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

#include <point_cloud_base.h>

Inheritance diagram for rviz::PointCloudBase:

Classes
struct	CloudInfo
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 ()
	Override to handle changes to fixed_frame_. This base class implementation does nothing.
float	getAlpha ()
float	getBillboardSize ()
float	getDecayTime ()
bool	getSelectable ()
int	getStyle ()
virtual void	hideVisible ()
	Hides all visible parts of this display, so they do not show up when the scene is rendered.
void	onInitialize ()
	Override this function to do subclass-specific initialization.
	PointCloudBase ()
virtual void	reset ()
	Called to tell the display to clear its state.
virtual void	restoreVisible ()
	Restores the display to the state it was in before hideVisible() was called.
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< std::string, TransformerInfo >	M_TransformerInfo
typedef std::vector < PointCloud::Point >	V_Point
typedef std::vector< V_Point >	VV_Point
Protected Member Functions
void	addMessage (const sensor_msgs::PointCloudConstPtr &cloud)
void	addMessage (const sensor_msgs::PointCloud2ConstPtr &cloud)
const std::string &	getColorTransformer ()
PointCloudTransformerPtr	getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
const std::string &	getXYZTransformer ()
PointCloudTransformerPtr	getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	loadTransformers ()
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	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_
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_
bool	hidden_
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_
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_
pluginlib::ClassLoader < PointCloudTransformer > *	transformer_class_loader_
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 76 of file point_cloud_base.h.

Member Typedef Documentation

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

Definition at line 92 of file point_cloud_base.h.

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

Definition at line 93 of file point_cloud_base.h.

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

Definition at line 226 of file point_cloud_base.h.

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

Definition at line 95 of file point_cloud_base.h.

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

Definition at line 94 of file point_cloud_base.h.

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

Definition at line 176 of file point_cloud_base.h.

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

Definition at line 177 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 116 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 102 of file point_cloud_base.h.

Constructor & Destructor Documentation

rviz::PointCloudBase::PointCloudBase ( )

Definition at line 349 of file point_cloud_base.cpp.

rviz::PointCloudBase::~PointCloudBase ( )

Definition at line 419 of file point_cloud_base.cpp.

Member Function Documentation

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

Definition at line 1082 of file point_cloud_base.cpp.

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

Definition at line 1089 of file point_cloud_base.cpp.

void rviz::PointCloudBase::causeRetransform ( )

Definition at line 591 of file point_cloud_base.cpp.

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

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

When 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 1131 of file point_cloud_base.cpp.

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

Override to handle changes to fixed_frame_. This base class implementation does nothing.

Reimplemented from rviz::Display.

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

Definition at line 1101 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.

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

Definition at line 192 of file point_cloud_base.h.

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

Definition at line 918 of file point_cloud_base.cpp.

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.

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

Definition at line 191 of file point_cloud_base.h.

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

Definition at line 902 of file point_cloud_base.cpp.

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

Hides all visible parts of this display, so they do not show up when the scene is rendered.

Reimplemented from rviz::Display.

Definition at line 387 of file point_cloud_base.cpp.

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

Definition at line 446 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 583 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 579 of file point_cloud_base.cpp.

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

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set.

Reimplemented from rviz::Display.

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

Definition at line 369 of file point_cloud_base.cpp.

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

Definition at line 1106 of file point_cloud_base.cpp.

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

Definition at line 843 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 1217 of file point_cloud_base.cpp.

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

Restores the display to the state it was in before hideVisible() was called.

Reimplemented from rviz::Display.

Definition at line 397 of file point_cloud_base.cpp.

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

Definition at line 934 of file point_cloud_base.cpp.

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

Definition at line 482 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 568 of file point_cloud_base.cpp.

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

Definition at line 882 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 523 of file point_cloud_base.cpp.

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

Definition at line 491 of file point_cloud_base.cpp.

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

Set the rendering style.

