rviz::PointCloudBase Class Reference

Displays a point cloud of type sensor_msgs::PointCloud. More...

#include <point_cloud_base.h>

Inheritance diagram for rviz::PointCloudBase:

Classes
struct	CloudInfo
struct	PluginConns
struct	TransformerInfo
Public Types
enum	ChannelRender { Intensity, Curvature, ColorRGBSpace, NormalSphere, ChannelRenderCount }
	The different channels that we support rendering. More...
enum	Style { Points, Billboards, BillboardSpheres, Boxes, StyleCount }
	The different styles of pointcloud drawing. More...
Public Member Functions
void	causeRetransform ()
virtual void	createProperties ()
	Called from setPropertyManager, gives the display a chance to create some properties immediately.
virtual void	fixedFrameChanged ()
	Called from within setFixedFrame, notifying child classes that the fixed frame has changed.
float	getAlpha ()
float	getBillboardSize ()
float	getDecayTime ()
bool	getSelectable ()
int	getStyle ()
	PointCloudBase (const std::string &name, VisualizationManager *manager)
virtual void	reset ()
	Called to tell the display to clear its state.
void	setAlpha (float alpha)
void	setBillboardSize (float size)
	Sets the size each point will be when drawn in 3D as a billboard.
void	setDecayTime (float time)
	Set the amount of time each cloud should stick around for.
void	setSelectable (bool selectable)
void	setStyle (int style)
	Set the rendering style.
virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization panel.
	~PointCloudBase ()
Protected Types
typedef std::map< Plugin *, PluginConns >	M_PluginConns
typedef std::map< std::string, TransformerInfo >	M_TransformerInfo
typedef std::vector < ogre_tools::PointCloud::Point >	V_Point
typedef std::vector< V_Point >	VV_Point
Protected Member Functions
void	addMessage (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	addMessage (const sensor_msgs::PointCloudConstPtr &cloud)
PointCloudTransformerPtr	getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
const std::string &	getColorTransformer ()
PointCloudTransformerPtr	getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
const std::string &	getXYZTransformer ()
void	loadTransformers (Plugin *plugin)
virtual void	onDisable ()
	Derived classes override this to do the actual work of disabling themselves.
virtual void	onEnable ()
	Derived classes override this to do the actual work of enabling themselves.
void	onPluginLoaded (const PluginStatus &status)
void	onPluginUnloading (const PluginStatus &status)
void	onTransformerOptions (V_string &ops, uint32_t mask)
void	processMessage (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	retransform ()
void	setColorTransformer (const std::string &name)
void	setXYZTransformer (const std::string &name)
bool	transformCloud (const CloudInfoPtr &cloud, V_Point &points, bool fully_update_transformers)
	Transforms the cloud into the correct frame, and sets up our renderable cloud.
void	updateStatus ()
void	updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud, bool fully_update)
Protected Attributes
float	alpha_
FloatPropertyWPtr	alpha_property_
float	billboard_size_
	Size to draw our billboards.
FloatPropertyWPtr	billboard_size_property_
ros::CallbackQueue	cbqueue_
ogre_tools::PointCloud *	cloud_
D_CloudInfo	clouds_
boost::mutex	clouds_mutex_
CollObjectHandle	coll_handle_
PointCloudSelectionHandlerPtr	coll_handler_
std::string	color_transformer_
EditEnumPropertyWPtr	color_transformer_property_
FloatPropertyWPtr	decay_time_property_
uint32_t	messages_received_
bool	needs_retransform_
bool	new_cloud_
V_CloudInfo	new_clouds_
boost::mutex	new_clouds_mutex_
bool	new_color_transformer_
VV_Point	new_points_
bool	new_xyz_transformer_
M_PluginConns	plugin_conns_
float	point_decay_time_
	How long clouds should stick around for before they are culled.
Ogre::SceneNode *	scene_node_
bool	selectable_
BoolPropertyWPtr	selectable_property_
ros::AsyncSpinner	spinner_
int	style_
	Our rendering style.
EnumPropertyWPtr	style_property_
uint32_t	total_point_count_
M_TransformerInfo	transformers_
boost::recursive_mutex	transformers_mutex_
std::string	xyz_transformer_
EditEnumPropertyWPtr	xyz_transformer_property_
Private Types
typedef boost::shared_ptr < CloudInfo >	CloudInfoPtr
typedef std::deque< CloudInfoPtr >	D_CloudInfo
typedef std::queue< CloudInfoPtr >	Q_CloudInfo
typedef std::vector< CloudInfoPtr >	V_CloudInfo
Friends
class	PointCloudSelectionHandler

Detailed Description

Displays a point cloud of type sensor_msgs::PointCloud.

