00001 /* 00002 * Copyright (c) 2013, 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 * Author: Julius Kammerl (jkammerl@willowgarage.com) 00030 * 00031 */ 00032 00033 #ifndef RVIZ_OCCUPANCY_GRID_DISPLAY_H 00034 #define RVIZ_OCCUPANCY_GRID_DISPLAY_H 00035 00036 #ifndef Q_MOC_RUN 00037 #include <ros/ros.h> 00038 00039 #include <boost/shared_ptr.hpp> 00040 #include <boost/thread/mutex.hpp> 00041 00042 #include <message_filters/subscriber.h> 00043 00044 #include <octomap_msgs/Octomap.h> 00045 00046 #include <octomap/OcTreeStamped.h> 00047 #include <octomap/ColorOcTree.h> 00048 00049 #include <rviz/display.h> 00050 #include "rviz/ogre_helpers/point_cloud.h" 00051 00052 #endif 00053 00054 namespace rviz { 00055 class RosTopicProperty; 00056 class IntProperty; 00057 class EnumProperty; 00058 class FloatProperty; 00059 } 00060 00061 namespace octomap_rviz_plugin 00062 { 00063 00064 class OccupancyGridDisplay : public rviz::Display 00065 { 00066 Q_OBJECT 00067 public: 00068 OccupancyGridDisplay(); 00069 virtual ~OccupancyGridDisplay(); 00070 00071 // Overrides from Display 00072 virtual void onInitialize(); 00073 virtual void update(float wall_dt, float ros_dt); 00074 virtual void reset(); 00075 00076 private Q_SLOTS: 00077 void updateQueueSize(); 00078 void updateTopic(); 00079 void updateTreeDepth(); 00080 void updateOctreeRenderMode(); 00081 void updateOctreeColorMode(); 00082 void updateAlpha(); 00083 void updateMaxHeight(); 00084 void updateMinHeight(); 00085 00086 protected: 00087 // overrides from Display 00088 virtual void onEnable(); 00089 virtual void onDisable(); 00090 00091 void subscribe(); 00092 void unsubscribe(); 00093 00094 virtual void incomingMessageCallback(const octomap_msgs::OctomapConstPtr& msg) = 0; 00095 00096 void setColor( double z_pos, double min_z, double max_z, double color_factor, rviz::PointCloud::Point& point); 00097 00098 void clear(); 00099 00100 typedef std::vector<rviz::PointCloud::Point> VPoint; 00101 typedef std::vector<VPoint> VVPoint; 00102 00103 boost::shared_ptr<message_filters::Subscriber<octomap_msgs::Octomap> > sub_; 00104 00105 boost::mutex mutex_; 00106 00107 // point buffer 00108 VVPoint new_points_; 00109 VVPoint point_buf_; 00110 bool new_points_received_; 00111 00112 // Ogre-rviz point clouds 00113 std::vector<rviz::PointCloud*> cloud_; 00114 std::vector<double> box_size_; 00115 00116 // Plugin properties 00117 rviz::IntProperty* queue_size_property_; 00118 rviz::RosTopicProperty* octomap_topic_property_; 00119 rviz::EnumProperty* octree_render_property_; 00120 rviz::EnumProperty* octree_coloring_property_; 00121 rviz::IntProperty* tree_depth_property_; 00122 rviz::FloatProperty* alpha_property_; 00123 rviz::FloatProperty* max_height_property_; 00124 rviz::FloatProperty* min_height_property_; 00125 00126 u_int32_t queue_size_; 00127 uint32_t messages_received_; 00128 double color_factor_; 00129 }; 00130 00131 template <typename OcTreeType> 00132 class TemplatedOccupancyGridDisplay: public OccupancyGridDisplay { 00133 protected: 00134 void incomingMessageCallback(const octomap_msgs::OctomapConstPtr& msg); 00135 void setVoxelColor(rviz::PointCloud::Point& newPoint, typename OcTreeType::NodeType& node, double minZ, double maxZ); 00138 bool checkType(std::string type_id); 00139 }; 00140 00141 } // namespace octomap_rviz_plugin 00142 00143 #endif //RVIZ_OCCUPANCY_GRID_DISPLAY_H