pointcloud2_plugin.h

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#ifndef MAPVIZ_PLUGINS_POINTCLOUD2_PLUGIN_H_
#define MAPVIZ_PLUGINS_POINTCLOUD2_PLUGIN_H_

// C++ standard libraries
#include <string>
#include <deque>
#include <vector>
#include <map>

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QColor>
#include <QMutex>

// ROS libraries
#include <sensor_msgs/PointCloud2.h>

// QT autogenerated files
#include "ui_pointcloud2_config.h"

namespace mapviz_plugins
{
  class PointCloud2Plugin : public mapviz::MapvizPlugin
  {
  Q_OBJECT

  public:
    struct FieldInfo
    {
      uint8_t datatype;
      uint32_t offset;
    };

    enum
    {
      COLOR_FLAT = 0,
      COLOR_Z = 3
    };

    PointCloud2Plugin();
    virtual ~PointCloud2Plugin();

    bool Initialize(QGLWidget* canvas);
    void Shutdown()
    {
    }

    void ClearHistory();

    void Draw(double x, double y, double scale);

    void Transform();

    void LoadConfig(const YAML::Node& node, const std::string& path);
    void SaveConfig(YAML::Emitter& emitter, const std::string& path);

    QWidget* GetConfigWidget(QWidget* parent);

  protected:
    void PrintError(const std::string& message);
    void PrintInfo(const std::string& message);
    void PrintWarning(const std::string& message);

  protected Q_SLOTS:
    void SelectTopic();
    void TopicEdited();
    void AlphaEdited(double new_value);
    void ColorTransformerChanged(int index);
    void MinValueChanged(double value);
    void MaxValueChanged(double value);
    void PointSizeChanged(int value);
    void BufferSizeChanged(int value);
    void UseRainbowChanged(int check_state);
    void UseAutomaxminChanged(int check_state);
    void UpdateColors();
    void DrawIcon();
    void ResetTransformedPointClouds();
    void ClearPointClouds();
    void SetSubscription(bool subscribe);

  private:
    struct StampedPoint
    {
      tf::Point point;
      std::vector<float> features;
    };

    struct Scan
    {
      ros::Time stamp;
      QColor color;
      std::vector<StampedPoint> points;
      std::string source_frame;
      bool transformed;
      std::map<std::string, FieldInfo> new_features;

      std::vector<float> gl_point;
      std::vector<uint8_t> gl_color;
      GLuint point_vbo;
      GLuint color_vbo;
    };

    float PointFeature(const uint8_t*, const FieldInfo&);
    void PointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& scan);
    QColor CalculateColor(const StampedPoint& point);
    void UpdateMinMaxWidgets();

    Ui::PointCloud2_config ui_;
    QWidget* config_widget_;

    std::string topic_;
    double alpha_;
    double max_value_;
    double min_value_;
    size_t point_size_;
    size_t buffer_size_;
    bool new_topic_;
    bool has_message_;
    size_t num_of_feats_;
    bool need_new_list_;
    std::string saved_color_transformer_;
    bool need_minmax_;
    std::vector<double> max_;
    std::vector<double> min_;
    // Use a list instead of a deque for scans to facilitate removing
    // timed-out scans in the middle of the list in case I ever re-implement
    // decay time (evenator)
    std::deque<Scan> scans_;
    ros::Subscriber pc2_sub_;

    QMutex scan_mutex_;
  };
}

#endif  // MAPVIZ_PLUGINS_LASERSCAN_PLUGIN_H_