depth_cloud_display.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 #include <QObject>
00030 
00031 #include "depth_cloud_display.h"
00032 #include "rviz/visualization_manager.h"
00033 #include "rviz/properties/property.h"
00034 #include "rviz/validate_floats.h"
00035 
00036 #include "rviz/properties/enum_property.h"
00037 #include "rviz/properties/float_property.h"
00038 #include "rviz/properties/bool_property.h"
00039 #include "rviz/properties/int_property.h"
00040 #include "rviz/frame_manager.h"
00041 
00042 #include <tf/transform_listener.h>
00043 
00044 #include <boost/bind.hpp>
00045 #include <boost/algorithm/string/erase.hpp>
00046 #include <boost/foreach.hpp>
00047 #include <boost/shared_ptr.hpp>
00048 
00049 #include <OgreSceneNode.h>
00050 #include <OgreSceneManager.h>
00051 
00052 #include <image_transport/camera_common.h>
00053 #include <image_transport/subscriber_plugin.h>
00054 #include <image_transport/subscriber_filter.h>
00055 
00056 #include <sensor_msgs/image_encodings.h>
00057 
00058 #include "depth_cloud_mld.h"
00059 
00060 #include <sstream>
00061 #include <string>
00062 #include <math.h>
00063 
00064 namespace enc = sensor_msgs::image_encodings;
00065 
00066 namespace rviz
00067 {
00068 
00069 DepthCloudDisplay::DepthCloudDisplay()
00070   : rviz::Display()
00071   , messages_received_(0)
00072   , depthmap_sub_()
00073   , rgb_sub_()
00074   , cam_info_sub_()
00075   , queue_size_(5)
00076   , ml_depth_data_(new MultiLayerDepth())
00077   , angular_thres_(0.5f)
00078   , trans_thres_(0.01f)
00079 
00080 {
00081 
00082   // Depth map properties
00083   QRegExp depth_filter("depth");
00084   depth_filter.setCaseSensitivity(Qt::CaseInsensitive);
00085 
00086   topic_filter_property_ = new Property("Topic Filter",
00087                                         true,
00088                                         "List only topics with names that relate to depth and color images",
00089                                         this,
00090                                         SLOT (updateTopicFilter() ));
00091 
00092   depth_topic_property_ = new RosFilteredTopicProperty("Depth Map Topic",
00093                                                        "",
00094                                                        QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
00095                                                        "sensor_msgs::Image topic to subscribe to.",
00096                                                        depth_filter,
00097                                                        this,
00098                                                        SLOT( updateTopic() ));
00099 
00100   depth_transport_property_ = new EnumProperty("Depth Map Transport Hint", "raw", "Preferred method of sending images.", this, SLOT( updateTopic() ));
00101 
00102   connect(depth_transport_property_, SIGNAL( requestOptions( EnumProperty* )), this,  SLOT( fillTransportOptionList( EnumProperty* )));
00103 
00104   depth_transport_property_->setStdString("raw");
00105 
00106   // color image properties
00107   QRegExp color_filter("color|rgb|bgr|gray|mono");
00108   color_filter.setCaseSensitivity(Qt::CaseInsensitive);
00109 
00110   color_topic_property_ = new RosFilteredTopicProperty("Color Image Topic",
00111                                                        "",
00112                                                        QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
00113                                                        "sensor_msgs::Image topic to subscribe to.",
00114                                                        color_filter,
00115                                                        this,
00116                                                        SLOT( updateTopic() ));
00117 
00118   color_transport_property_ = new EnumProperty("Color Transport Hint", "raw", "Preferred method of sending images.", this, SLOT( updateTopic() ));
00119 
00120 
00121   connect(color_transport_property_, SIGNAL( requestOptions( EnumProperty* )), this, SLOT( fillTransportOptionList( EnumProperty* )));
