point_cloud2_display.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVIZ_POINT_CLOUD2_DISPLAY_H 00031 #define RVIZ_POINT_CLOUD_DISPLAY_H 00032 00033 #include "point_cloud_base.h" 00034 #include "rviz/helpers/color.h" 00035 #include "rviz/properties/forwards.h" 00036 00037 #include "ogre_tools/point_cloud.h" 00038 00039 #include "sensor_msgs/PointCloud2.h" 00040 00041 #include <message_filters/subscriber.h> 00042 #include <tf/message_filter.h> 00043 00044 #include <boost/shared_ptr.hpp> 00045 #include <boost/thread.hpp> 00046 00047 #include <deque> 00048 #include <queue> 00049 #include <vector> 00050 00051 namespace rviz 00052 { 00053 00062 class PointCloud2Display : public PointCloudBase 00063 { 00064 public: 00065 PointCloud2Display( const std::string& name, VisualizationManager* manager ); 00066 ~PointCloud2Display(); 00067 00068 // Overrides from Display 00069 virtual void createProperties(); 00070 virtual void targetFrameChanged(); 00071 virtual void fixedFrameChanged(); 00072 00077 void setTopic( const std::string& topic ); 00078 const std::string& getTopic() { return topic_; } 00079 00080 protected: 00081 virtual void onEnable(); 00082 virtual void onDisable(); 00083 00087 void subscribe(); 00091 void unsubscribe(); 00092 00096 void incomingCloudCallback(const sensor_msgs::PointCloud2ConstPtr& cloud); 00097 00098 std::string topic_; 00099 00100 message_filters::Subscriber<sensor_msgs::PointCloud2> sub_; 00101 tf::MessageFilter<sensor_msgs::PointCloud2> tf_filter_; 00102 00103 ROSTopicStringPropertyWPtr topic_property_; 00104 }; 00105 00106 } // namespace rviz 00107 00108 #endif