00001 /* 00002 * Copyright (c) 2010, 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_TRANSFORMER_H 00031 #define RVIZ_POINT_CLOUD_TRANSFORMER_H 00032 00033 #include <QObject> 00034 00035 #include <ros/message_forward.h> 00036 00037 #include <OgreVector3.h> 00038 #include <OgreColourValue.h> 00039 00040 #include <rviz/ogre_helpers/point_cloud.h> 00041 00042 namespace Ogre 00043 { 00044 class Matrix4; 00045 } 00046 00047 namespace sensor_msgs 00048 { 00049 ROS_DECLARE_MESSAGE(PointCloud2); 00050 } 00051 00052 namespace rviz 00053 { 00054 class Property; 00055 00056 typedef std::vector<PointCloud::Point> V_PointCloudPoint; 00057 00058 class PointCloudTransformer: public QObject 00059 { 00060 Q_OBJECT 00061 public: 00062 virtual void init() {} 00063 00068 enum SupportLevel 00069 { 00070 Support_None = 0, 00071 Support_XYZ = 1 << 1, 00072 Support_Color = 1 << 2, 00073 Support_Both = Support_XYZ|Support_Color, 00074 }; 00075 00079 virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0; 00085 virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud, uint32_t mask, const Ogre::Matrix4& transform, V_PointCloudPoint& out) = 0; 00086 00092 virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& cloud) { return 0; } 00093 00099 virtual void createProperties( Property* parent_property, 00100 uint32_t mask, 00101 QList<Property*>& out_props ) {} 00102 00103 Q_SIGNALS: 00105 void needRetransform(); 00106 }; 00107 00108 } // namespace rviz 00109 00110 #endif