Merge pull request #900 from JuliaRobotics/22Q3/enh/plotpc

Author: dehann

src/3rdParty/_PCL/_PCL.jl

@@ -40,6 +40,7 @@ include("services/ICP_Simple.jl")
 
 function __init__()
   @require RobotOS="22415677-39a4-5241-a37a-00beabbbdae8" include("services/ROSConversions.jl")
+  @require Gadfly="c91e804a-d5a3-530f-b6f0-dfbca275c004" include("services/PlottingUtilsPCL.jl")
 end
 
 

src/3rdParty/_PCL/services/PlottingUtilsPCL.jl

@@ -0,0 +1,16 @@
+
+@info "Caesar._PCL is loading tools related to Gadfly.jl."
+
+# import ..Gadfly as GF
+
+## =====================================================================================
+## _PCL plotting utils
+## =====================================================================================
+
+# FIXME move pointcloud plotting to Arena.jl instead
+function plotPointCloud(pc::PointCloud)
+  x = (s->s.data[1]).(pc.points)
+  y = (s->s.data[2]).(pc.points)
+
+  Main.Gadfly.plot(x=x,y=y, Main.Gadfly.Geom.point)
+end