point_cloud_transformer.h
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29 
30 #ifndef RVIZ_POINT_CLOUD_TRANSFORMER_H
31 #define RVIZ_POINT_CLOUD_TRANSFORMER_H
32 
33 #include <QObject>
34 
35 #include <ros/message_forward.h>
36 
37 #ifndef Q_MOC_RUN
38 #include <OgreVector3.h>
39 #include <OgreColourValue.h>
40 
42 #endif
43 
44 namespace Ogre
45 {
46 class Matrix4;
47 }
48 
49 namespace sensor_msgs
50 {
51 ROS_DECLARE_MESSAGE(PointCloud2);
52 }
53 
54 namespace rviz
55 {
56 class Property;
57 
58 typedef std::vector<PointCloud::Point> V_PointCloudPoint;
59 
60 class PointCloudTransformer: public QObject
61 {
62 Q_OBJECT
63 public:
64  virtual void init() {}
65 
71  {
72  Support_None = 0,
73  Support_XYZ = 1 << 1,
74  Support_Color = 1 << 2,
75  Support_Both = Support_XYZ|Support_Color,
76  };
77 
81  virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0;
87  virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud, uint32_t mask, const Ogre::Matrix4& transform, V_PointCloudPoint& out) = 0;
88 
94  virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& cloud) { return 0; }
95 
101  virtual void createProperties( Property* parent_property,
102  uint32_t mask,
103  QList<Property*>& out_props ) {}
104 
105 Q_SIGNALS:
107  void needRetransform();
108 };
109 
110 } // namespace rviz
111 
112 #endif
SupportLevel
Enumeration of support levels. Basic levels (Support_None, Support_XYZ, Support_Color) can be ored to...
virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr &cloud)
"Score" a message for how well supported the message is. For example, a "flat color" transformer can ...
virtual void createProperties(Property *parent_property, uint32_t mask, QList< Property * > &out_props)
Create any properties necessary for this transformer. Will be called once when the transformer is loa...
A single element of a property tree, with a name, value, description, and possibly children...
Definition: property.h:100
std::vector< PointCloud::Point > V_PointCloudPoint
ROS_DECLARE_MESSAGE(PointCloud2)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Wed Aug 28 2019 04:01:51