Visualizer.h
Go to the documentation of this file.
1 #pragma once
2 
4 
5 #include "VoxelGrid.h"
6 
8 {
9 
10  /**
11  * @brief Visualizer for label occupancy voxel grids.
12  *
13  * Draws occupied voxels as single colored boxes according to their label.
14  */
15  class Visualizer : public voxelgrid::Visualizer<Voxel>
16  {
17 
18  public:
19  Visualizer();
21  const std::string& layer = "LabelOccupancyVoxelGrid");
22 
23  virtual ~Visualizer() override;
24 
25 
26  /// Get the alpha.
27  float getAlpha() const;
28  /// Set the alpha. Must be in [0, 1].
29  void setAlpha(float value);
30 
31 
32  protected:
33  virtual bool isVisible(const VoxelVisuData& voxelVisu) const override;
34  virtual void drawVoxel(const VoxelVisuData& voxelVisu) override;
35 
36 
37  float alpha = 0.75;
38  };
39 
40 } // namespace visionx::voxelgrid::LabelOccupancy
visionx::voxelgrid::LabelOccupancy::Visualizer::isVisible
virtual bool isVisible(const VoxelVisuData &voxelVisu) const override
Indicate whether a voxel shall be drawn.
armarx::DebugDrawerTopic
The DebugDrawerTopic wraps a DebugDrawerInterfacePrx and provides a more useful interface than the Ic...
Definition: DebugDrawerTopic.h:151
visionx::voxelgrid::LabelOccupancy::Visualizer::setAlpha
void setAlpha(float value)
Set the alpha. Must be in [0, 1].
Definition: Visualizer.cpp:52
visionx::voxelgrid::LabelOccupancy::Visualizer::getAlpha
float getAlpha() const
Get the alpha.
Definition: Visualizer.cpp:46
visionx::voxelgrid::LabelOccupancy::Visualizer::~Visualizer
virtual ~Visualizer() override
Virtual destructor.
visionx::voxelgrid::Visualizer< Voxel >::drawer
armarx::DebugDrawerTopic & drawer()
Get the debug drawer.
Definition: Visualizer.hpp:124
visionx::voxelgrid::Visualizer
Visualizer for voxel grids of with voxel type VoxelT.
Definition: Visualizer.hpp:43
visionx::voxelgrid::LabelOccupancy
Definition: Visualizer.cpp:8
visionx::voxelgrid::LabelOccupancy::Visualizer::Visualizer
Visualizer()
cxxopts::value
std::shared_ptr< Value > value()
Definition: cxxopts.hpp:855
Visualizer.hpp
VoxelGrid.h
visionx::voxelgrid::LabelOccupancy::Visualizer
Visualizer for label occupancy voxel grids.
Definition: Visualizer.h:15
visionx::voxelgrid::LabelOccupancy::Visualizer::drawVoxel
virtual void drawVoxel(const VoxelVisuData &voxelVisu) override
Draw a voxel.
visionx::voxelgrid::LabelOccupancy::Visualizer::alpha
float alpha
Definition: Visualizer.h:37