point_cloud_display.cpp
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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 )


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Tue Oct 3 2017 03:19:31