00122 
00123   color_transport_property_->setStdString("raw");
00124 
00125   // Queue size property
00126   queue_size_property_ = new IntProperty( "Queue Size", queue_size_,
00127                                           "Advanced: set the size of the incoming message queue.  Increasing this "
00128                                           "is useful if your incoming TF data is delayed significantly from your"
00129                                           " image data, but it can greatly increase memory usage if the messages are big.",
00130                                           this,
00131                                           SLOT( updateQueueSize() ));
00132   queue_size_property_->setMin( 1 );
00133 
00134   use_auto_size_property_ = new BoolProperty( "Auto Size",
00135                                               true,
00136                                               "Automatically scale each point based on its depth value and the camera parameters.",
00137                                               this,
00138                                               SLOT( updateUseAutoSize() ),
00139                                               this );
00140 
00141   auto_size_factor_property_ = new FloatProperty( "Auto Size Factor", 1,
00142                                                   "Scaling factor to be applied to the auto size.",
00143                                                   use_auto_size_property_,
00144                                                   SLOT( updateAutoSizeFactor() ),
00145                                                   this );
00146   auto_size_factor_property_->setMin( 0.0001 );
00147 
00148   use_occlusion_compensation_property_ = new BoolProperty( "Occlusion Compensation",
00149                                                            false,
00150                                                            "Keep points alive after they have been occluded by a closer point. Points are removed after a timeout or when the camera frame moves.",
00151                                                            this,
00152                                                            SLOT( updateUseOcclusionCompensation() ),
00153                                                            this );
00154 
00155   occlusion_shadow_timeout_property_ = new FloatProperty( "Occlusion Time-Out",
00156                                                           30.0f,
00157                                                           "Amount of seconds before removing occluded points from the depth cloud",
00158                                                           use_occlusion_compensation_property_,
00159                                                           SLOT( updateOcclusionTimeOut() ),
00160                                                           this );
00161 
00162 }
00163 
00164 void DepthCloudDisplay::onInitialize()
00165 {
00166   depthmap_it_.reset( new image_transport::ImageTransport( threaded_nh_ ));
00167   rgb_it_.reset( new image_transport::ImageTransport( threaded_nh_ ));
00168 
00169   // Instantiate PointCloudCommon class for displaying point clouds
00170   pointcloud_common_ = new PointCloudCommon(this);
00171 
00172   updateUseAutoSize();
00173   updateUseOcclusionCompensation();
00174 
00175   // PointCloudCommon sets up a callback queue with a thread for each
00176   // instance.  Use that for processing incoming messages.
00177   threaded_nh_.setCallbackQueue( pointcloud_common_->getCallbackQueue() );
00178 
00179   // Scan for available transport plugins
00180   scanForTransportSubscriberPlugins();
00181 
00182   pointcloud_common_->initialize(context_, scene_node_);
00183   pointcloud_common_->xyz_transformer_property_->hide();
00184 }
00185 
00186 DepthCloudDisplay::~DepthCloudDisplay()
00187 {
00188   if ( initialized() )
00189   {
00190     unsubscribe();
00191     delete pointcloud_common_;
00192   }
00193 
00194   if (ml_depth_data_)
00195   {
00196     delete ml_depth_data_;
00197   }
00198 }
00199 
00200 void DepthCloudDisplay::setTopic( const QString &topic, const QString &datatype )
00201 {
00202   // Copied from ImageDisplayBase::setTopic()
00203   if ( datatype == ros::message_traits::datatype<sensor_msgs::Image>() )
00204   {
00205     depth_transport_property_->setStdString( "raw" );
00206     depth_topic_property_->setString( topic );
00207   }
00208   else
00209   {
00210     int index = topic.lastIndexOf("/");
00211     if ( index == -1 )
00212     {
00213       ROS_WARN("DepthCloudDisplay::setTopic() Invalid topic name: %s",
00214                topic.toStdString().c_str());
00215       return;
00216     }
00217     QString transport = topic.mid(index + 1);
00218     QString base_topic = topic.mid(0, index);
00219 
00220     depth_transport_property_->setString( transport );
00221     depth_topic_property_->setString( base_topic );
00222   }
00223 }
00224 
00225 void DepthCloudDisplay::updateQueueSize()
00226 {
00227   queue_size_ = queue_size_property_->getInt();
00228 }
00229 
00230 void DepthCloudDisplay::updateUseAutoSize()
00231 {
00232   bool use_auto_size = use_auto_size_property_->getBool();
00233   pointcloud_common_->point_world_size_property_->setReadOnly( use_auto_size );
00234   pointcloud_common_->setAutoSize( use_auto_size );
00235   auto_size_factor_property_->setHidden(!use_auto_size);
00236   if (use_auto_size)
00237           use_auto_size_property_->expand();
00238 }
00239 
00240 void DepthCloudDisplay::updateAutoSizeFactor()
00241 {
00242 }
00243 
00244 void DepthCloudDisplay::updateTopicFilter()
00245 {
00246   bool enabled = topic_filter_property_->getValue().toBool();
00247   depth_topic_property_->enableFilter(enabled);
00248   color_topic_property_->enableFilter(enabled);
00249 }
00250 
00251 void DepthCloudDisplay::updateUseOcclusionCompensation()
00252 {
00253   bool use_occlusion_compensation = use_occlusion_compensation_property_->getBool();
00254   occlusion_shadow_timeout_property_->setHidden(!use_occlusion_compensation);
00255 
00256   if (use_occlusion_compensation)
00257   {
00258     updateOcclusionTimeOut();
00259     ml_depth_data_->enableOcclusionCompensation(true);
00260     use_occlusion_compensation_property_->expand();
00261   } else
00262   {
00263     ml_depth_data_->enableOcclusionCompensation(false);
00264   }
00265 }
00266 
00267 void DepthCloudDisplay::updateOcclusionTimeOut()
00268 {
00269   float occlusion_timeout = occlusion_shadow_timeout_property_->getFloat();
00270   ml_depth_data_->setShadowTimeOut(occlusion_timeout);
00271 }
00272 
00273 void DepthCloudDisplay::onEnable()
00274 {
00275   subscribe();
00276 }
00277 
00278 void DepthCloudDisplay::onDisable()
00279 {
00280   unsubscribe();
00281 
00282   ml_depth_data_->reset();
00283 
00284   clear();
00285 }
00286 
00287 void DepthCloudDisplay::subscribe()
00288 {
00289   if ( !isEnabled() )
00290   {
00291     return;
00292   }
00293 
00294   try
00295   {
00296     // reset all message filters
00297     sync_depth_color_.reset(new SynchronizerDepthColor(SyncPolicyDepthColor(queue_size_)));
00298     depthmap_tf_filter_.reset();
00299     depthmap_sub_.reset(new image_transport::SubscriberFilter());
00300     rgb_sub_.reset(new image_transport::SubscriberFilter());
00301     cam_info_sub_.reset(new message_filters::Subscriber<sensor_msgs::CameraInfo>());
00302 
00303     std::string depthmap_topic = depth_topic_property_->getTopicStd();
00304     std::string color_topic = color_topic_property_->getTopicStd();
00305 
00306     std::string depthmap_transport = depth_transport_property_->getStdString();
00307     std::string color_transport = color_transport_property_->getStdString();
00308 
00309     if (!depthmap_topic.empty() && !depthmap_transport.empty()) {
00310       // subscribe to depth map topic
00311       depthmap_sub_->subscribe(*depthmap_it_, depthmap_topic, queue_size_,  image_transport::TransportHints(depthmap_transport));
00312 
00313       depthmap_tf_filter_.reset(
00314           new tf::MessageFilter<sensor_msgs::Image>(*depthmap_sub_, *context_->getTFClient(), fixed_frame_.toStdString(), queue_size_, threaded_nh_));
00315 
00316       // subscribe to CameraInfo  topic
00317       std::string info_topic = image_transport::getCameraInfoTopic(depthmap_topic);
00318       cam_info_sub_->subscribe(threaded_nh_, info_topic, queue_size_);
00319       cam_info_sub_->registerCallback(boost::bind(&DepthCloudDisplay::caminfoCallback, this, _1));
00320 
00321       if (!color_topic.empty() && !color_transport.empty()) {
00322         // subscribe to color image topic
00323         rgb_sub_->subscribe(*rgb_it_, color_topic, queue_size_,  image_transport::TransportHints(color_transport));
00324 
00325         // connect message filters to synchronizer
00326         sync_depth_color_->connectInput(*depthmap_tf_filter_, *rgb_sub_);
00327         sync_depth_color_->setInterMessageLowerBound(0, ros::Duration(0.5));
00328         sync_depth_color_->setInterMessageLowerBound(1, ros::Duration(0.5));
00329         sync_depth_color_->registerCallback(boost::bind(&DepthCloudDisplay::processMessage, this, _1, _2));
00330 
00331         pointcloud_common_->color_transformer_property_->setValue("RGB8");
00332       } else
00333       {
00334         depthmap_tf_filter_->registerCallback(boost::bind(&DepthCloudDisplay::processMessage, this, _1));
00335       }
00336 
00337     }
00338   }
00339   catch (ros::Exception& e)
00340   {
00341     setStatus( StatusProperty::Error, "Message", QString("Error subscribing: ") + e.what() );
00342   }
00343   catch (image_transport::TransportLoadException& e)
00344   {
00345     setStatus( StatusProperty::Error, "Message", QString("Error subscribing: ") + e.what() );
00346   }
00347 }
00348 
00349 void DepthCloudDisplay::caminfoCallback( sensor_msgs::CameraInfo::ConstPtr msg )
00350 {
00351   boost::mutex::scoped_lock lock(cam_info_mutex_);
00352   cam_info_ = msg;
00353  }
00354 
00355 void DepthCloudDisplay::unsubscribe()
00356 {
00357   clear();
00358 
00359   try
00360   {
00361     // reset all filters
00362     sync_depth_color_.reset(new SynchronizerDepthColor(SyncPolicyDepthColor(queue_size_)));
00363     depthmap_tf_filter_.reset();
00364     depthmap_sub_.reset();
00365     rgb_sub_.reset();
00366     cam_info_sub_.reset();
00367   }
00368   catch (ros::Exception& e)
00369   {
00370     setStatus( StatusProperty::Error, "Message", QString("Error unsubscribing: ") + e.what() );
00371   }
00372 }
00373 
00374 
00375 void DepthCloudDisplay::clear()
00376 {
00377 
00378   boost::mutex::scoped_lock lock(mutex_);
00379 
00380   pointcloud_common_->reset();
00381 }
00382 
00383 
00384 void DepthCloudDisplay::update(float wall_dt, float ros_dt)
00385 {
00386 
00387   boost::mutex::scoped_lock lock(mutex_);
00388 
00389   pointcloud_common_->update(wall_dt, ros_dt);
00390 }
00391 
00392 
00393 void DepthCloudDisplay::reset()
00394 {
00395   clear();
00396   messages_received_ = 0;
00397   setStatus( StatusProperty::Ok, "Depth Map", "0 depth maps received" );
00398   setStatus( StatusProperty::Ok, "Message", "Ok" );
00399 }
00400 
00401 void DepthCloudDisplay::processMessage(sensor_msgs::ImageConstPtr depth_msg)
00402 {
00403   processMessage(depth_msg, sensor_msgs::ImageConstPtr());
00404 }
00405 
00406 void DepthCloudDisplay::processMessage(sensor_msgs::ImageConstPtr depth_msg,
00407                                        sensor_msgs::ImageConstPtr rgb_msg)
00408 {
00409   if (context_->getFrameManager()->getPause() )
00410   {
00411     return;
00412   }
00413 
00414   std::ostringstream s;
00415 
00416   ++messages_received_;
00417   setStatus( StatusProperty::Ok, "Depth Map", QString::number(messages_received_) + " depth maps received");
00418   setStatus( StatusProperty::Ok, "Message", "Ok" );
00419 
00420   sensor_msgs::CameraInfo::ConstPtr cam_info;
00421   {
00422     boost::mutex::scoped_lock lock(cam_info_mutex_);
00423     cam_info = cam_info_;
00424   }
00425 
00426   if ( !cam_info || !depth_msg )
00427   {
00428     return;
00429   }
00430 
00431   s.str("");
00432   s << depth_msg->width << " x " << depth_msg->height;
00433   setStatusStd( StatusProperty::Ok, "Depth Image Size", s.str() );
00434 
00435   if (rgb_msg)
00436   {
00437     s.str("");
00438     s << rgb_msg->width << " x " << rgb_msg->height;
00439     setStatusStd( StatusProperty::Ok, "Image Size", s.str() );
00440 
00441     if (depth_msg->header.frame_id != rgb_msg->header.frame_id)
00442     {
00443       std::stringstream errorMsg;
00444       errorMsg << "Depth image frame id [" << depth_msg->header.frame_id.c_str()
00445            << "] doesn't match color image frame id [" << rgb_msg->header.frame_id.c_str() << "]";
00446       setStatusStd( StatusProperty::Warn, "Message", errorMsg.str() );
00447     }
00448   }
00449 
00450   if ( use_auto_size_property_->getBool() )
00451   {
00452     float f = cam_info->K[0];
00453     float bx = cam_info->binning_x > 0 ? cam_info->binning_x : 1.0;
00454     float s = auto_size_factor_property_->getFloat();
00455     pointcloud_common_->point_world_size_property_->setFloat( s / f * bx );
00456   }
00457 
00458   bool use_occlusion_compensation = use_occlusion_compensation_property_->getBool();
00459 
00460   if (use_occlusion_compensation)
00461   {
00462     // reset depth cloud display if camera moves
00463     Ogre::Quaternion orientation;
00464     Ogre::Vector3 position;
00465 
00466     if (!context_->getFrameManager()->getTransform(depth_msg->header, position, orientation))
00467     {
00468       setStatus(
00469           StatusProperty::Error,
00470           "Message",
00471           QString("Failed to transform from frame [") + depth_msg->header.frame_id.c_str() + QString("] to frame [")
00472               + context_->getFrameManager()->getFixedFrame().c_str() + QString("]"));
00473       return;
00474     }
00475     else
00476     {
00477       Ogre::Radian angle;
00478       Ogre::Vector3 axis;
00479 
00480       (current_orientation_.Inverse() * orientation).ToAngleAxis(angle, axis);
00481 
00482       float angle_deg = angle.valueDegrees();
00483       if (angle_deg >= 180.0f)
00484         angle_deg -= 180.0f;
00485       if (angle_deg < -180.0f)
00486         angle_deg += 180.0f;
00487 
00488       if (trans_thres_ == 0.0 || angular_thres_ == 0.0 ||
00489           (position - current_position_).length() > trans_thres_
00490           || angle_deg > angular_thres_)
00491       {
00492         // camera orientation/position changed
00493         current_position_ = position;
00494         current_orientation_ = orientation;
00495 
00496         // reset multi-layered depth image
00497         ml_depth_data_->reset();
00498       }
00499     }
00500   }
00501 
00502   try
00503   {
00504     sensor_msgs::PointCloud2Ptr cloud_msg = ml_depth_data_->generatePointCloudFromDepth(depth_msg, rgb_msg, cam_info);
00505 
00506     if ( !cloud_msg.get() )
00507     {
00508       throw MultiLayerDepthException("generatePointCloudFromDepth() returned zero.");
00509     }
00510     cloud_msg->header = depth_msg->header;
00511 
00512     // add point cloud message to pointcloud_common to be visualized
00513     pointcloud_common_->addMessage(cloud_msg);
00514   }
00515   catch (MultiLayerDepthException& e)
00516   {
00517     setStatus(StatusProperty::Error, "Message", QString("Error updating depth cloud: ") + e.what());
00518   }
00519 
00520 
00521 
00522 }
00523 
00524 
00525 void DepthCloudDisplay::scanForTransportSubscriberPlugins()
00526 {
00527   pluginlib::ClassLoader<image_transport::SubscriberPlugin> sub_loader("image_transport",
00528                                                                        "image_transport::SubscriberPlugin");
00529 
00530   BOOST_FOREACH( const std::string& lookup_name, sub_loader.getDeclaredClasses() )
00531   {
00532     // lookup_name is formatted as "pkg/transport_sub", for instance
00533     // "image_transport/compressed_sub" for the "compressed"
00534     // transport.  This code removes the "_sub" from the tail and
00535     // everything up to and including the "/" from the head, leaving
00536     // "compressed" (for example) in transport_name.
00537     std::string transport_name = boost::erase_last_copy(lookup_name, "_sub");
00538     transport_name = transport_name.substr(lookup_name.find('/') + 1);
00539 
00540     // If the plugin loads without throwing an exception, add its
00541     // transport name to the list of valid plugins, otherwise ignore
00542     // it.
00543     try
00544     {
00545       boost::shared_ptr<image_transport::SubscriberPlugin> sub = sub_loader.createInstance(lookup_name);
00546       transport_plugin_types_.insert(transport_name);
00547     }
00548     catch (const pluginlib::LibraryLoadException& e)
00549     {
00550     }
00551     catch (const pluginlib::CreateClassException& e)
00552     {
00553     }
00554   }
00555 }
00556 
00557 void DepthCloudDisplay::updateTopic()
00558 {
00559   unsubscribe();
00560   reset();
00561   subscribe();
00562   context_->queueRender();
00563 }
00564 
00565 void DepthCloudDisplay::fillTransportOptionList(EnumProperty* property)
00566 {
00567   property->clearOptions();
00568 
00569   std::vector<std::string> choices;
00570 
00571   choices.push_back("raw");
00572 
00573   // Loop over all current ROS topic names
00574   ros::master::V_TopicInfo topics;
00575   ros::master::getTopics(topics);
00576   ros::master::V_TopicInfo::iterator it = topics.begin();
00577   ros::master::V_TopicInfo::iterator end = topics.end();
00578   for (; it != end; ++it)
00579   {
00580     // If the beginning of this topic name is the same as topic_,
00581     // and the whole string is not the same,
00582     // and the next character is /
00583     // and there are no further slashes from there to the end,
00584     // then consider this a possible transport topic.
00585     const ros::master::TopicInfo& ti = *it;
00586     const std::string& topic_name = ti.name;
00587     const std::string& topic = depth_topic_property_->getStdString();
00588 
00589     if (topic_name.find(topic) == 0 && topic_name != topic && topic_name[topic.size()] == '/'
00590         && topic_name.find('/', topic.size() + 1) == std::string::npos)
00591     {
00592       std::string transport_type = topic_name.substr(topic.size() + 1);
00593 
00594       // If the transport type string found above is in the set of
00595       // supported transport type plugins, add it to the list.
00596       if (transport_plugin_types_.find(transport_type) != transport_plugin_types_.end())
00597       {
00598         choices.push_back(transport_type);
00599       }
00600     }
00601   }
00602 
00603   for (size_t i = 0; i < choices.size(); i++)
00604   {
00605     property->addOptionStd(choices[i]);
00606   }
00607 }
00608 
00609 void DepthCloudDisplay::fixedFrameChanged()
00610 {
00611   Display::reset();
00612 }
00613 
00614 } // namespace rviz
00615 
00616 #include <pluginlib/class_list_macros.h>
00617 
00618 PLUGINLIB_EXPORT_CLASS( rviz::DepthCloudDisplay, rviz::Display)
00619 


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Aug 27 2015 15:02:27