Parameters:

style The rendering style

Definition at line 532 of file point_cloud_base.cpp.

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

Definition at line 862 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 961 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 597 of file point_cloud_base.cpp.

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

Definition at line 823 of file point_cloud_base.cpp.

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

Definition at line 723 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 215 of file point_cloud_base.h.

FloatPropertyWPtr rviz::PointCloudBase::alpha_property_ [protected]

Definition at line 251 of file point_cloud_base.h.

float rviz::PointCloudBase::billboard_size_ [protected]

Size to draw our billboards.

Definition at line 237 of file point_cloud_base.h.

FloatPropertyWPtr rviz::PointCloudBase::billboard_size_property_ [protected]

Definition at line 250 of file point_cloud_base.h.

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

Definition at line 202 of file point_cloud_base.h.

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

Definition at line 208 of file point_cloud_base.h.

D_CloudInfo rviz::PointCloudBase::clouds_ [protected]

Definition at line 204 of file point_cloud_base.h.

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

Definition at line 205 of file point_cloud_base.h.

CollObjectHandle rviz::PointCloudBase::coll_handle_ [protected]

Definition at line 241 of file point_cloud_base.h.

PointCloudSelectionHandlerPtr rviz::PointCloudBase::coll_handler_ [protected]

Definition at line 242 of file point_cloud_base.h.

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

Definition at line 231 of file point_cloud_base.h.

EditEnumPropertyWPtr rviz::PointCloudBase::color_transformer_property_ [protected]

Definition at line 253 of file point_cloud_base.h.

FloatPropertyWPtr rviz::PointCloudBase::decay_time_property_ [protected]

Definition at line 255 of file point_cloud_base.h.

bool rviz::PointCloudBase::hidden_ [protected]

Definition at line 257 of file point_cloud_base.h.

uint32_t rviz::PointCloudBase::messages_received_ [protected]

Definition at line 244 of file point_cloud_base.h.

bool rviz::PointCloudBase::needs_retransform_ [protected]

Definition at line 234 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_cloud_ [protected]

Definition at line 206 of file point_cloud_base.h.

V_CloudInfo rviz::PointCloudBase::new_clouds_ [protected]

Definition at line 212 of file point_cloud_base.h.

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

Definition at line 213 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_color_transformer_ [protected]

Definition at line 233 of file point_cloud_base.h.

VV_Point rviz::PointCloudBase::new_points_ [protected]

Definition at line 211 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_xyz_transformer_ [protected]

Definition at line 232 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 238 of file point_cloud_base.h.

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

Definition at line 209 of file point_cloud_base.h.

bool rviz::PointCloudBase::selectable_ [protected]

Definition at line 240 of file point_cloud_base.h.

BoolPropertyWPtr rviz::PointCloudBase::selectable_property_ [protected]

Definition at line 249 of file point_cloud_base.h.

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

Definition at line 201 of file point_cloud_base.h.

int rviz::PointCloudBase::style_ [protected]

Our rendering style.

Definition at line 236 of file point_cloud_base.h.

EnumPropertyWPtr rviz::PointCloudBase::style_property_ [protected]

Definition at line 254 of file point_cloud_base.h.

uint32_t rviz::PointCloudBase::total_point_count_ [protected]

Definition at line 245 of file point_cloud_base.h.

pluginlib::ClassLoader<PointCloudTransformer>* rviz::PointCloudBase::transformer_class_loader_ [protected]

Definition at line 247 of file point_cloud_base.h.

M_TransformerInfo rviz::PointCloudBase::transformers_ [protected]

Definition at line 229 of file point_cloud_base.h.

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

Definition at line 228 of file point_cloud_base.h.

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

Definition at line 230 of file point_cloud_base.h.

EditEnumPropertyWPtr rviz::PointCloudBase::xyz_transformer_property_ [protected]

Definition at line 252 of file point_cloud_base.h.

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

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