.. _program_listing_file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_pointcloud_point_cloud_selection_handler.hpp:

Program Listing for File point_cloud_selection_handler.hpp
==========================================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_rviz_rviz_default_plugins_include_rviz_default_plugins_displays_pointcloud_point_cloud_selection_handler.hpp>` (``/tmp/ws/src/rviz/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_selection_handler.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright (c) 2012, 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:
    *
    *     * Redistributions of source code must retain the above copyright
    *       notice, this list of conditions and the following disclaimer.
    *     * Redistributions in binary form must reproduce the above copyright
    *       notice, this list of conditions and the following disclaimer in the
    *       documentation and/or other materials provided with the distribution.
    *     * 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
    * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
    * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
    * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
    * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
    * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
    * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
    * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
    * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
    * POSSIBILITY OF SUCH DAMAGE.
    */
   
   #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_SELECTION_HANDLER_HPP_
   #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_SELECTION_HANDLER_HPP_
   
   #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
   # include <memory>
   # include <set>
   # include <string>
   
   # include "sensor_msgs/msg/point_cloud.hpp"
   # include "sensor_msgs/msg/point_cloud2.hpp"
   
   # include "rviz_common/interaction/forwards.hpp"
   # include "rviz_common/interaction/selection_manager.hpp"
   # include "rviz_common/properties/color_property.hpp"
   # include "rviz_rendering/objects/point_cloud.hpp"
   # include "rviz_default_plugins/visibility_control.hpp"
   #endif
   
   namespace rviz_default_plugins
   {
   
   struct CloudInfo;
   
   struct IndexAndMessage
   {
     IndexAndMessage(uint64_t _index, const void * _message)
     : index(_index),
       message( (uint64_t) _message)
     {}
   
     uint64_t index;
     uint64_t message;
   };
   
   class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudSelectionHandler : public
     rviz_common::interaction::SelectionHandler
   {
   public:
     PointCloudSelectionHandler(
       float box_size,
       CloudInfo * cloud_info,
       rviz_common::DisplayContext * context);
     ~PointCloudSelectionHandler() override;
   
     void createProperties(
       const rviz_common::interaction::Picked & obj,
       rviz_common::properties::Property * parent_property) override;
     void destroyProperties(
       const rviz_common::interaction::Picked & obj,
       rviz_common::properties::Property * parent_property) override;
   
     bool needsAdditionalRenderPass(uint32_t pass) override
     {
       return pass < 2;
     }
   
     void preRenderPass(uint32_t pass) override;
     void postRenderPass(uint32_t pass) override;
   
     void onSelect(const rviz_common::interaction::Picked & obj) override;
     void onDeselect(const rviz_common::interaction::Picked & obj) override;
   
     rviz_common::interaction::V_AABB getAABBs(const rviz_common::interaction::Picked & obj) override;
   
     void setBoxSize(float size) {box_size_ = size;}
   
     bool hasSelections() {return !boxes_.empty();}
   
   private:
     typedef std::set<uint64_t> S_int;
   
     uint64_t handleToIndex(uint64_t handle) const
     {
       return (handle & 0xffffffff) - 1;
     }
   
     S_int getIndicesOfSelectedPoints(const rviz_common::interaction::Picked & obj)
     {
       S_int indices;
       for (auto handle : obj.extra_handles) {
         indices.insert(handleToIndex(handle));
       }
       return indices;
     }
   
     rviz_common::properties::Property * createParentPropertyForPoint(
       rviz_common::properties::Property * parent_property,
       uint64_t index,
       const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message);
   
     void
     addPositionProperty(rviz_common::properties::Property * parent, uint64_t index) const;
   
     void addAdditionalProperties(
       rviz_common::properties::Property * parent,
       uint64_t index,
       const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message) const;
   
     uint32_t convertValueToColor(
       uint64_t index,
       const sensor_msgs::msg::PointCloud2::ConstSharedPtr & message,
       const sensor_msgs::msg::PointField & f) const;
   
     void addColorProperty(
       rviz_common::properties::Property * parent,
       size_t field,
       const std::string & name,
       uint32_t val) const;
   
     void addAlphaProperty(rviz_common::properties::Property * parent, uint32_t val) const;
   
     void addIntensityProperty(
       rviz_common::properties::Property * parent,
       size_t field,
       const std::string & name,
       float val) const;
   
     CloudInfo * cloud_info_;
     QHash<IndexAndMessage, rviz_common::properties::Property *> property_hash_;
     float box_size_;
   
     template<typename T, typename ... Args>
     friend typename std::shared_ptr<T>
     rviz_common::interaction::createSelectionHandler(Args ... arguments);
   };
   
   }  // namespace rviz_default_plugins
   
   #endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_SELECTION_HANDLER_HPP_