rtabmap_ros::MapCloudDisplay Class Reference

Displays point clouds from rtabmap::MapData. More...

#include <MapCloudDisplay.h>

Inheritance diagram for rtabmap_ros::MapCloudDisplay:

List of all members.

Classes
struct	CloudInfo
struct	TransformerInfo
Public Types
typedef boost::shared_ptr < CloudInfo >	CloudInfoPtr
Public Slots
void	causeRetransform ()
Public Member Functions
	MapCloudDisplay ()
virtual void	reset ()
virtual void	update (float wall_dt, float ros_dt)
virtual	~MapCloudDisplay ()
Public Attributes
rviz::FloatProperty *	alpha_property_
rviz::IntProperty *	cloud_decimation_
rviz::FloatProperty *	cloud_filter_ceiling_height_
rviz::FloatProperty *	cloud_filter_floor_height_
rviz::FloatProperty *	cloud_max_depth_
rviz::FloatProperty *	cloud_min_depth_
rviz::FloatProperty *	cloud_voxel_size_
rviz::EnumProperty *	color_transformer_property_
rviz::BoolProperty *	download_graph_
rviz::BoolProperty *	download_map_
rviz::FloatProperty *	node_filtering_angle_
rviz::FloatProperty *	node_filtering_radius_
rviz::FloatProperty *	point_pixel_size_property_
rviz::FloatProperty *	point_world_size_property_
rviz::EnumProperty *	style_property_
rviz::EnumProperty *	xyz_transformer_property_
Protected Member Functions
virtual void	onInitialize ()
	Do initialization. Overridden from MessageFilterDisplay.
virtual void	processMessage (const rtabmap_ros::MapDataConstPtr &cloud)
	Process a single message. Overridden from MessageFilterDisplay.
Private Types
typedef std::map< std::string, TransformerInfo >	M_TransformerInfo
Private Slots
void	downloadGraph ()
void	downloadMap ()
void	setColorTransformerOptions (EnumProperty *prop)
void	setXyzTransformerOptions (EnumProperty *prop)
void	updateAlpha ()
void	updateBillboardSize ()
void	updateCloudParameters ()
void	updateColorTransformer ()
void	updateStyle ()
void	updateXyzTransformer ()
Private Member Functions
void	fillTransformerOptions (rviz::EnumProperty *prop, uint32_t mask)
rviz::PointCloudTransformerPtr	getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
rviz::PointCloudTransformerPtr	getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	loadTransformers ()
void	processMapData (const rtabmap_ros::MapData &map)
void	retransform ()
void	setPropertiesHidden (const QList< Property * > &props, bool hide)
bool	transformCloud (const CloudInfoPtr &cloud, bool fully_update_transformers)
	Transforms the cloud into the correct frame, and sets up our renderable cloud.
void	updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud)
Private Attributes
ros::CallbackQueue	cbqueue_
std::map< int, CloudInfoPtr >	cloud_infos_
std::map< int, rtabmap::Transform >	current_map_
boost::mutex	current_map_mutex_
bool	needs_retransform_
std::map< int, CloudInfoPtr >	new_cloud_infos_
boost::mutex	new_clouds_mutex_
bool	new_color_transformer_
bool	new_xyz_transformer_
ros::AsyncSpinner	spinner_
pluginlib::ClassLoader < rviz::PointCloudTransformer > *	transformer_class_loader_
M_TransformerInfo	transformers_
boost::recursive_mutex	transformers_mutex_

---

Detailed Description

Displays point clouds from rtabmap::MapData.

By default it will assume channel 0 of the cloud is an intensity value, and will color them by intensity. If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b all being 8 bits.

Definition at line 74 of file MapCloudDisplay.h.

---

Member Typedef Documentation

typedef boost::shared_ptr<CloudInfo> rtabmap_ros::MapCloudDisplay::CloudInfoPtr

Definition at line 97 of file MapCloudDisplay.h.

typedef std::map<std::string, TransformerInfo> rtabmap_ros::MapCloudDisplay::M_TransformerInfo [private]

Definition at line 183 of file MapCloudDisplay.h.

---

Constructor & Destructor Documentation

rtabmap_ros::MapCloudDisplay::MapCloudDisplay

(

)

Definition at line 87 of file MapCloudDisplay.cpp.

rtabmap_ros::MapCloudDisplay::~MapCloudDisplay

(

)

[virtual]

Definition at line 197 of file MapCloudDisplay.cpp.

---

Member Function Documentation

void rtabmap_ros::MapCloudDisplay::causeRetransform

(

)

[slot]

Definition at line 590 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::downloadGraph

(

)

[private, slot]

Definition at line 535 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::downloadMap

(

)

[private, slot]

Definition at line 477 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::fillTransformerOptions	(	rviz::EnumProperty *	prop,
		uint32_t	mask
	)		[private]

Definition at line 771 of file MapCloudDisplay.cpp.

rviz::PointCloudTransformerPtr rtabmap_ros::MapCloudDisplay::getColorTransformer

(

const sensor_msgs::PointCloud2ConstPtr &

cloud

)

[private]

Definition at line 812 of file MapCloudDisplay.cpp.

rviz::PointCloudTransformerPtr rtabmap_ros::MapCloudDisplay::getXYZTransformer

(

const sensor_msgs::PointCloud2ConstPtr &

cloud

)

[private]

Definition at line 796 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::loadTransformers

(

)

[private]

Definition at line 207 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::onInitialize

(

)

[protected, virtual]

Do initialization. Overridden from MessageFilterDisplay.

Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.

Definition at line 242 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMapData

(

const rtabmap_ros::MapData &

map

)

[private]

Definition at line 263 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMessage

(

const rtabmap_ros::MapDataConstPtr &

cloud

)

[protected, virtual]

Process a single message. Overridden from MessageFilterDisplay.

Definition at line 256 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::reset

(

)

[virtual]

Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.

Definition at line 725 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::retransform

(

)

[private]

Definition at line 829 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setColorTransformerOptions

(

EnumProperty *

prop

)

[private, slot]

Definition at line 766 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setPropertiesHidden	(	const QList< Property * > &	props,
		bool	hide
	)		[private]

Definition at line 347 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setXyzTransformerOptions

(

EnumProperty *

prop

)

[private, slot]

Definition at line 761 of file MapCloudDisplay.cpp.

bool rtabmap_ros::MapCloudDisplay::transformCloud	(	const CloudInfoPtr &	cloud,
		bool	fully_update_transformers
	)		[private]

Transforms the cloud into the correct frame, and sets up our renderable cloud.

Definition at line 842 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::update	(	float	wall_dt,
		float	ros_dt
	)		[virtual]

Reimplemented from rviz::Display.

Definition at line 595 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateAlpha

(

)

[private, slot]

Definition at line 425 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateBillboardSize

(

)

[private, slot]

Definition at line 453 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateCloudParameters

(

)

[private, slot]

Definition at line 472 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateColorTransformer

(

)

[private, slot]

Definition at line 750 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateStyle

(

)

[private, slot]

Definition at line 433 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateTransformers

(

const sensor_msgs::PointCloud2ConstPtr &

cloud

)

[private]

Definition at line 355 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateXyzTransformer

(

)

[private, slot]

Definition at line 739 of file MapCloudDisplay.cpp.

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Member Data Documentation

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::alpha_property_

Definition at line 107 of file MapCloudDisplay.h.

ros::CallbackQueue rtabmap_ros::MapCloudDisplay::cbqueue_ [private]

Definition at line 164 of file MapCloudDisplay.h.

rviz::IntProperty* rtabmap_ros::MapCloudDisplay::cloud_decimation_

Definition at line 111 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_ceiling_height_

Definition at line 116 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_floor_height_

Definition at line 115 of file MapCloudDisplay.h.

std::map<int, CloudInfoPtr> rtabmap_ros::MapCloudDisplay::cloud_infos_ [private]

Definition at line 166 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_max_depth_

Definition at line 112 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_min_depth_

Definition at line 113 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_voxel_size_

Definition at line 114 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::color_transformer_property_

Definition at line 109 of file MapCloudDisplay.h.

std::map<int, rtabmap::Transform> rtabmap_ros::MapCloudDisplay::current_map_ [private]

Definition at line 171 of file MapCloudDisplay.h.

boost::mutex rtabmap_ros::MapCloudDisplay::current_map_mutex_ [private]

Definition at line 172 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_graph_

Definition at line 120 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_map_

Definition at line 119 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::needs_retransform_ [private]

Definition at line 189 of file MapCloudDisplay.h.

std::map<int, CloudInfoPtr> rtabmap_ros::MapCloudDisplay::new_cloud_infos_ [private]

Definition at line 168 of file MapCloudDisplay.h.

boost::mutex rtabmap_ros::MapCloudDisplay::new_clouds_mutex_ [private]

Definition at line 169 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::new_color_transformer_ [private]

Definition at line 188 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::new_xyz_transformer_ [private]

Definition at line 187 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_angle_

Definition at line 118 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_radius_

Definition at line 117 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_pixel_size_property_

Definition at line 106 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_world_size_property_

Definition at line 105 of file MapCloudDisplay.h.

ros::AsyncSpinner rtabmap_ros::MapCloudDisplay::spinner_ [private]

Definition at line 163 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::style_property_

Definition at line 110 of file MapCloudDisplay.h.

pluginlib::ClassLoader<rviz::PointCloudTransformer>* rtabmap_ros::MapCloudDisplay::transformer_class_loader_ [private]

Definition at line 191 of file MapCloudDisplay.h.

M_TransformerInfo rtabmap_ros::MapCloudDisplay::transformers_ [private]

Definition at line 186 of file MapCloudDisplay.h.

boost::recursive_mutex rtabmap_ros::MapCloudDisplay::transformers_mutex_ [private]

Definition at line 185 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::xyz_transformer_property_

Definition at line 108 of file MapCloudDisplay.h.

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The documentation for this class was generated from the following files:

• MapCloudDisplay.h
• MapCloudDisplay.cpp