point_cloud_transformer.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
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#ifndef RVIZ_POINT_CLOUD_TRANSFORMER_H
#define RVIZ_POINT_CLOUD_TRANSFORMER_H

#include <string>

#include <ros/message_forward.h>
#include <rviz/properties/forwards.h>

#include <OGRE/OgreVector3.h>
#include <OGRE/OgreColourValue.h>

namespace Ogre
{
class Matrix4;
}

namespace sensor_msgs
{
ROS_DECLARE_MESSAGE(PointCloud2);
}

namespace rviz
{

struct PointCloudPoint
{
  Ogre::Vector3 position;
  Ogre::ColourValue color;
};
typedef std::vector<PointCloudPoint> V_PointCloudPoint;

struct PointCloud
{
  V_PointCloudPoint points;
};

typedef boost::function<void(void)> RetransformFunc;

class PointCloudTransformer
{
public:
  void causeRetransform() { if (retransform_func_) retransform_func_(); }

  virtual void init(const RetransformFunc& retransform_func) { retransform_func_ = retransform_func; }

  enum SupportLevel
  {
    Support_None = 0,
    Support_XYZ = 1 << 1,
    Support_Color = 1 << 2,
    Support_Both = Support_XYZ|Support_Color,
  };

  virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0;
  virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud, uint32_t mask, const Ogre::Matrix4& transform, PointCloud& out) = 0;

  virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& cloud) { return 0; }

  virtual void reset() {}

  virtual void createProperties( PropertyManager* property_man,
                                 const CategoryPropertyWPtr& parent,
                                 const std::string& prefix,
                                 uint32_t mask,
                                 V_PropertyBaseWPtr& out_props ) {}

private:
  RetransformFunc retransform_func_;
};

} // namespace rviz

#endif