Public Types | Signals | Public Member Functions | List of all members
rviz::PointCloudTransformer Class Referenceabstract

#include <point_cloud_transformer.h>

Inheritance diagram for rviz::PointCloudTransformer:
Inheritance graph
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Public Types

enum  SupportLevel { Support_None = 0, Support_XYZ = 1 << 1, Support_Color = 1 << 2, Support_Both = Support_XYZ | Support_Color }
 Enumeration of support levels. Basic levels (Support_None, Support_XYZ, Support_Color) can be ored together to form a mask, Support_Both is provided as a convenience. More...
 

Signals

void needRetransform ()
 Subclasses should emit this signal whenever they think the points should be re-transformed. More...
 

Public Member Functions

virtual void createProperties (Property *, uint32_t, QList< Property *> &)
 Create any properties necessary for this transformer. Will be called once when the transformer is loaded. All properties must be added to the out_props vector. More...
 
virtual void init ()
 
virtual uint8_t score (const sensor_msgs::PointCloud2ConstPtr &)
 "Score" a message for how well supported the message is. For example, a "flat color" transformer can support any cloud, but will return a score of 0 here since it should not be preferred over others that explicitly support fields in the message. This allows that "flat color" transformer to still be selectable, but generally not chosen automatically. More...
 
virtual uint8_t supports (const sensor_msgs::PointCloud2ConstPtr &cloud)=0
 Returns a level of support for a specific cloud. This level of support is a mask using the SupportLevel enum. More...
 
virtual bool transform (const sensor_msgs::PointCloud2ConstPtr &cloud, uint32_t mask, const Ogre::Matrix4 &transform, V_PointCloudPoint &out)=0
 Transforms a PointCloud2 into an rviz::PointCloud. The rviz::PointCloud is assumed to have been preallocated into the correct size. The mask determines which part of the cloud should be output (xyz or color). This method will only be called if supports() of the same cloud has returned a non-zero mask, and will only be called with masks compatible with the one returned from supports() More...
 

Detailed Description

Definition at line 60 of file point_cloud_transformer.h.

Member Enumeration Documentation

◆ SupportLevel

Enumeration of support levels. Basic levels (Support_None, Support_XYZ, Support_Color) can be ored together to form a mask, Support_Both is provided as a convenience.

Enumerator
Support_None 
Support_XYZ 
Support_Color 
Support_Both 

Definition at line 73 of file point_cloud_transformer.h.

Member Function Documentation

◆ createProperties()

virtual void rviz::PointCloudTransformer::createProperties ( Property ,
uint32_t  ,
QList< Property *> &   
)
inlinevirtual

Create any properties necessary for this transformer. Will be called once when the transformer is loaded. All properties must be added to the out_props vector.

Reimplemented in rviz::AxisColorPCTransformer, rviz::FlatColorPCTransformer, and rviz::IntensityPCTransformer.

Definition at line 117 of file point_cloud_transformer.h.

◆ init()

virtual void rviz::PointCloudTransformer::init ( )
inlinevirtual

Definition at line 64 of file point_cloud_transformer.h.

◆ needRetransform

void rviz::PointCloudTransformer::needRetransform ( )
signal

Subclasses should emit this signal whenever they think the points should be re-transformed.

◆ score()

virtual uint8_t rviz::PointCloudTransformer::score ( const sensor_msgs::PointCloud2ConstPtr &  )
inlinevirtual

"Score" a message for how well supported the message is. For example, a "flat color" transformer can support any cloud, but will return a score of 0 here since it should not be preferred over others that explicitly support fields in the message. This allows that "flat color" transformer to still be selectable, but generally not chosen automatically.

Reimplemented in rviz::AxisColorPCTransformer, rviz::FlatColorPCTransformer, and rviz::IntensityPCTransformer.

Definition at line 106 of file point_cloud_transformer.h.

◆ supports()

virtual uint8_t rviz::PointCloudTransformer::supports ( const sensor_msgs::PointCloud2ConstPtr &  cloud)
pure virtual

Returns a level of support for a specific cloud. This level of support is a mask using the SupportLevel enum.

Implemented in rviz::AxisColorPCTransformer, rviz::FlatColorPCTransformer, rviz::RGBF32PCTransformer, rviz::RGB8PCTransformer, rviz::XYZPCTransformer, and rviz::IntensityPCTransformer.

◆ transform()

virtual bool rviz::PointCloudTransformer::transform ( const sensor_msgs::PointCloud2ConstPtr &  cloud,
uint32_t  mask,
const Ogre::Matrix4 &  transform,
V_PointCloudPoint out 
)
pure virtual

Transforms a PointCloud2 into an rviz::PointCloud. The rviz::PointCloud is assumed to have been preallocated into the correct size. The mask determines which part of the cloud should be output (xyz or color). This method will only be called if supports() of the same cloud has returned a non-zero mask, and will only be called with masks compatible with the one returned from supports()

Implemented in rviz::AxisColorPCTransformer, rviz::FlatColorPCTransformer, rviz::RGBF32PCTransformer, rviz::MONO8PCTransformer, rviz::RGB8PCTransformer, rviz::XYZPCTransformer, and rviz::IntensityPCTransformer.


The documentation for this class was generated from the following file:


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Jan 9 2023 03:07:21