Displays point clouds from rtabmap::MapData. More...
#include <MapCloudDisplay.h>
Classes | |
struct | CloudInfo |
struct | TransformerInfo |
Public Types | |
typedef boost::shared_ptr< CloudInfo > | CloudInfoPtr |
Public Types inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData > | |
typedef MessageFilterDisplay< rtabmap_ros::MapData > | MFDClass |
Public Slots | |
void | causeRetransform () |
Public Slots inherited from rviz::Display | |
virtual void | onEnableChanged () |
void | queueRender () |
void | setEnabled (bool enabled) |
virtual void | setIcon (const QIcon &icon) |
Public Slots inherited from rviz::BoolProperty | |
bool | setBool (bool value) |
Public Member Functions | |
MapCloudDisplay () | |
virtual void | reset () |
virtual void | update (float wall_dt, float ros_dt) |
virtual | ~MapCloudDisplay () |
Public Member Functions inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData > | |
MessageFilterDisplay () | |
virtual void | setTopic (const QString &topic, const QString &datatype) |
virtual | ~MessageFilterDisplay () |
Public Member Functions inherited from rviz::_RosTopicDisplay | |
_RosTopicDisplay () | |
Public Member Functions inherited from rviz::Display | |
virtual void | deleteStatus (const QString &name) |
void | deleteStatusStd (const std::string &name) |
Display () | |
void | emitTimeSignal (ros::Time time) |
QWidget * | getAssociatedWidget () const |
PanelDockWidget * | getAssociatedWidgetPanel () |
virtual QString | getClassId () const |
Ogre::SceneNode * | getSceneNode () const |
virtual QVariant | getViewData (int column, int role) const |
virtual Qt::ItemFlags | getViewFlags (int column) const |
uint32_t | getVisibilityBits () |
void | initialize (DisplayContext *context) |
bool | isEnabled () const |
virtual void | load (const Config &config) |
virtual void | save (Config config) const |
void | setAssociatedWidget (QWidget *widget) |
virtual void | setClassId (const QString &class_id) |
void | setFixedFrame (const QString &fixed_frame) |
void | setName (const QString &name) |
virtual void | setStatus (StatusProperty::Level level, const QString &name, const QString &text) |
void | setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text) |
void | setVisibilityBits (uint32_t bits) |
void | unsetVisibilityBits (uint32_t bits) |
virtual | ~Display () |
Public Member Functions inherited from rviz::BoolProperty | |
BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property *parent=0, const char *changed_slot=0, QObject *receiver=0) | |
virtual bool | getBool () const |
virtual bool | getDisableChildren () |
bool | getDisableChildrenIfFalse () |
void | setDisableChildrenIfFalse (bool disable) |
virtual | ~BoolProperty () |
Public Member Functions inherited from rviz::Property | |
virtual void | addChild (Property *child, int index=-1) |
Property * | childAt (int index) const |
virtual Property * | childAtUnchecked (int index) const |
virtual void | collapse () |
bool | contains (Property *possible_child) const |
virtual QWidget * | createEditor (QWidget *parent, const QStyleOptionViewItem &option) |
virtual void | expand () |
virtual QString | getDescription () const |
virtual bool | getHidden () const |
virtual QIcon | getIcon () const |
PropertyTreeModel * | getModel () const |
virtual QString | getName () const |
std::string | getNameStd () const |
Property * | getParent () const |
virtual bool | getReadOnly () |
virtual QVariant | getValue () const |
void | hide () |
bool | isAncestorOf (Property *possible_child) const |
virtual void | moveChild (int from_index, int to_index) |
virtual int | numChildren () const |
virtual bool | paint (QPainter *painter, const QStyleOptionViewItem &option) const |
Property (const QString &name=QString(), const QVariant default_value=QVariant(), const QString &description=QString(), Property *parent=0, const char *changed_slot=0, QObject *receiver=0) | |
virtual void | removeChildren (int start_index=0, int count=-1) |
int | rowNumberInParent () const |
virtual void | setDescription (const QString &description) |
virtual void | setHidden (bool hidden) |
virtual void | setIcon (const QIcon &icon) |
void | setModel (PropertyTreeModel *model) |
void | setParent (Property *new_parent) |
virtual void | setReadOnly (bool read_only) |
void | setShouldBeSaved (bool save) |
virtual bool | setValue (const QVariant &new_value) |
bool | shouldBeSaved () const |
void | show () |
virtual Property * | subProp (const QString &sub_name) |
Property * | takeChild (Property *child) |
virtual Property * | takeChildAt (int index) |
virtual | ~Property () |
Protected Member Functions | |
virtual void | onInitialize () |
Do initialization. Overridden from MessageFilterDisplay. More... | |
virtual void | processMessage (const rtabmap_ros::MapDataConstPtr &cloud) |
Process a single message. Overridden from MessageFilterDisplay. More... | |
Protected Member Functions inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData > | |
virtual void | fixedFrameChanged () |
void | incomingMessage (const typename rtabmap_ros::MapData::ConstPtr &msg) |
virtual void | onDisable () |
virtual void | onEnable () |
virtual void | processMessage (const typename rtabmap_ros::MapData::ConstPtr &msg)=0 |
virtual void | subscribe () |
virtual void | unsubscribe () |
virtual void | updateTopic () |
Protected Member Functions inherited from rviz::Display | |
virtual void | clearStatuses () |
bool | initialized () const |
Protected Member Functions inherited from rviz::Property | |
void | loadValue (const Config &config) |
Private Types | |
typedef std::map< std::string, TransformerInfo > | M_TransformerInfo |
Private Slots | |
void | downloadGraph () |
void | downloadMap () |
void | setColorTransformerOptions (EnumProperty *prop) |
void | setXyzTransformerOptions (EnumProperty *prop) |
void | updateAlpha () |
void | updateBillboardSize () |
void | updateCloudParameters () |
void | updateColorTransformer () |
void | updateStyle () |
void | updateXyzTransformer () |
Private Member Functions | |
void | fillTransformerOptions (rviz::EnumProperty *prop, uint32_t mask) |
rviz::PointCloudTransformerPtr | getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud) |
rviz::PointCloudTransformerPtr | getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud) |
void | loadTransformers () |
void | processMapData (const rtabmap_ros::MapData &map) |
void | retransform () |
void | setPropertiesHidden (const QList< Property * > &props, bool hide) |
bool | transformCloud (const CloudInfoPtr &cloud, bool fully_update_transformers) |
Transforms the cloud into the correct frame, and sets up our renderable cloud. More... | |
void | updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud) |
Private Attributes | |