By default it will assume channel 0 of the cloud is an intensity value, and will color them by intensity. If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b all being 8 bits.

Definition at line 79 of file point_cloud_base.h.

Member Typedef Documentation

typedef boost::shared_ptr<CloudInfo> rviz::PointCloudBase::CloudInfoPtr [private]

Definition at line 95 of file point_cloud_base.h.

typedef std::deque<CloudInfoPtr> rviz::PointCloudBase::D_CloudInfo [private]

Definition at line 96 of file point_cloud_base.h.

typedef std::map<Plugin*, PluginConns> rviz::PointCloudBase::M_PluginConns [protected]

Definition at line 256 of file point_cloud_base.h.

typedef std::map<std::string, TransformerInfo> rviz::PointCloudBase::M_TransformerInfo [protected]

Definition at line 222 of file point_cloud_base.h.

typedef std::queue<CloudInfoPtr> rviz::PointCloudBase::Q_CloudInfo [private]

Definition at line 98 of file point_cloud_base.h.

typedef std::vector<CloudInfoPtr> rviz::PointCloudBase::V_CloudInfo [private]

Definition at line 97 of file point_cloud_base.h.

typedef std::vector<ogre_tools::PointCloud::Point> rviz::PointCloudBase::V_Point [protected]

Definition at line 170 of file point_cloud_base.h.

typedef std::vector<V_Point> rviz::PointCloudBase::VV_Point [protected]

Definition at line 171 of file point_cloud_base.h.

Member Enumeration Documentation

enum rviz::PointCloudBase::ChannelRender

The different channels that we support rendering.

Enumerator:

Intensity	Intensity data.
Curvature	Surface curvature estimates.
ColorRGBSpace	RGB Color.
NormalSphere	Use the nx-ny-nz (normal coordinates) instead of x-y-z.
ChannelRenderCount

Definition at line 119 of file point_cloud_base.h.

enum rviz::PointCloudBase::Style

The different styles of pointcloud drawing.

Enumerator:

Points	Points -- points are drawn as a fixed size in 2d space, ie. always 1 pixel on screen.
Billboards	Billboards -- points are drawn as camera-facing quads in 3d space.
BillboardSpheres	Billboard "spheres" -- cam-facing tris with a pixel shader that causes them to look like spheres.
Boxes	Boxes -- Actual 3d cube geometry.
StyleCount

Definition at line 105 of file point_cloud_base.h.

Constructor & Destructor Documentation

rviz::PointCloudBase::PointCloudBase	(	const std::string &	name,
		VisualizationManager *	manager
	)

Definition at line 349 of file point_cloud_base.cpp.

rviz::PointCloudBase::~PointCloudBase ( )

Definition at line 405 of file point_cloud_base.cpp.

Member Function Documentation

void rviz::PointCloudBase::addMessage ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 1148 of file point_cloud_base.cpp.

void rviz::PointCloudBase::addMessage ( const sensor_msgs::PointCloudConstPtr & cloud ) [protected]

Definition at line 1141 of file point_cloud_base.cpp.

void rviz::PointCloudBase::causeRetransform ( )

Definition at line 649 of file point_cloud_base.cpp.

void rviz::PointCloudBase::createProperties ( ) [virtual]

Called from setPropertyManager, gives the display a chance to create some properties immediately.

Once this function is called, the property_manager_ member is valid and will stay valid

Reimplemented from rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 1190 of file point_cloud_base.cpp.

void rviz::PointCloudBase::fixedFrameChanged ( ) [virtual]

Called from within setFixedFrame, notifying child classes that the fixed frame has changed.

