Class DepthCloudDisplay

Defined in File depth_cloud_display.hpp

Inheritance Relationships

Base Type

public rviz_common::Display

Class Documentation

class DepthCloudDisplay : public rviz_common::Display

Public Functions

DepthCloudDisplay()

~DepthCloudDisplay() override

void onInitialize() override

void update(float wall_dt, float ros_dt) override

void reset() override

void setTopic(const QString &topic, const QString &datatype) override

void processDepthMessage(const sensor_msgs::msg::Image::ConstSharedPtr msg)

void processMessage(const sensor_msgs::msg::Image::ConstSharedPtr depth_msg, const sensor_msgs::msg::Image::ConstSharedPtr rgb_msg)

Protected Types

typedef message_filters::sync_policies::ApproximateTime<sensor_msgs::msg::Image, sensor_msgs::msg::Image> SyncPolicyDepthColor

typedef message_filters::Synchronizer<SyncPolicyDepthColor> SynchronizerDepthColor

Protected Functions

void scanForTransportSubscriberPlugins()

void caminfoCallback(sensor_msgs::msg::CameraInfo::ConstSharedPtr msg)

void onEnable() override

void onDisable() override

void fixedFrameChanged() override

void subscribe()

void unsubscribe()

void clear()

void updateStatus(rviz_common::properties::StatusProperty::Level level, const QString &name, const QString &text)

void setStatusList()

Protected Attributes

uint32_t messages_received_

std::unique_ptr<image_transport::ImageTransport> depthmap_it_

std::shared_ptr<image_transport::SubscriberFilter> depthmap_sub_

std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::Image, rviz_common::transformation::FrameTransformer>> depthmap_tf_filter_

std::unique_ptr<image_transport::ImageTransport> rgb_it_

std::shared_ptr<image_transport::SubscriberFilter> rgb_sub_

rclcpp::Subscription<sensor_msgs::msg::CameraInfo>::SharedPtr cam_info_sub_

sensor_msgs::msg::CameraInfo::ConstSharedPtr cam_info_

std::mutex cam_info_mutex_

std::shared_ptr<SynchronizerDepthColor> sync_depth_color_

rclcpp::Time subscription_start_time_

rviz_common::properties::EditableEnumProperty *reliability_policy_property_

rmw_qos_profile_t qos_profile_

rviz_common::properties::Property *topic_filter_property_

rviz_common::properties::IntProperty *queue_size_property_

rviz_common::properties::BoolProperty *use_auto_size_property_

rviz_common::properties::FloatProperty *auto_size_factor_property_

rviz_common::properties::RosFilteredTopicProperty *depth_topic_property_

rviz_common::properties::EnumProperty *depth_transport_property_

rviz_common::properties::RosFilteredTopicProperty *color_topic_property_

rviz_common::properties::EnumProperty *color_transport_property_

rviz_common::properties::BoolProperty *use_occlusion_compensation_property_

rviz_common::properties::FloatProperty *occlusion_shadow_timeout_property_

uint32_t queue_size_

std::unique_ptr<rviz_common::MultiLayerDepth> ml_depth_data_

Ogre::Quaternion current_orientation_

Ogre::Vector3 current_position_

float angular_thres_

float trans_thres_

std::unique_ptr<PointCloudCommon> pointcloud_common_

std::set<std::string> transport_plugin_types_

Protected Slots

void updateQueueSize()

void fillTransportOptionList(rviz_common::properties::EnumProperty *property): Fill list of available and working transport options.

void transformerChangedCallback()

void updateQosProfile()

virtual void updateTopic()

virtual void updateTopicFilter()

virtual void updateUseAutoSize()

virtual void updateAutoSizeFactor()

virtual void updateUseOcclusionCompensation()

virtual void updateOcclusionTimeOut()