ClassUsingPclViewer.h

#ifndef _ClassUsingPclVisualizer_h_
#define _ClassUsingPclVisualizer_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION)
 
#include<visp3/core/vpColVector.h>
#include<visp3/gui/vpPclViewer.h>
 
class ClassUsingPclViewer
{
private:
  vpTranslationVector m_t; 
  vpRotationMatrix m_R; 
  vpHomogeneousMatrix m_cMo; 
  double m_minX; 
  double m_maxX; 
  unsigned int m_n; 
  double m_dX; // m_dX = (m_maxX - m_minX)/(m_n-1)
  double m_minY; 
  double m_maxY; 
  unsigned int m_m;  
  double m_dY; // m_dY = (m_maxY - m_minY)/(m_m-1)
 
  vpPclViewer m_visualizer; 
  std::pair<vpPclViewer::pclPointCloudPointXYZRGBPtr, vpPclViewer::pclPointCloudPointXYZRGBPtr> generateControlPoints(const double &addedNoise, const unsigned int &order, vpColVector &confidenceWeights);
public:
  ClassUsingPclViewer(std::pair<double, double> xlimits = { -2.5,2.5 }, std::pair<double, double> ylimits = { -2.5,2.5 }, std::pair<unsigned int, unsigned int> nbPoints = { 50,50 });
 
  ~ClassUsingPclViewer();
 
  void blockingMode(const double &addedNoise, const unsigned int &order);
 
  void threadedMode(const double &addedNoise, const unsigned int &order);
};
#endif
#endif