Implements rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 1160 of file point_cloud_base.cpp.

float rviz::PointCloudBase::getAlpha ( ) [inline]

Definition at line 152 of file point_cloud_base.h.

float rviz::PointCloudBase::getBillboardSize ( ) [inline]

Definition at line 148 of file point_cloud_base.h.

PointCloudTransformerPtr rviz::PointCloudBase::getColorTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 977 of file point_cloud_base.cpp.

const std::string& rviz::PointCloudBase::getColorTransformer ( ) [inline, protected]

Definition at line 186 of file point_cloud_base.h.

float rviz::PointCloudBase::getDecayTime ( ) [inline]

Definition at line 150 of file point_cloud_base.h.

bool rviz::PointCloudBase::getSelectable ( ) [inline]

Definition at line 155 of file point_cloud_base.h.

int rviz::PointCloudBase::getStyle ( ) [inline]

Definition at line 149 of file point_cloud_base.h.

PointCloudTransformerPtr rviz::PointCloudBase::getXYZTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 961 of file point_cloud_base.cpp.

const std::string& rviz::PointCloudBase::getXYZTransformer ( ) [inline, protected]

Definition at line 185 of file point_cloud_base.h.

void rviz::PointCloudBase::loadTransformers ( Plugin * plugin ) [protected]

Definition at line 505 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onDisable ( ) [protected, virtual]

Derived classes override this to do the actual work of disabling themselves.

Implements rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 641 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onEnable ( ) [protected, virtual]

Derived classes override this to do the actual work of enabling themselves.

Implements rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 637 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onPluginLoaded ( const PluginStatus & status ) [protected]

Definition at line 439 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onPluginUnloading ( const PluginStatus & status ) [protected]

Definition at line 444 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onTransformerOptions	(	V_string &	ops,
		uint32_t	mask
	)			`[protected]`

Definition at line 1165 of file point_cloud_base.cpp.

void rviz::PointCloudBase::processMessage ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 902 of file point_cloud_base.cpp.

void rviz::PointCloudBase::reset ( ) [virtual]

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 1255 of file point_cloud_base.cpp.

void rviz::PointCloudBase::retransform ( ) [protected]

Definition at line 993 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setAlpha ( float alpha )

Definition at line 540 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setBillboardSize ( float size )

Sets the size each point will be when drawn in 3D as a billboard.

Note:: Only applicable if the style is set to Billboards (default)

Parameters:

size

The size

Definition at line 626 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setColorTransformer ( const std::string & name ) [protected]

Definition at line 941 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setDecayTime ( float time )

Set the amount of time each cloud should stick around for.

Parameters:

time

Decay time, in seconds

Definition at line 581 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setSelectable ( bool selectable )

Definition at line 549 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setStyle ( int style )

Set the rendering style.

Parameters:

style

The rendering style

Definition at line 590 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setXYZTransformer ( const std::string & name ) [protected]

Definition at line 921 of file point_cloud_base.cpp.

bool rviz::PointCloudBase::transformCloud	(	const CloudInfoPtr &	cloud,
		V_Point &	points,
		bool	fully_update_transformers
	)			`[protected]`

Transforms the cloud into the correct frame, and sets up our renderable cloud.

Definition at line 1020 of file point_cloud_base.cpp.

void rviz::PointCloudBase::update	(	float	wall_dt,
		float	ros_dt
	)			`[virtual]`

Called periodically by the visualization panel.

Parameters:

dt

Wall-clock time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 655 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateStatus ( ) [protected]

Definition at line 882 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateTransformers	(	const sensor_msgs::PointCloud2ConstPtr &	cloud,
		bool	fully_update
	)			`[protected]`

Definition at line 782 of file point_cloud_base.cpp.

Friends And Related Function Documentation

friend class PointCloudSelectionHandler [friend]

Definition at line 259 of file point_cloud_base.h.

Member Data Documentation

float rviz::PointCloudBase::alpha_ [protected]

Definition at line 211 of file point_cloud_base.h.

FloatPropertyWPtr rviz::PointCloudBase::alpha_property_ [protected]

Definition at line 245 of file point_cloud_base.h.

float rviz::PointCloudBase::billboard_size_ [protected]

Size to draw our billboards.

