point_cloud2_display.h
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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_CLOUD2_DISPLAY_H
00032 
00033 #include "point_cloud_base.h"
00034 #include "rviz/helpers/color.h"
00035 #include "rviz/properties/forwards.h"
00036 
00037 #include "rviz/ogre_helpers/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 
00046 #include <deque>
00047 #include <queue>
00048 #include <vector>
00049 
00050 namespace rviz
00051 {
00052 
00061 class PointCloud2Display : public PointCloudBase
00062 {
00063 public:
00064   PointCloud2Display();
00065   ~PointCloud2Display();
00066 
00067   virtual void onInitialize();
00068 
00069   // Overrides from Display
00070   virtual void createProperties();
00071   virtual void fixedFrameChanged();
00072 
00077   void setTopic( const std::string& topic );
00078   const std::string& getTopic() { return topic_; }
00079 
00081   void setQueueSize( int size );
00082   int getQueueSize();
00083 
00084 protected:
00085   virtual void onEnable();
00086   virtual void onDisable();
00087 
00091   void subscribe();
00095   void unsubscribe();
00096 
00100   void incomingCloudCallback(const sensor_msgs::PointCloud2ConstPtr& cloud);
00101 
00102   std::string topic_;                         
00103 
00104   message_filters::Subscriber<sensor_msgs::PointCloud2> sub_;
00105   tf::MessageFilter<sensor_msgs::PointCloud2>* tf_filter_;
00106 
00107   ROSTopicStringPropertyWPtr topic_property_;
00108   IntPropertyWPtr queue_size_property_;
00109 };
00110 
00111 } // namespace rviz
00112 
00113 #endif // RVIZ_POINT_CLOUD2_DISPLAY_H


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32