared_ptr<pcl::visualization::PCLVisualizer>& viewer);
                
                boost::shared_ptr<pcl::visualization::PCLVisualizer> createViewer(std::string title);
};

#endif /* PLOT_H */