Class PointCloud2Display

Defined in File point_cloud2_display.hpp

Inheritance Relationships

Base Type

public rviz_common::MessageFilterDisplay< sensor_msgs::msg::PointCloud2 >

Class Documentation

class PointCloud2Display : public rviz_common::MessageFilterDisplay<sensor_msgs::msg::PointCloud2>

Displays a point cloud of type sensor_msgs::PointCloud2.

By default it will assume channel 0 of the cloud is an intensity value, and will color them by intensity. If you set the channel’s name to “rgb”, it will interpret the channel as an integer rgb value, with r, g and b all being 8 bits.

Public Functions

PointCloud2Display()

void reset() override

void update(float wall_dt, float ros_dt) override

sensor_msgs::msg::PointCloud2::ConstSharedPtr filterOutInvalidPoints(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const

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

Parameters:: cloud – The cloud to be filtered
Returns:: A new cloud containing only the filtered points

bool hasXYZChannels(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const: Move to public for testing.

bool cloudDataMatchesDimensions(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const: Move to public for testing.

void onDisable() override

Protected Functions

void onInitialize() override: Do initialization. Overridden from MessageFilterDisplay.

void processMessage(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) override: Process a single message. Overridden from MessageFilterDisplay.