Class Rviz3dViewDialog

Inheritance Relationships

Base Type

  • public QDialog

Class Documentation

class Rviz3dViewDialog : public QDialog

Dialog class to show 3D data (e.g. point clouds) inside an RViz dialog.

See also

https://docs.ros.org/en/hydro/api/librviz_tutorial/html/

See also

https://github.com/ros-visualization/visualization_tutorials/blob/hydro-devel/librviz_tutorial/src/myviz.cpp

Public Types

enum EViews

Enumeration holding possible views in 3D view.

Values:

enumerator ORBIT
enumerator TOP_DOWN

Public Functions

Rviz3dViewDialog(QWidget *parent = nullptr, std::string iNodeAbstractionName = "rviz3dViewNodeAbs")

Constructor.

Parameters:

parent –

~Rviz3dViewDialog()

Destructor.

bool addAxes(const std::string &iReferenceFrame = "")

Add coordinate axes frame for given reference frame.

Parameters:

iReferenceFrame – [in] Name of the reference frame. If left empty, it will be placed at the center of the current view.

Returns:

True, if successful. False, otherwise.

bool addGuidedPlacementBox(const std::string &iTopicName)

Add box object indicating where to place the calibration target. The position of the box within the 3D view is always updated via the given topic.

Parameters:

iTopicName – [in] Topic name on which to receive position updates.

Returns:

True, if successful. False, otherwise.

bool addMarkerCornersCloud(const std::string &iTopicName)

Add cloud holding the marker corners to the 3D view. The marker corners will be published via the given topic.

Parameters:

iTopicName – [in] Topic name on which the marker corners will be published.

Returns:

True, if successful. False, otherwise.

bool addRawSensorCloud(const std::string &iTopicName)

Add raw point cloud from a LiDAR sensor to the 3D view.

Parameters:

iTopicName – [in] Topic name on which the point cloud will be published.

Returns:

True, if successful. False, otherwise.

bool addRegionsOfInterestCloud(const std::string &iTopicName)

Add cloud holding the region of interest, i.e. the cluster candidates, to the 3D view.

Parameters:

iTopicName – [in] Topic name on which the cloud will be published.

Returns:

True, if successful. False, otherwise.

bool addPointWiseDistanceCloud(const std::string &iTopicName)

Add cloud representing the point-wise distance to the 3D view.

Parameters:

iTopicName – [in] Topic name on which the cloud will be published.

Returns:

True, if successful. False, otherwise.

bool addCalibTargetCloud(const std::string &iTopicName)

Add cloud holding the detected calibration target to the 3D view.

Parameters:

iTopicName – [in] Topic name on which the target cloud will be published.

Returns:

True, if successful. False, otherwise.

void closeEvent(QCloseEvent *closeEvent) override

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

bool setFixedReferenceFrame(const std::string &iFrameId)

Set fixed reference frame with given frame id.

Parameters:

iFrameId – [in] Frame ID of the reference frame.

Returns:

True, if successful. False, otherwise.

bool setView(const EViews &iView)

Set view of the 3D display.

Returns:

True, if successful. False, otherwise.

void showEvent(QShowEvent *showEvent) override

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.