22 #ifndef _PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_THREAD_H_
23 #define _PLUGINS_PERCEPTION_TABLETOP_OBJECTS_VISUALIZATION_THREAD_H_
25 #ifndef HAVE_VISUAL_DEBUGGING
26 # error TabletopVisualizationThread was disabled by build flags
29 #include "visualization_thread_base.h"
31 #include <aspect/configurable.h>
32 #include <aspect/tf.h>
33 #include <core/threading/mutex.h>
34 #include <core/threading/thread.h>
35 #include <plugins/ros/aspect/ros.h>
54 virtual void visualize(
const std::string & frame_id,
55 Eigen::Vector4f & table_centroid,
56 Eigen::Vector4f & normal,
62 std::map<unsigned int, double> & obj_confidence,
63 std::map<unsigned int, signed int> &best_obj_guess)
throw();
66 void triangulate_hull();
70 std::string frame_id_;
71 Eigen::Vector4f table_centroid_;
72 Eigen::Vector4f normal_;
79 std::map<unsigned int, double> obj_confidence_;
80 std::map<unsigned int, signed int> best_obj_guess_;
81 ros::Publisher * vispub_;
83 ros::Publisher *posepub_;
87 bool cfg_show_frustrum_;
88 float cfg_horizontal_va_;
89 float cfg_vertical_va_;
90 bool cfg_show_cvxhull_vertices_;
91 bool cfg_show_cvxhull_line_highlighting_;
92 bool cfg_show_cvxhull_vertex_ids_;
93 unsigned int cfg_duration_;
94 bool cfg_cylinder_fitting_;
95 std::string cfg_base_frame_;
98 EIGEN_MAKE_ALIGNED_OPERATOR_NEW