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 #ifndef RVIZ_POINT_CLOUD_DISPLAY_H 00031 #define RVIZ_POINT_CLOUD_DISPLAY_H 00032 00033 #include <deque> 00034 #include <queue> 00035 #include <vector> 00036 00037 #include <sensor_msgs/PointCloud.h> 00038 00039 #include "rviz/message_filter_display.h" 00040 00041 namespace rviz 00042 { 00043 00044 class IntProperty; 00045 class PointCloudCommon; 00046 00055 class PointCloudDisplay: public MessageFilterDisplay<sensor_msgs::PointCloud> 00056 { 00057 Q_OBJECT 00058 public: 00059 PointCloudDisplay(); 00060 ~PointCloudDisplay(); 00061 00062 virtual void reset(); 00063 00064 virtual void update( float wall_dt, float ros_dt ); 00065 00066 private Q_SLOTS: 00067 void updateQueueSize(); 00068 00069 protected: 00071 virtual void onInitialize(); 00072 00074 virtual void processMessage( const sensor_msgs::PointCloudConstPtr& cloud ); 00075 00076 IntProperty* queue_size_property_; 00077 00078 PointCloudCommon* point_cloud_common_; 00079 }; 00080 00081 } // namespace rviz 00082 00083 #endif