Visualizer.h

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#pragma once
 
#include <VisionX/libraries/VoxelGridCore/Visualizer.hpp>
 
#include "VoxelGrid.h"
 
namespace visionx::voxelgrid::LabelOccupancy
{
 
    /**
     * @brief Visualizer for label occupancy voxel grids.
     *
     * Draws occupied voxels as single colored boxes according to their label.
     */
    class Visualizer : public voxelgrid::Visualizer<Voxel>
    {
 
    public:
        Visualizer();
        Visualizer(const armarx::DebugDrawerTopic& drawer,
                   const std::string& layer = "LabelOccupancyVoxelGrid");
 
        virtual ~Visualizer() override;
 
 
        /// Get the alpha.
        float getAlpha() const;
        /// Set the alpha. Must be in [0, 1].
        void setAlpha(float value);
 
 
    protected:
        virtual bool isVisible(const VoxelVisuData& voxelVisu) const override;
        virtual void drawVoxel(const VoxelVisuData& voxelVisu) override;
 
 
        float alpha = 0.75;
    };
 
} // namespace visionx::voxelgrid::LabelOccupancy