Program Listing for File point_cloud2_display.hpp
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/*
* Copyright (c) 2008, Willow Garage, Inc.
* All rights reserved.
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions in binary form must reproduce the above copyright
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* documentation and/or other materials provided with the distribution.
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* 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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#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD2_DISPLAY_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD2_DISPLAY_HPP_
#include <memory>
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "rviz_common/message_filter_display.hpp"
#include "rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
namespace rviz_common
{
namespace properties
{
class IntProperty;
}
}
namespace rviz_default_plugins
{
namespace displays
{
struct Offsets
{
uint32_t x, y, z;
};
// TODO(greimela) This display originally extended the MessageFilterDisplay. Revisit when available
class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloud2Display : public
rviz_common::MessageFilterDisplay<sensor_msgs::msg::PointCloud2>
{
public:
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;
bool hasXYZChannels(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
bool cloudDataMatchesDimensions(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
void onDisable() override;
protected:
void onInitialize() override;
void processMessage(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) override;
private:
std::unique_ptr<PointCloudCommon> point_cloud_common_;
sensor_msgs::msg::PointCloud2::_data_type
filterData(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
bool validateFloatsAtPosition(
sensor_msgs::msg::PointCloud2::_data_type::const_iterator position, Offsets offsets) const;
Offsets determineOffsets(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
};
} // namespace displays
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD2_DISPLAY_HPP_