本文整理汇总了C++中typenamestd::vector::getTop方法的典型用法代码示例。如果您正苦于以下问题：C++ vector::getTop方法的具体用法？C++ vector::getTop怎么用？C++ vector::getTop使用的例子？那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类typenamestd::vector的用法示例。
在下文中一共展示了vector::getTop方法的1个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。
示例1: m
template<typename PointT> void PersonClusterVisualizer<PointT>::visualize(const std::string& nameSpace, std::vector<pcl::people::PersonCluster<PointT> >& clusters)
{
// Save us some computation time if there are no subscribers.
if(_markerArrayPublisher.getNumSubscribers() == 0) return;
// Look up values for this particular namespace
std::set<unsigned int>& oldMarkerIds = _oldMarkerIds[nameSpace];
unsigned int& lastMarkerId = _lastMarkerIds[nameSpace];
visualization_msgs::MarkerArray markerArray;
// Remove old clusters
for(std::set<unsigned int>::const_iterator it = oldMarkerIds.begin(); it != oldMarkerIds.end(); ++it) {
visualization_msgs::Marker oldClusterMarker = MarkerUtils::createMarker(nameSpace, _detectionFrame);
oldClusterMarker.id = *it;
oldClusterMarker.action = visualization_msgs::Marker::DELETE;
markerArray.markers.push_back(oldClusterMarker);
}
oldMarkerIds.clear();
double lifetime = 1.0 / 15;
unsigned int k = lastMarkerId + 1;
for (typename std::vector<pcl::people::PersonCluster<PointT> >::iterator it = clusters.begin(); it != clusters.end(); ++it) {
//
// 3D bounding box
//
visualization_msgs::Marker clusterMarker = MarkerUtils::createMarker(nameSpace, _detectionFrame);
clusterMarker.id = k;
clusterMarker.type = visualization_msgs::Marker::CUBE;
clusterMarker.color = MarkerUtils::getPaletteColor(_visualizationCounter);
clusterMarker.color.a = 0.35;
clusterMarker.scale.x = it->getMax().x() - it->getMin().x();
clusterMarker.scale.y = it->getHeight(); // note that in the detection frame, y is up
clusterMarker.scale.z = it->getMax().z() - it->getMin().z();
clusterMarker.lifetime.fromSec(lifetime); // just to be safe
Eigen::Vector3f tcenter = it->getTCenter();
tf::poseEigenToMsg(Eigen::Translation3d(tcenter.cast<double>()) * Eigen::Affine3d::Identity(), clusterMarker.pose);
markerArray.markers.push_back(clusterMarker);
oldMarkerIds.insert(clusterMarker.id);
k++;
//
// Center of gravity
//
visualization_msgs::Marker cogMarker = MarkerUtils::createMarker(nameSpace, _detectionFrame);
cogMarker.id = k;
cogMarker.type = visualization_msgs::Marker::SPHERE;
cogMarker.color = MarkerUtils::getPaletteColor(_visualizationCounter);
cogMarker.color.a = 1.0;
cogMarker.scale.x = cogMarker.scale.y = cogMarker.scale.z = 0.1; // 10 cm
cogMarker.lifetime.fromSec(lifetime); // just to be safe
Eigen::Vector3f center = it->getCenter();
tf::poseEigenToMsg(Eigen::Translation3d(center.cast<double>()) * Eigen::Affine3d::Identity(), cogMarker.pose);
markerArray.markers.push_back(cogMarker);
oldMarkerIds.insert(cogMarker.id);
k++;
//
// Person confidence (if set)
//
if(it->getPersonConfidence() == it->getPersonConfidence()) { // must not be NaN
std::stringstream confidenceStr; confidenceStr << std::fixed << std::setprecision(1) << it->getPersonConfidence();
visualization_msgs::Marker confidenceMarker = MarkerUtils::createMarker(nameSpace, _detectionFrame);
confidenceMarker.id = k;
confidenceMarker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
//confidenceMarker.color = MarkerUtils::getPaletteColor(_visualizationCounter);
confidenceMarker.color.r = confidenceMarker.color.g = confidenceMarker.color.b = 1.0;
confidenceMarker.color.a = 1.0;
confidenceMarker.scale.z = 0.2; // height of letters in m(?)
confidenceMarker.lifetime.fromSec(lifetime); // just to be safe
confidenceMarker.text = confidenceStr.str();
Eigen::Vector3f top = it->getTop();
tf::poseEigenToMsg(Eigen::Translation3d(top.cast<double>()) * Eigen::Affine3d::Identity(), confidenceMarker.pose);
markerArray.markers.push_back(confidenceMarker);
oldMarkerIds.insert(confidenceMarker.id);
k++;
}
}
lastMarkerId = k;
_markerArrayPublisher.publish(markerArray);
_visualizationCounter++;
}