19 lines
703 B
C++
19 lines
703 B
C++
#include "extractor_visualizer.h"
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namespace oh_my_loam {
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void ExtractorVisualizer::Draw() {
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auto frame = GetCurrentFrame<ExtractorVisFrame>();
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DrawPointCloud<Point>(frame.cloud, WHITE, "raw_point_cloud");
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DrawPointCloud<TPoint>(frame.feature_pts.less_flat_surf_pts, CYAN,
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"less_flat_surf_pts");
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DrawPointCloud<TPoint>(frame.feature_pts.flat_surf_pts, BLUE,
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"flat_surf_pts");
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DrawPointCloud<TPoint>(frame.feature_pts.less_sharp_corner_pts, PURPLE,
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"less_sharp_corner_pts");
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DrawPointCloud<TPoint>(frame.feature_pts.sharp_corner_pts, RED,
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"sharp_corner_pts");
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};
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} // namespace oh_my_loam
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