Displays point clouds from rtabmap::MapData. More...

#include <MapCloudDisplay.h>

Inheritance diagram for rtabmap_ros::MapCloudDisplay:

Classes
struct	CloudInfo
struct	TransformerInfo
Public Types
typedef boost::shared_ptr < CloudInfo >	CloudInfoPtr
Public Slots
void	causeRetransform ()
Public Member Functions
	MapCloudDisplay ()
virtual void	reset ()
virtual void	update (float wall_dt, float ros_dt)
virtual	~MapCloudDisplay ()
Public Attributes
rviz::FloatProperty *	alpha_property_
rviz::IntProperty *	cloud_decimation_
rviz::FloatProperty *	cloud_filter_floor_height_
rviz::FloatProperty *	cloud_max_depth_
rviz::FloatProperty *	cloud_voxel_size_
rviz::EnumProperty *	color_transformer_property_
rviz::BoolProperty *	download_graph_
rviz::BoolProperty *	download_map_
rviz::FloatProperty *	node_filtering_angle_
rviz::FloatProperty *	node_filtering_radius_
rviz::FloatProperty *	point_pixel_size_property_
rviz::FloatProperty *	point_world_size_property_
rviz::EnumProperty *	style_property_
rviz::EnumProperty *	xyz_transformer_property_
Protected Member Functions
virtual void	onInitialize ()
	Do initialization. Overridden from MessageFilterDisplay.
virtual void	processMessage (const rtabmap_ros::MapDataConstPtr &cloud)
	Process a single message. Overridden from MessageFilterDisplay.
Private Types
typedef std::map< std::string, TransformerInfo >	M_TransformerInfo
Private Slots
void	downloadGraph ()
void	downloadMap ()
void	setColorTransformerOptions (EnumProperty *prop)
void	setXyzTransformerOptions (EnumProperty *prop)
void	updateAlpha ()
void	updateBillboardSize ()
void	updateCloudParameters ()
void	updateColorTransformer ()
void	updateStyle ()
void	updateXyzTransformer ()
Private Member Functions
void	fillTransformerOptions (rviz::EnumProperty *prop, uint32_t mask)
rviz::PointCloudTransformerPtr	getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
rviz::PointCloudTransformerPtr	getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	loadTransformers ()
void	processMapData (const rtabmap_ros::MapData &map)
void	retransform ()
void	setPropertiesHidden (const QList< Property * > &props, bool hide)
bool	transformCloud (const CloudInfoPtr &cloud, bool fully_update_transformers)
	Transforms the cloud into the correct frame, and sets up our renderable cloud.
void	updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud)
Private Attributes
ros::CallbackQueue	cbqueue_
std::map< int, CloudInfoPtr >	cloud_infos_
std::map< int, rtabmap::Transform >	current_map_
boost::mutex	current_map_mutex_
bool	needs_retransform_
std::map< int, CloudInfoPtr >	new_cloud_infos_
boost::mutex	new_clouds_mutex_
bool	new_color_transformer_
bool	new_xyz_transformer_
ros::AsyncSpinner	spinner_
pluginlib::ClassLoader < rviz::PointCloudTransformer > *	transformer_class_loader_
M_TransformerInfo	transformers_
boost::recursive_mutex	transformers_mutex_

Detailed Description

Displays point clouds from rtabmap::MapData.

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.

Definition at line 70 of file MapCloudDisplay.h.

Member Typedef Documentation

typedef boost::shared_ptr<CloudInfo> rtabmap_ros::MapCloudDisplay::CloudInfoPtr

Definition at line 93 of file MapCloudDisplay.h.

typedef std::map<std::string, TransformerInfo> rtabmap_ros::MapCloudDisplay::M_TransformerInfo [private]

Definition at line 177 of file MapCloudDisplay.h.

Constructor & Destructor Documentation

rtabmap_ros::MapCloudDisplay::MapCloudDisplay ( )

Definition at line 84 of file MapCloudDisplay.cpp.

rtabmap_ros::MapCloudDisplay::~MapCloudDisplay ( ) [virtual]

Definition at line 178 of file MapCloudDisplay.cpp.

Member Function Documentation

void rtabmap_ros::MapCloudDisplay::causeRetransform ( ) [slot]

Definition at line 582 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::downloadGraph ( ) [private, slot]

Definition at line 527 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::downloadMap ( ) [private, slot]

Definition at line 469 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::fillTransformerOptions	(	rviz::EnumProperty *	prop,
		uint32_t	mask
	)		`[private]`

Definition at line 763 of file MapCloudDisplay.cpp.

rviz::PointCloudTransformerPtr rtabmap_ros::MapCloudDisplay::getColorTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [private]

Definition at line 804 of file MapCloudDisplay.cpp.

rviz::PointCloudTransformerPtr rtabmap_ros::MapCloudDisplay::getXYZTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [private]

Definition at line 788 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::loadTransformers ( ) [private]

Definition at line 188 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::onInitialize ( ) [protected, virtual]

Do initialization. Overridden from MessageFilterDisplay.

Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.

Definition at line 223 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMapData ( const rtabmap_ros::MapData & map ) [private]

Definition at line 244 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMessage ( const rtabmap_ros::MapDataConstPtr & cloud ) [protected, virtual]

Process a single message. Overridden from MessageFilterDisplay.

Definition at line 237 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::reset ( ) [virtual]

Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.

Definition at line 717 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::retransform ( ) [private]

Definition at line 821 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setColorTransformerOptions ( EnumProperty * prop ) [private, slot]

Definition at line 758 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setPropertiesHidden	(	const QList< Property * > &	props,
		bool	hide
	)		`[private]`

Definition at line 339 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setXyzTransformerOptions ( EnumProperty * prop ) [private, slot]

Definition at line 753 of file MapCloudDisplay.cpp.

bool rtabmap_ros::MapCloudDisplay::transformCloud	(	const CloudInfoPtr &	cloud,
		bool	fully_update_transformers
	)		`[private]`

Transforms the cloud into the correct frame, and sets up our renderable cloud.

Definition at line 834 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		`[virtual]`

Reimplemented from rviz::Display.

Definition at line 587 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateAlpha ( ) [private, slot]

Definition at line 417 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateBillboardSize ( ) [private, slot]

Definition at line 445 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateCloudParameters ( ) [private, slot]

Definition at line 464 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateColorTransformer ( ) [private, slot]

Definition at line 742 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateStyle ( ) [private, slot]

Definition at line 425 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateTransformers ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [private]

Definition at line 347 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateXyzTransformer ( ) [private, slot]

Definition at line 731 of file MapCloudDisplay.cpp.

Member Data Documentation

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::alpha_property_

Definition at line 103 of file MapCloudDisplay.h.

ros::CallbackQueue rtabmap_ros::MapCloudDisplay::cbqueue_ [private]

Definition at line 158 of file MapCloudDisplay.h.

rviz::IntProperty* rtabmap_ros::MapCloudDisplay::cloud_decimation_

Definition at line 107 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_floor_height_

Definition at line 110 of file MapCloudDisplay.h.

std::map<int, CloudInfoPtr> rtabmap_ros::MapCloudDisplay::cloud_infos_ [private]

Definition at line 160 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_max_depth_

Definition at line 108 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_voxel_size_

Definition at line 109 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::color_transformer_property_

Definition at line 105 of file MapCloudDisplay.h.

std::map<int, rtabmap::Transform> rtabmap_ros::MapCloudDisplay::current_map_ [private]

Definition at line 165 of file MapCloudDisplay.h.

boost::mutex rtabmap_ros::MapCloudDisplay::current_map_mutex_ [private]

Definition at line 166 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_graph_

Definition at line 114 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_map_

Definition at line 113 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::needs_retransform_ [private]

Definition at line 183 of file MapCloudDisplay.h.

std::map<int, CloudInfoPtr> rtabmap_ros::MapCloudDisplay::new_cloud_infos_ [private]

Definition at line 162 of file MapCloudDisplay.h.

boost::mutex rtabmap_ros::MapCloudDisplay::new_clouds_mutex_ [private]

Definition at line 163 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::new_color_transformer_ [private]

Definition at line 182 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::new_xyz_transformer_ [private]

Definition at line 181 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_angle_

Definition at line 112 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_radius_

Definition at line 111 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_pixel_size_property_

Definition at line 102 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_world_size_property_

Definition at line 101 of file MapCloudDisplay.h.

ros::AsyncSpinner rtabmap_ros::MapCloudDisplay::spinner_ [private]

Definition at line 157 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::style_property_

Definition at line 106 of file MapCloudDisplay.h.

pluginlib::ClassLoader<rviz::PointCloudTransformer>* rtabmap_ros::MapCloudDisplay::transformer_class_loader_ [private]

Definition at line 185 of file MapCloudDisplay.h.

M_TransformerInfo rtabmap_ros::MapCloudDisplay::transformers_ [private]

Definition at line 180 of file MapCloudDisplay.h.

boost::recursive_mutex rtabmap_ros::MapCloudDisplay::transformers_mutex_ [private]

Definition at line 179 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::xyz_transformer_property_

Definition at line 104 of file MapCloudDisplay.h.

The documentation for this class was generated from the following files:

Classes

Public Types

Public Slots

Public Member Functions

Public Attributes

Protected Member Functions

Private Types

Private Slots

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation