Program Listing for File pointcloud2_plugin.h
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#ifndef MAPVIZ_PLUGINS__POINTCLOUD2_PLUGIN_H_
#define MAPVIZ_PLUGINS__POINTCLOUD2_PLUGIN_H_
#include <mapviz/mapviz_plugin.h>
// QT libraries
#include <QGLWidget>
#include <QColor>
#include <QMutex>
// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
// C++ standard libraries
#include <string>
#include <deque>
#include <vector>
#include <map>
// QT autogenerated files
#include "ui_pointcloud2_config.h"
namespace mapviz_plugins
{
class PointCloud2Plugin : public mapviz::MapvizPlugin
{
Q_OBJECT
public:
struct FieldInfo
{
uint8_t datatype;
uint32_t offset;
};
enum
{
COLOR_FLAT = 0,
COLOR_Z = 3
};
PointCloud2Plugin();
~PointCloud2Plugin() override = default;
bool Initialize(QGLWidget* canvas) override;
void Shutdown() override {}
void ClearHistory() override;
void Draw(double x, double y, double scale) override;
void Transform() override;
void LoadConfig(const YAML::Node& node, const std::string& path) override;
void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
QWidget* GetConfigWidget(QWidget* parent) override;
protected:
void PrintError(const std::string& message) override;
void PrintInfo(const std::string& message) override;
void PrintWarning(const std::string& message) override;
protected Q_SLOTS:
void SelectTopic();
void TopicEdited();
void AlphaEdited(double new_value);
void ColorTransformerChanged(int index);
void MinValueChanged(double value);
void MaxValueChanged(double value);
void PointSizeChanged(int value);
void BufferSizeChanged(int value);
void UseRainbowChanged(int check_state);
void UseAutomaxminChanged(int check_state);
void UpdateColors();
void DrawIcon() override;
void ResetTransformedPointClouds();
void ClearPointClouds();
void SetSubscription(bool subscribe);
private:
struct StampedPoint
{
tf2::Vector3 point;
std::vector<float> features;
};
struct Scan
{
rclcpp::Time stamp;
QColor color;
std::vector<StampedPoint> points;
std::string source_frame;
bool transformed;
std::map<std::string, FieldInfo> new_features;
std::vector<float> gl_point;
std::vector<uint8_t> gl_color;
GLuint point_vbo;
GLuint color_vbo;
};
float PointFeature(const uint8_t*, const FieldInfo&);
void connectCallback(const std::string& topic, const rmw_qos_profile_t& qos);
void PointCloud2Callback(const sensor_msgs::msg::PointCloud2::SharedPtr scan);
QColor CalculateColor(const StampedPoint& point);
void UpdateMinMaxWidgets();
Ui::PointCloud2_config ui_{};
QWidget* config_widget_;
std::string topic_;
rmw_qos_profile_t qos_;
double alpha_;
double max_value_;
double min_value_;
size_t point_size_;
size_t buffer_size_;
bool new_topic_;
bool has_message_;
size_t num_of_feats_;
bool need_new_list_;
std::string saved_color_transformer_;
bool need_minmax_;
std::vector<double> max_;
std::vector<double> min_;
// Use a list instead of a deque for scans to facilitate removing
// timed-out scans in the middle of the list in case I ever re-implement
// decay time (evenator)
std::deque<Scan> scans_;
rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr pc2_sub_;
QMutex scan_mutex_;
};
} // namespace mapviz_plugins
#endif // MAPVIZ_PLUGINS__POINTCLOUD2_PLUGIN_H_