00001 /* 00002 * Copyright (c) 2008, 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 <tf/transform_listener.h> 00036 00037 #include "rviz/default_plugin/point_cloud_common.h" 00038 #include "rviz/display_context.h" 00039 #include "rviz/frame_manager.h" 00040 #include "rviz/ogre_helpers/point_cloud.h" 00041 #include "rviz/properties/int_property.h" 00042 00043 #include "point_cloud_display.h" 00044 00045 namespace rviz 00046 { 00047 00048 PointCloudDisplay::PointCloudDisplay() 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 PointCloud message queue. " 00053 " Increasing this is useful if your incoming TF data is delayed significantly " 00054 "from your PointCloud 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 PointCloudDisplay::~PointCloudDisplay() 00063 { 00064 delete point_cloud_common_; 00065 } 00066 00067 void PointCloudDisplay::onInitialize() 00068 { 00069 MFDClass::onInitialize(); 00070 point_cloud_common_->initialize( context_, scene_node_ ); 00071 } 00072 00073 void PointCloudDisplay::updateQueueSize() 00074 { 00075 tf_filter_->setQueueSize( (uint32_t) queue_size_property_->getInt() ); 00076 } 00077 00078 void PointCloudDisplay::processMessage( const sensor_msgs::PointCloudConstPtr& cloud ) 00079 { 00080 point_cloud_common_->addMessage( cloud ); 00081 } 00082 00083 void PointCloudDisplay::update( float wall_dt, float ros_dt ) 00084 { 00085 point_cloud_common_->update( wall_dt, ros_dt ); 00086 } 00087 00088 void PointCloudDisplay::reset() 00089 { 00090 MFDClass::reset(); 00091 point_cloud_common_->reset(); 00092 } 00093 00094 } // namespace rviz 00095 00096 #include <pluginlib/class_list_macros.h> 00097 PLUGINLIB_EXPORT_CLASS( rviz::PointCloudDisplay, rviz::Display )