ros::CallbackQueue | cbqueue_ |
std::map< int, CloudInfoPtr > | cloud_infos_ |
std::map< int, rtabmap::Transform > | current_map_ |
boost::mutex | current_map_mutex_ |
bool | needs_retransform_ |
std::map< int, CloudInfoPtr > | new_cloud_infos_ |
boost::mutex | new_clouds_mutex_ |
bool | new_color_transformer_ |
bool | new_xyz_transformer_ |
ros::AsyncSpinner | spinner_ |
pluginlib::ClassLoader< rviz::PointCloudTransformer > * | transformer_class_loader_ |
M_TransformerInfo | transformers_ |
boost::recursive_mutex | transformers_mutex_ |
Displays point clouds from rtabmap::MapData.
By default it will assume channel 0 of the cloud is an intensity value, and will color them by intensity. If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b all being 8 bits.
Definition at line 74 of file MapCloudDisplay.h.
Definition at line 97 of file MapCloudDisplay.h.
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Definition at line 183 of file MapCloudDisplay.h.
rtabmap_ros::MapCloudDisplay::MapCloudDisplay | ( | ) |
Definition at line 87 of file MapCloudDisplay.cpp.
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Definition at line 197 of file MapCloudDisplay.cpp.
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Definition at line 592 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 537 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 479 of file MapCloudDisplay.cpp.
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private |
Definition at line 774 of file MapCloudDisplay.cpp.
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Definition at line 815 of file MapCloudDisplay.cpp.
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Definition at line 799 of file MapCloudDisplay.cpp.
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Definition at line 207 of file MapCloudDisplay.cpp.
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protectedvirtual |
Do initialization. Overridden from MessageFilterDisplay.
Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.
Definition at line 242 of file MapCloudDisplay.cpp.
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Definition at line 263 of file MapCloudDisplay.cpp.
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protectedvirtual |
Process a single message. Overridden from MessageFilterDisplay.
Definition at line 256 of file MapCloudDisplay.cpp.
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virtual |
Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.
Definition at line 728 of file MapCloudDisplay.cpp.
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Definition at line 832 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 769 of file MapCloudDisplay.cpp.
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Definition at line 349 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 764 of file MapCloudDisplay.cpp.
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Transforms the cloud into the correct frame, and sets up our renderable cloud.
Definition at line 845 of file MapCloudDisplay.cpp.
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virtual |
Reimplemented from rviz::Display.
Definition at line 597 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 427 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 455 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 474 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 753 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 435 of file MapCloudDisplay.cpp.
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Definition at line 357 of file MapCloudDisplay.cpp.
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privateslot |
Definition at line 742 of file MapCloudDisplay.cpp.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::alpha_property_ |
Definition at line 107 of file MapCloudDisplay.h.
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Definition at line 164 of file MapCloudDisplay.h.
rviz::IntProperty* rtabmap_ros::MapCloudDisplay::cloud_decimation_ |
Definition at line 111 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_ceiling_height_ |
Definition at line 116 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_floor_height_ |
Definition at line 115 of file MapCloudDisplay.h.
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Definition at line 166 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_max_depth_ |
Definition at line 112 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_min_depth_ |
Definition at line 113 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_voxel_size_ |
Definition at line 114 of file MapCloudDisplay.h.
rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::color_transformer_property_ |
Definition at line 109 of file MapCloudDisplay.h.
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Definition at line 171 of file MapCloudDisplay.h.
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Definition at line 172 of file MapCloudDisplay.h.
rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_graph_ |
Definition at line 120 of file MapCloudDisplay.h.
rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_map_ |
Definition at line 119 of file MapCloudDisplay.h.
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Definition at line 189 of file MapCloudDisplay.h.
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Definition at line 168 of file MapCloudDisplay.h.
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Definition at line 169 of file MapCloudDisplay.h.
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Definition at line 188 of file MapCloudDisplay.h.
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Definition at line 187 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_angle_ |
Definition at line 118 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_radius_ |
Definition at line 117 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_pixel_size_property_ |
Definition at line 106 of file MapCloudDisplay.h.
rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_world_size_property_ |
Definition at line 105 of file MapCloudDisplay.h.
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Definition at line 163 of file MapCloudDisplay.h.
rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::style_property_ |
Definition at line 110 of file MapCloudDisplay.h.
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Definition at line 191 of file MapCloudDisplay.h.
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Definition at line 186 of file MapCloudDisplay.h.
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Definition at line 185 of file MapCloudDisplay.h.
rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::xyz_transformer_property_ |
Definition at line 108 of file MapCloudDisplay.h.