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

#include <point_cloud_display.h>

Inheritance diagram for rviz::PointCloudDisplay:

Public Member Functions
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.
int	getQueueSize ()
const std::string &	getTopic ()
void	onInitialize ()
	Override this function to do subclass-specific initialization.
	PointCloudDisplay ()
void	setQueueSize (int size)
void	setTopic (const std::string &topic)
	~PointCloudDisplay ()
Protected Member Functions
void	incomingCloudCallback (const sensor_msgs::PointCloudConstPtr &cloud)
	ROS callback for an incoming point cloud message.
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	subscribe ()
	Subscribes to the topic set by setTopic()
void	unsubscribe ()
	Unsubscribes from the current topic.
Protected Attributes
IntPropertyWPtr	queue_size_property_
message_filters::Subscriber < sensor_msgs::PointCloud >	sub_
tf::MessageFilter < sensor_msgs::PointCloud > *	tf_filter_
std::string	topic_
	The PointCloud topic set by setTopic()
ROSTopicStringPropertyWPtr	topic_property_

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 61 of file point_cloud_display.h.

Constructor & Destructor Documentation

rviz::PointCloudDisplay::PointCloudDisplay ( )

Definition at line 47 of file point_cloud_display.cpp.

rviz::PointCloudDisplay::~PointCloudDisplay ( )

Definition at line 53 of file point_cloud_display.cpp.

Member Function Documentation

void rviz::PointCloudDisplay::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::PointCloudBase.

Definition at line 145 of file point_cloud_display.cpp.

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

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

Reimplemented from rviz::PointCloudBase.

Definition at line 138 of file point_cloud_display.cpp.

int rviz::PointCloudDisplay::getQueueSize ( )

Definition at line 78 of file point_cloud_display.cpp.

const std::string& rviz::PointCloudDisplay::getTopic ( ) [inline]

Definition at line 78 of file point_cloud_display.h.

void rviz::PointCloudDisplay::incomingCloudCallback ( const sensor_msgs::PointCloudConstPtr & cloud ) [protected]

ROS callback for an incoming point cloud message.

Definition at line 133 of file point_cloud_display.cpp.

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

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

Reimplemented from rviz::PointCloudBase.

Definition at line 102 of file point_cloud_display.cpp.

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

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

Reimplemented from rviz::PointCloudBase.

Definition at line 95 of file point_cloud_display.cpp.

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

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set.

Reimplemented from rviz::PointCloudBase.

Definition at line 60 of file point_cloud_display.cpp.

void rviz::PointCloudDisplay::setQueueSize ( int size )

Set the incoming message queue size.

Definition at line 69 of file point_cloud_display.cpp.

void rviz::PointCloudDisplay::setTopic ( const std::string & topic )

Set the incoming PointCloud topic

Parameters:

topic The topic we should listen to

Definition at line 83 of file point_cloud_display.cpp.

void rviz::PointCloudDisplay::subscribe ( ) [protected]

Subscribes to the topic set by setTopic()

Definition at line 110 of file point_cloud_display.cpp.

void rviz::PointCloudDisplay::unsubscribe ( ) [protected]

Unsubscribes from the current topic.

Definition at line 128 of file point_cloud_display.cpp.

Member Data Documentation

IntPropertyWPtr rviz::PointCloudDisplay::queue_size_property_ [protected]

Definition at line 108 of file point_cloud_display.h.

message_filters::Subscriber<sensor_msgs::PointCloud> rviz::PointCloudDisplay::sub_ [protected]

Definition at line 104 of file point_cloud_display.h.

tf::MessageFilter<sensor_msgs::PointCloud>* rviz::PointCloudDisplay::tf_filter_ [protected]

Definition at line 105 of file point_cloud_display.h.

std::string rviz::PointCloudDisplay::topic_ [protected]

The PointCloud topic set by setTopic()

Definition at line 102 of file point_cloud_display.h.

ROSTopicStringPropertyWPtr rviz::PointCloudDisplay::topic_property_ [protected]

Definition at line 107 of file point_cloud_display.h.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation