point_cloud2_display.cpp
Go to the documentation of this file.
00001 /*
00002  * Copyright (c) 2012, 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 
00030 #include <OgreSceneNode.h>
00031 #include <OgreSceneManager.h>
00032 
00033 #include <ros/time.h>
00034 
00035 #include "rviz/default_plugin/point_cloud_common.h"
00036 #include "rviz/default_plugin/point_cloud_transformers.h"
00037 #include "rviz/display_context.h"
00038 #include "rviz/frame_manager.h"
00039 #include "rviz/ogre_helpers/point_cloud.h"
00040 #include "rviz/properties/int_property.h"
00041 #include "rviz/validate_floats.h"
00042 
00043 #include "point_cloud2_display.h"
00044 
00045 namespace rviz
00046 {
00047 
00048 PointCloud2Display::PointCloud2Display()
00049   : point_cloud_common_( new PointCloudCommon( this ))
00050 {
00051   queue_size_property_ = new IntProperty( "Queue Size", 10,
00052                                           "Advanced: set the size of the incoming PointCloud2 message queue. "
00053                                           " Increasing this is useful if your incoming TF data is delayed significantly "
00054                                           "from your PointCloud2 data, but it can greatly increase memory usage if the messages are big.",
00055                                           this, SLOT( updateQueueSize() ));
00056 
00057   // PointCloudCommon sets up a callback queue with a thread for each
00058   // instance.  Use that for processing incoming messages.
00059   update_nh_.setCallbackQueue( point_cloud_common_->getCallbackQueue() );
00060 }
00061 
00062 PointCloud2Display::~PointCloud2Display()
00063 {
00064   delete point_cloud_common_;
00065 }
00066 
00067 void PointCloud2Display::onInitialize()
00068 {
00069   MFDClass::onInitialize();
00070   point_cloud_common_->initialize( context_, scene_node_ );
00071 }
00072 
00073 void PointCloud2Display::updateQueueSize()
00074 {
00075   tf_filter_->setQueueSize( (uint32_t) queue_size_property_->getInt() );
00076 }
00077 
00078 void PointCloud2Display::processMessage( const sensor_msgs::PointCloud2ConstPtr& cloud )
00079 {
00080   // Filter any nan values out of the cloud.  Any nan values that make it through to PointCloudBase
00081   // will get their points put off in lala land, but it means they still do get processed/rendered
00082   // which can be a big performance hit
00083   sensor_msgs::PointCloud2Ptr filtered(new sensor_msgs::PointCloud2);
00084   int32_t xi = findChannelIndex(cloud, "x");
00085   int32_t yi = findChannelIndex(cloud, "y");
00086   int32_t zi = findChannelIndex(cloud, "z");
00087 
00088   if (xi == -1 || yi == -1 || zi == -1)
00089   {
00090     return;
00091   }
00092 
00093   const uint32_t xoff = cloud->fields[xi].offset;
00094   const uint32_t yoff = cloud->fields[yi].offset;
00095   const uint32_t zoff = cloud->fields[zi].offset;
00096   const uint32_t point_step = cloud->point_step;
00097   const size_t point_count = cloud->width * cloud->height;
00098 
00099   if( point_count * point_step != cloud->data.size() )
00100   {
00101     std::stringstream ss;
00102     ss << "Data size (" << cloud->data.size() << " bytes) does not match width (" << cloud->width
00103        << ") times height (" << cloud->height << ") times point_step (" << point_step << ").  Dropping message.";
00104     setStatusStd( StatusProperty::Error, "Message", ss.str() );
00105     return;
00106   }
00107 
00108   filtered->data.resize(cloud->data.size());
00109   if (point_count == 0)
00110   {
00111     return;
00112   }
00113 
00114   uint8_t* output_ptr = &filtered->data.front();
00115   const uint8_t* ptr = &cloud->data.front(), *ptr_end = &cloud->data.back(), *ptr_init;
00116   size_t points_to_copy = 0;
00117   for (; ptr < ptr_end; ptr += point_step)
00118   {
00119     float x = *reinterpret_cast<const float*>(ptr + xoff);
00120     float y = *reinterpret_cast<const float*>(ptr + yoff);
00121     float z = *reinterpret_cast<const float*>(ptr + zoff);
00122     if (validateFloats(x) && validateFloats(y) && validateFloats(z))
00123     {
00124       if (points_to_copy == 0)
00125       {
00126         // Only memorize where to start copying from
00127         ptr_init = ptr;
00128         points_to_copy = 1;
00129       }
00130       else
00131       {
00132         ++points_to_copy;
00133       }
00134     }
00135     else
00136     {
00137       if (points_to_copy)
00138       {
00139         // Copy all the points that need to be copied
00140         memcpy(output_ptr, ptr_init, point_step*points_to_copy);
00141         output_ptr += point_step*points_to_copy;
00142         points_to_copy = 0;
00143       }
00144     }
00145   }
00146   // Don't forget to flush what needs to be copied
00147   if (points_to_copy)
00148   {
00149     memcpy(output_ptr, ptr_init, point_step*points_to_copy);
00150     output_ptr += point_step*points_to_copy;
00151   }
00152   uint32_t output_count = (output_ptr - &filtered->data.front()) / point_step;
00153 
00154   filtered->header = cloud->header;
00155   filtered->fields = cloud->fields;
00156   filtered->data.resize(output_count * point_step);
00157   filtered->height = 1;
00158   filtered->width = output_count;
00159   filtered->is_bigendian = cloud->is_bigendian;
00160   filtered->point_step = point_step;
00161   filtered->row_step = output_count;
00162 
00163   point_cloud_common_->addMessage( filtered );
00164 }
00165 
00166 
00167 void PointCloud2Display::update( float wall_dt, float ros_dt )
00168 {
00169   point_cloud_common_->update( wall_dt, ros_dt );
00170 }
00171 
00172 void PointCloud2Display::reset()
00173 {
00174   MFDClass::reset();
00175   point_cloud_common_->reset();
00176 }
00177 
00178 } // namespace rviz
00179 
00180 #include <pluginlib/class_list_macros.h>
00181 PLUGINLIB_EXPORT_CLASS( rviz::PointCloud2Display, rviz::Display )


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