44 lines
1.2 KiB
C++
44 lines
1.2 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#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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