ClassUsingDisplayPCL.h

#ifndef _ClassUsingPclVisualizer_h_
#define _ClassUsingPclVisualizer_h_

#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION) && defined(VISP_HAVE_PCL_IO)
 
#include<visp3/core/vpColVector.h>
#include<visp3/gui/vpDisplayPCL.h>
 
class ClassUsingDisplayPCL
{
public:
  using PointType = pcl::PointXYZ;
private:
  VISP_NAMESPACE_ADDRESSING vpTranslationVector m_t; 
  VISP_NAMESPACE_ADDRESSING vpRotationMatrix m_R; 
  VISP_NAMESPACE_ADDRESSING 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)
 
  VISP_NAMESPACE_ADDRESSING vpDisplayPCL m_visualizer; 

  void generateControlPoints(const double &addedNoise, const unsigned int &order, pcl::PointCloud<PointType>::Ptr &base, pcl::PointCloud<PointType>::Ptr &rotated);
public:
  ClassUsingDisplayPCL(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 });
 
  ~ClassUsingDisplayPCL();

  void runDemo(const double &addedNoise, const unsigned int &order, const bool &useMonothread);
};
#endif
#endif