Program Listing for File point_cloud_transformer.hpp
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/*
* Copyright (c) 2010, 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
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* 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_TRANSFORMER_HPP_
#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TRANSFORMER_HPP_
#include <vector>
#include <QObject> // NOLINT
#ifndef Q_MOC_RUN
#include <OgreVector3.h>
#include <OgreColourValue.h>
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "rviz_rendering/objects/point_cloud.hpp"
#include "rviz_default_plugins/visibility_control.hpp"
#endif
namespace Ogre
{
class Matrix4;
}
namespace rviz_common
{
namespace properties
{
class Property;
} // namespace properties
} // namespace rviz_common
namespace rviz_default_plugins
{
typedef std::vector<rviz_rendering::PointCloud::Point> V_PointCloudPoint;
class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudTransformer : public QObject
{
Q_OBJECT
public:
virtual void init() {}
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::msg::PointCloud2::ConstSharedPtr & cloud) = 0;
virtual bool transform(
const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud,
uint32_t mask,
const Ogre::Matrix4 & transform,
V_PointCloudPoint & out) = 0;
virtual uint8_t score(const sensor_msgs::msg::PointCloud2::ConstSharedPtr & cloud)
{
(void) cloud;
return 0;
}
virtual void createProperties(
rviz_common::properties::Property * parent_property,
uint32_t mask,
QList<rviz_common::properties::Property *> & out_props)
{
(void) parent_property;
(void) mask;
(void) out_props;
}
virtual void hideUnusedProperties() {}
// class_id and description are required to be used with rviz_common::PluginlibFactory
QString getClassId() const {return class_id_;}
QString getDescription() const {return description_;}
void setClassId(const QString & class_id) {class_id_ = class_id;}
void setDescription(const QString & description) {description_ = description;}
Q_SIGNALS:
void needRetransform();
protected:
// class_id and description are required to be used with rviz_common::PluginlibFactory
QString class_id_;
QString description_;
};
} // namespace rviz_default_plugins
#endif // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TRANSFORMER_HPP_