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  {
66  }
67 
74  {
75  Support_None = 0,
76  Support_XYZ = 1 << 1,
77  Support_Color = 1 << 2,
78  Support_Both = Support_XYZ | Support_Color,
79  };
80 
85  virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0;
94  virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud,
95  uint32_t mask,
96  const Ogre::Matrix4& transform,
97  V_PointCloudPoint& out) = 0;
98 
106  virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& /*cloud*/)
107  {
108  return 0;
109  }
110 
116  virtual void
117  createProperties(Property* /*parent_property*/, uint32_t /*mask*/, QList<Property*>& /*out_props*/)
118  {
119  }
120 
121 Q_SIGNALS:
124  void needRetransform();
125 };
126 
127 } // namespace rviz
128 
129 #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 &)
"Score" a message for how well supported the message is. For example, a "flat color" transformer can ...
A single element of a property tree, with a name, value, description, and possibly children...
Definition: property.h:100
virtual void createProperties(Property *, uint32_t, QList< Property *> &)
Create any properties necessary for this transformer. Will be called once when the transformer is loa...
std::vector< PointCloud::Point > V_PointCloudPoint
ROS_DECLARE_MESSAGE(PointCloud2)


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Jan 9 2023 03:07:20