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 <core/threading/thread.h>
32 #include <core/threading/mutex.h>
33 #include <aspect/tf.h>
34 #include <aspect/configurable.h>
35 #include <plugins/ros/aspect/ros.h>
55 virtual void visualize(
const std::string &frame_id,
56 Eigen::Vector4f &table_centroid,
57 Eigen::Vector4f &normal,
64 void triangulate_hull();
68 std::string frame_id_;
69 Eigen::Vector4f table_centroid_;
70 Eigen::Vector4f normal_;
76 ros::Publisher *vispub_;
78 ros::Publisher *posepub_;
82 bool cfg_show_frustrum_;
83 float cfg_horizontal_va_;
84 float cfg_vertical_va_;
85 bool cfg_show_cvxhull_vertices_;
86 bool cfg_show_cvxhull_line_highlighting_;
87 bool cfg_show_cvxhull_vertex_ids_;
88 unsigned int cfg_duration_;
90 EIGEN_MAKE_ALIGNED_OPERATOR_NEW