31 lines
625 B
C++
31 lines
625 B
C++
#ifndef MYNTEYE_TUTORIALS_PCVIEWER_H_ // NOLINT
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#define MYNTEYE_TUTORIALS_PCVIEWER_H_
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#pragma once
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#include <opencv2/core/core.hpp>
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#include <pcl/visualization/pcl_visualizer.h>
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#include <memory>
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class PCViewer {
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public:
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PCViewer();
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~PCViewer();
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void Draw(const cv::Mat &xyz);
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void Draw(pcl::PointCloud<pcl::PointXYZ>::ConstPtr pc);
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bool WasDrew() const;
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bool WasStopped() const;
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private:
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void ConvertMatToPointCloud(
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const cv::Mat &xyz, pcl::PointCloud<pcl::PointXYZ>::Ptr pc);
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std::shared_ptr<pcl::visualization::PCLVisualizer> viewer_;
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};
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#endif // MYNTEYE_TUTORIALS_PCVIEWER_H_ NOLINT
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