Visualizer.cpp

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#include "Visualizer.h"
 
#include <pcl/common/colors.h>
#include <pcl/point_types.h>  // for pcl::RGB
 
#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
 
 
namespace visionx::voxelgrid::LabelOccupancy
{
 
    Visualizer::Visualizer()
        = default;
 
    Visualizer::Visualizer(
        const armarx::DebugDrawerTopic& debugDrawer, const std::string& layer) :
        voxelgrid::Visualizer<Voxel>(debugDrawer, layer)
    {}
 
    Visualizer::~Visualizer()
        = default;
 
 
    bool Visualizer::isVisible(const Visualizer::VoxelVisuData& visu) const
    {
        return visu.voxel.isOccupied();
    }
 
    void Visualizer::drawVoxel(const Visualizer::VoxelVisuData& visu)
    {
        ARMARX_CHECK(visu.voxel.isOccupied());
 
        const Label label = visu.voxel.getLabel();
 
        const pcl::RGB rgb = pcl::GlasbeyLUT::at(static_cast<unsigned int>(label)
                             % pcl::GlasbeyLUT::size());
 
        const armarx::DrawColor color = drawer().toDrawColor(rgb, alpha, true);
 
        drawer().drawBox({getVoxelLayer(), visu.name + "_" + std::to_string(label)},
                         visu.pos, visu.ori, visu.extents, color);
    }
 
    float Visualizer::getAlpha() const
    {
        return alpha;
    }
 
    void Visualizer::setAlpha(float value)
    {
        ARMARX_CHECK_LESS_EQUAL(0, value);
        ARMARX_CHECK_LESS_EQUAL(value, 1);
 
        this->alpha = value;
    }
 
 
}