point_cloud_display.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 */

#include <OgreSceneNode.h>
#include <OgreSceneManager.h>

#include <ros/time.h>

#include "rviz/default_plugin/point_cloud_common.h"
#include "rviz/display_context.h"
#include "rviz/frame_manager.h"
#include "rviz/ogre_helpers/point_cloud.h"
#include "rviz/properties/int_property.h"

#include "point_cloud_display.h"

namespace rviz
{
PointCloudDisplay::PointCloudDisplay() : point_cloud_common_(new PointCloudCommon(this))
{
  queue_size_property_ = new IntProperty(
      "Queue Size", 10,
      "Advanced: set the size of the incoming PointCloud message queue. "
      " Increasing this is useful if your incoming TF data is delayed significantly "
      "from your PointCloud data, but it can greatly increase memory usage if the messages are big.",
      this, SLOT(updateQueueSize()));
}

PointCloudDisplay::~PointCloudDisplay()
{
  PointCloudDisplay::unsubscribe();
  delete point_cloud_common_;
}

void PointCloudDisplay::onInitialize()
{
  // Use the threaded queue for processing of incoming messages
  update_nh_.setCallbackQueue(context_->getThreadedQueue());

  MFDClass::onInitialize();
  point_cloud_common_->initialize(context_, scene_node_);
}

void PointCloudDisplay::updateQueueSize()
{
  tf_filter_->setQueueSize((uint32_t)queue_size_property_->getInt());
}

void PointCloudDisplay::processMessage(const sensor_msgs::PointCloudConstPtr& cloud)
{
  point_cloud_common_->addMessage(cloud);
}

void PointCloudDisplay::update(float wall_dt, float ros_dt)
{
  point_cloud_common_->update(wall_dt, ros_dt);
}

void PointCloudDisplay::reset()
{
  MFDClass::reset();
  point_cloud_common_->reset();
}

} // namespace rviz

#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(rviz::PointCloudDisplay, rviz::Display)