point_cloud_transformer.h

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef RVIZ_POINT_CLOUD_TRANSFORMER_H
#define RVIZ_POINT_CLOUD_TRANSFORMER_H

#include <QObject>

#include <ros/message_forward.h>

#ifndef Q_MOC_RUN
#include <OgreVector3.h>
#include <OgreColourValue.h>

#include <rviz/ogre_helpers/point_cloud.h>
#endif

namespace Ogre
{
class Matrix4;
}

namespace sensor_msgs
{
ROS_DECLARE_MESSAGE(PointCloud2);
}

namespace rviz
{
class Property;

typedef std::vector<PointCloud::Point> V_PointCloudPoint;

class PointCloudTransformer: public QObject
{
Q_OBJECT
public:
  virtual void init() {}

  enum SupportLevel
  {
    Support_None = 0,
    Support_XYZ = 1 << 1,
    Support_Color = 1 << 2,
    Support_Both = Support_XYZ|Support_Color,
  };

  virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0;
  virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud, uint32_t mask, const Ogre::Matrix4& transform, V_PointCloudPoint& out) = 0;

  virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& cloud) { return 0; }

  virtual void createProperties( Property* parent_property,
                                 uint32_t mask,
                                 QList<Property*>& out_props ) {}

Q_SIGNALS:
  void needRetransform();
};

} // namespace rviz

#endif