point_cloud2_display.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
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 *       notice, this list of conditions and the following disclaimer in the
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include "point_cloud2_display.h"
#include "point_cloud_transformers.h"
#include "rviz/visualization_manager.h"
#include "rviz/properties/property.h"
#include "rviz/properties/property_manager.h"
#include "rviz/frame_manager.h"
#include "rviz/validate_floats.h"

#include <ros/time.h>
#include "ogre_tools/point_cloud.h"

#include <tf/transform_listener.h>

#include <OGRE/OgreSceneNode.h>
#include <OGRE/OgreSceneManager.h>

namespace rviz
{

PointCloud2Display::PointCloud2Display()
  : PointCloudBase()
  , queue_size_( 10 )
  , tf_filter_( 0 )
{
}

PointCloud2Display::~PointCloud2Display()
{
  unsubscribe();
  tf_filter_->clear();
  delete tf_filter_;
}

void PointCloud2Display::onInitialize()
{
  PointCloudBase::onInitialize();
  tf_filter_ = new tf::MessageFilter<sensor_msgs::PointCloud2>(*vis_manager_->getTFClient(), "", queue_size_, threaded_nh_);
  tf_filter_->connectInput(sub_);
  tf_filter_->registerCallback(&PointCloud2Display::incomingCloudCallback, this);
  vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);
}

void PointCloud2Display::setQueueSize( int size )
{
  if( size != queue_size_ )
  {
    queue_size_ = size;

    unsubscribe();
    reset();

    if( tf_filter_ )
    {
      tf_filter_->clear();
      delete tf_filter_;
    }

    tf_filter_ = new tf::MessageFilter<sensor_msgs::PointCloud2>(*vis_manager_->getTFClient(), "", queue_size_, threaded_nh_);
    tf_filter_->connectInput(sub_);
    tf_filter_->registerCallback(&PointCloud2Display::incomingCloudCallback, this);
    vis_manager_->getFrameManager()->registerFilterForTransformStatusCheck(tf_filter_, this);

    subscribe();

    fixedFrameChanged();
    propertyChanged( queue_size_property_ );
  }
}

int PointCloud2Display::getQueueSize()
{
  return queue_size_;
}

void PointCloud2Display::setTopic( const std::string& topic )
{
  unsubscribe();
  topic_ = topic;
  reset();
  subscribe();

  propertyChanged(topic_property_);

  causeRender();
}

void PointCloud2Display::onEnable()
{
  PointCloudBase::onEnable();

  subscribe();
}

void PointCloud2Display::onDisable()
{
  unsubscribe();
  tf_filter_->clear();

  PointCloudBase::onDisable();
}

void PointCloud2Display::subscribe()
{
  if ( !isEnabled() )
  {
    return;
  }

  sub_.subscribe(threaded_nh_, topic_, 2);
}

void PointCloud2Display::unsubscribe()
{
  sub_.unsubscribe();
}

void PointCloud2Display::incomingCloudCallback(const sensor_msgs::PointCloud2ConstPtr& cloud)
{
  // Filter any nan values out of the cloud.  Any nan values that make it through to PointCloudBase
  // will get their points put off in lala land, but it means they still do get processed/rendered
  // which can be a big performance hit
  sensor_msgs::PointCloud2Ptr filtered(new sensor_msgs::PointCloud2);
  int32_t xi = findChannelIndex(cloud, "x");
  int32_t yi = findChannelIndex(cloud, "y");
  int32_t zi = findChannelIndex(cloud, "z");

  if (xi == -1 || yi == -1 || zi == -1)
  {
    return;
  }

  const uint32_t xoff = cloud->fields[xi].offset;
  const uint32_t yoff = cloud->fields[yi].offset;
  const uint32_t zoff = cloud->fields[zi].offset;
  const uint32_t point_step = cloud->point_step;
  const size_t point_count = cloud->width * cloud->height;
  filtered->data.resize(cloud->data.size());
  if (point_count == 0)
  {
    return;
  }

  uint32_t output_count = 0;
  const uint8_t* ptr = &cloud->data.front();
  for (size_t i = 0; i < point_count; ++i)
  {
    float x = *reinterpret_cast<const float*>(ptr + xoff);
    float y = *reinterpret_cast<const float*>(ptr + yoff);
    float z = *reinterpret_cast<const float*>(ptr + zoff);
    if (validateFloats(Ogre::Vector3(x, y, z)))
    {
      memcpy(&filtered->data.front() + (output_count * point_step), ptr, point_step);
      ++output_count;
    }

    ptr += point_step;
  }

  filtered->header = cloud->header;
  filtered->fields = cloud->fields;
  filtered->data.resize(output_count * point_step);
  filtered->height = 1;
  filtered->width = output_count;
  filtered->is_bigendian = cloud->is_bigendian;
  filtered->point_step = point_step;
  filtered->row_step = output_count;

  addMessage(filtered);
}

void PointCloud2Display::targetFrameChanged()
{
}

void PointCloud2Display::fixedFrameChanged()
{
  tf_filter_->setTargetFrame( fixed_frame_ );

  PointCloudBase::fixedFrameChanged();
}

void PointCloud2Display::createProperties()
{
  topic_property_ = property_manager_->createProperty<ROSTopicStringProperty>( "Topic", property_prefix_,
                                                                               boost::bind( &PointCloud2Display::getTopic, this ),
                                                                               boost::bind( &PointCloud2Display::setTopic, this, _1 ),
                                                                               parent_category_, this );
  setPropertyHelpText(topic_property_, "sensor_msgs::PointCloud2 topic to subscribe to.");
  ROSTopicStringPropertyPtr topic_prop = topic_property_.lock();
  topic_prop->setMessageType(ros::message_traits::datatype<sensor_msgs::PointCloud2>());

  queue_size_property_ = property_manager_->createProperty<IntProperty>( "Queue Size", property_prefix_,
                                                                         boost::bind( &PointCloud2Display::getQueueSize, this ),
                                                                         boost::bind( &PointCloud2Display::setQueueSize, this, _1 ),
                                                                         parent_category_, this );
  setPropertyHelpText( queue_size_property_, "Advanced: set the size of the incoming PointCloud2 message queue.  Increasing this is useful if your incoming TF data is delayed significantly from your PointCloud2 data, but it can greatly increase memory usage if the messages are big." );

  PointCloudBase::createProperties();
}

} // namespace rviz