Definition at line 233 of file point_cloud_base.h.

FloatPropertyWPtr rviz::PointCloudBase::billboard_size_property_ [protected]

Definition at line 244 of file point_cloud_base.h.

ros::CallbackQueue rviz::PointCloudBase::cbqueue_ [protected]

Definition at line 198 of file point_cloud_base.h.

ogre_tools::PointCloud* rviz::PointCloudBase::cloud_ [protected]

Definition at line 204 of file point_cloud_base.h.

D_CloudInfo rviz::PointCloudBase::clouds_ [protected]

Definition at line 200 of file point_cloud_base.h.

boost::mutex rviz::PointCloudBase::clouds_mutex_ [protected]

Definition at line 201 of file point_cloud_base.h.

CollObjectHandle rviz::PointCloudBase::coll_handle_ [protected]

Definition at line 237 of file point_cloud_base.h.

PointCloudSelectionHandlerPtr rviz::PointCloudBase::coll_handler_ [protected]

Definition at line 238 of file point_cloud_base.h.

std::string rviz::PointCloudBase::color_transformer_ [protected]

Definition at line 227 of file point_cloud_base.h.

EditEnumPropertyWPtr rviz::PointCloudBase::color_transformer_property_ [protected]

Definition at line 247 of file point_cloud_base.h.

FloatPropertyWPtr rviz::PointCloudBase::decay_time_property_ [protected]

Definition at line 249 of file point_cloud_base.h.

uint32_t rviz::PointCloudBase::messages_received_ [protected]

Definition at line 240 of file point_cloud_base.h.

bool rviz::PointCloudBase::needs_retransform_ [protected]

Definition at line 230 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_cloud_ [protected]

Definition at line 202 of file point_cloud_base.h.

V_CloudInfo rviz::PointCloudBase::new_clouds_ [protected]

Definition at line 208 of file point_cloud_base.h.

boost::mutex rviz::PointCloudBase::new_clouds_mutex_ [protected]

Definition at line 209 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_color_transformer_ [protected]

Definition at line 229 of file point_cloud_base.h.

VV_Point rviz::PointCloudBase::new_points_ [protected]

Definition at line 207 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_xyz_transformer_ [protected]

Definition at line 228 of file point_cloud_base.h.

M_PluginConns rviz::PointCloudBase::plugin_conns_ [protected]

Definition at line 257 of file point_cloud_base.h.

float rviz::PointCloudBase::point_decay_time_ [protected]

How long clouds should stick around for before they are culled.

Definition at line 234 of file point_cloud_base.h.

Ogre::SceneNode* rviz::PointCloudBase::scene_node_ [protected]

Definition at line 205 of file point_cloud_base.h.

bool rviz::PointCloudBase::selectable_ [protected]

Definition at line 236 of file point_cloud_base.h.

BoolPropertyWPtr rviz::PointCloudBase::selectable_property_ [protected]

Definition at line 243 of file point_cloud_base.h.

ros::AsyncSpinner rviz::PointCloudBase::spinner_ [protected]

Definition at line 197 of file point_cloud_base.h.

int rviz::PointCloudBase::style_ [protected]

Our rendering style.

Definition at line 232 of file point_cloud_base.h.

EnumPropertyWPtr rviz::PointCloudBase::style_property_ [protected]

Definition at line 248 of file point_cloud_base.h.

uint32_t rviz::PointCloudBase::total_point_count_ [protected]

Definition at line 241 of file point_cloud_base.h.

M_TransformerInfo rviz::PointCloudBase::transformers_ [protected]

Definition at line 225 of file point_cloud_base.h.

boost::recursive_mutex rviz::PointCloudBase::transformers_mutex_ [protected]

Definition at line 224 of file point_cloud_base.h.

std::string rviz::PointCloudBase::xyz_transformer_ [protected]

Definition at line 226 of file point_cloud_base.h.

EditEnumPropertyWPtr rviz::PointCloudBase::xyz_transformer_property_ [protected]

Definition at line 246 of file point_cloud_base.h.

The documentation for this class was generated from the following files:

rviz::PointCloudBase Class Reference

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Friends

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation