rviz::PointCloudDisplay Class Reference

Displays a point cloud of type sensor_msgs::PointCloud. More...

#include <point_cloud_display.h>

Inheritance diagram for rviz::PointCloudDisplay:

Public Member Functions
	PointCloudDisplay ()
void	reset () override
	Called to tell the display to clear its state. More...
void	update (float wall_dt, float ros_dt) override
	Called periodically by the visualization manager. More...
	~PointCloudDisplay () override
Public Member Functions inherited from rviz::MessageFilterDisplay< sensor_msgs::PointCloud >
	MessageFilterDisplay ()
void	onInitialize () override
	Override this function to do subclass-specific initialization. More...
void	reset () override
	Called to tell the display to clear its state. More...
void	setTopic (const QString &topic, const QString &) override
	Set the ROS topic to listen to for this display. More...
	~MessageFilterDisplay () override
Public Member Functions inherited from rviz::_RosTopicDisplay
	_RosTopicDisplay ()
Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)
	Delete the status entry with the given name. This is thread-safe. More...
void	deleteStatusStd (const std::string &name)
	Delete the status entry with the given std::string name. This is thread-safe. More...
	Display ()
void	emitTimeSignal (ros::Time time)
	Emit a time signal that other Displays can synchronize to. More...
QWidget *	getAssociatedWidget () const
	Return the current associated widget, or NULL if there is none. More...
PanelDockWidget *	getAssociatedWidgetPanel ()
	Return the panel containing the associated widget, or NULL if there is none. More...
virtual QString	getClassId () const
	Return the class identifier which was used to create this instance. This version just returns whatever was set with setClassId(). More...
Ogre::SceneNode *	getSceneNode () const
	Return the Ogre::SceneNode holding all 3D scene elements shown by this Display. More...
QVariant	getViewData (int column, int role) const override
	Return data appropriate for the given column (0 or 1) and role for this Display. More...
Qt::ItemFlags	getViewFlags (int column) const override
	Return item flags appropriate for the given column (0 or 1) for this Display. More...
uint32_t	getVisibilityBits ()
void	initialize (DisplayContext *context)
	Main initialization, called after constructor, before load() or setEnabled(). More...
bool	isEnabled () const
	Return true if this Display is enabled, false if not. More...
void	load (const Config &config) override
	Load the settings for this display from the given Config node, which must be a map. More...
void	save (Config config) const override
	Write this display to the given Config node. More...
void	setAssociatedWidget (QWidget *widget)
	Associate the given widget with this Display. More...
virtual void	setClassId (const QString &class_id)
	Set the class identifier used to create this instance. Typically this will be set by the factory object which created it. More...
void	setFixedFrame (const QString &fixed_frame)
	Set the fixed frame in this display. More...
void	setName (const QString &name) override
	Overridden from Property to set associated widget title to the new name. More...
virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)
	Show status level and text. This is thread-safe. More...
void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)
	Show status level and text, using a std::string. Convenience function which converts std::string to QString and calls setStatus(). This is thread-safe. More...
void	setVisibilityBits (uint32_t bits)
void	unsetVisibilityBits (uint32_t bits)
	~Display () override
Public Member Functions inherited from rviz::BoolProperty
template<typename Func , typename P >
	BoolProperty (const QString &name, bool default_value, const QString &description, P *parent, Func &&changed_slot)
template<typename Func , typename R >
	BoolProperty (const QString &name, bool default_value, const QString &description, Property *parent, Func &&changed_slot, const R *receiver)
	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property *parent=nullptr)
virtual bool	getBool () const
bool	getDisableChildren () override
	If true, the children of this property should set their ItemIsEnabled flag to false. More...
bool	getDisableChildrenIfFalse ()
void	setDisableChildrenIfFalse (bool disable)
	~BoolProperty () override
Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)
	Add a child property. More...
Property *	childAt (int index) const
	Return the child Property with the given index, or NULL if the index is out of bounds or if the child at that index is not a Property. More...
virtual Property *	childAtUnchecked (int index) const
	Return the child Property with the given index, without checking whether the index is within bounds. More...
virtual void	collapse ()
	Collapse (hide the children of) this Property. More...
template<typename Func >
std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const QObject *context, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot functor, considering context. More...
QMetaObject::Connection	connect (const QObject *receiver, const char *slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot of receiver. More...
template<typename Func , typename R >
std::enable_if< QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (const R *receiver, Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot member function of receiver object. More...
template<typename Func >
std::enable_if<!QtPrivate::FunctionPointer< Func >::IsPointerToMemberFunction, QMetaObject::Connection >::type	connect (Func &&slot, Qt::ConnectionType type=Qt::AutoConnection)
	Connect changed() signal to given slot functor, using this as context. More...
bool	contains (Property *possible_child) const
	Return true if the list of children includes possible_child, false if not. More...
virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)
	Create an editor widget to edit the value of this property. More...
virtual void	expand ()
	Expand (show the children of) this Property. More...
virtual QString	getDescription () const
	Return the description. More...
virtual bool	getHidden () const
	Return the hidden/shown state. True means hidden, false means visible. More...
virtual QIcon	getIcon () const
PropertyTreeModel *	getModel () const
	Return the model managing this Property and its childrent. More...
virtual QString	getName () const
	Return the name of this Property as a QString. More...
std::string	getNameStd () const
	Return the name of this Property as a std::string. More...
Property *	getParent () const
	Return the parent Property. More...
virtual bool	getReadOnly () const
	Return the read-only-ness of this property. More...
virtual QVariant	getValue () const
	Return the value of this Property as a QVariant. If the value has never been set, an invalid QVariant is returned. More...
void	hide ()
	Hide this Property in any PropertyTreeWidgets. More...
void	insertChildSorted (Property *child)
	Insert a child property, sorted by name. More...
bool	isAncestorOf (Property *possible_child) const
	Returns true if this is an ancestor of possible_child, meaning is the parent or parent of parent etc. More...
virtual void	moveChild (int from_index, int to_index)
	Move the child at from_index to to_index. More...
virtual int	numChildren () const
	Return the number of child objects (Property or otherwise). More...
virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const
	Hook to provide custom painting of the value data (right-hand column) in a subclass. More...
template<typename Func , typename P >
	Property (const QString &name, const QVariant &default_value, const QString &description, P *parent, Func &&changed_slot)
template<typename Func , typename R >
	Property (const QString &name, const QVariant &default_value, const QString &description, Property *parent, Func &&changed_slot, const R *receiver)
	Property (const QString &name=QString(), const QVariant &default_value=QVariant(), const QString &description=QString(), Property *parent=nullptr)
	Constructor. More...
virtual void	removeChildren (int start_index=0, int count=-1)
	Remove and delete some or all child Properties. Does not change the value of this Property. More...
int	rowNumberInParent () const
	Return the row number of this property within its parent, or -1 if it has no parent. More...
virtual void	setDescription (const QString &description)
	Set the description. More...
virtual void	setHidden (bool hidden)
	Hide or show this property in any PropertyTreeWidget viewing its parent. More...
virtual void	setIcon (const QIcon &icon)
	Set the icon to be displayed next to the property. More...
void	setModel (PropertyTreeModel *model)
	Set the model managing this Property and all its child properties, recursively. More...
void	setParent (Property *new_parent)
	Set parent property, without telling the parent. More...
virtual void	setReadOnly (bool read_only)
	Prevent or allow users to edit this property from a PropertyTreeWidget. More...
void	setShouldBeSaved (bool save)
	If save is false, neither the property nor its children will get saved. If true (the default), the property itself will only get saved if it is not read-only; children will get saved in any case (according to their save + read-only flags). More...
virtual bool	setValue (const QVariant &new_value)
	Set the new value for this property. Returns true if the new value is different from the old value, false if same. More...
bool	shouldBeSaved () const
	Returns true if the property has data worth saving. More...
void	show ()
	Show this Property in any PropertyTreeWidgets. More...
virtual Property *	subProp (const QString &sub_name)
	Return the first child Property with the given name, or the FailureProperty if no child has the name. More...
Property *	takeChild (Property *child)
	Remove a given child object and return a pointer to it. More...
virtual Property *	takeChildAt (int index)
	Take a child out of the child list, but don't destroy it. More...
	~Property () override
	Destructor. Removes this property from its parent's list of children. More...

Protected Member Functions
void	onInitialize () override
	Do initialization. Overridden from MessageFilterDisplay. More...
void	processMessage (const sensor_msgs::PointCloudConstPtr &cloud) override
	Process a single message. Overridden from MessageFilterDisplay. More...
Protected Member Functions inherited from rviz::MessageFilterDisplay< sensor_msgs::PointCloud >
void	fixedFrameChanged () override
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...
void	incomingMessage (const typename sensor_msgs::PointCloud ::ConstPtr &msg)
	Incoming message callback. Checks if the message pointer is valid, increments messages_received_, then calls processMessage(). More...
void	onDisable () override
	Derived classes override this to do the actual work of disabling themselves. More...
void	onEnable () override
	Derived classes override this to do the actual work of enabling themselves. More...
virtual void	processMessage (const typename sensor_msgs::PointCloud ::ConstPtr &msg)=0
	Implement this to process the contents of a message. More...
void	processTypeErasedMessage (boost::shared_ptr< const void > type_erased_msg) override
virtual void	subscribe ()
virtual void	unsubscribe ()
void	updateQueueSize () override
void	updateTopic () override
Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()
	Delete all status children. This is thread-safe. More...
bool	initialized () const
	Returns true if the display has been initialized. More...
Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)
	Load the value of this property specifically, not including children. More...

Protected Attributes
PointCloudCommon *	point_cloud_common_
Protected Attributes inherited from rviz::MessageFilterDisplay< sensor_msgs::PointCloud >
uint32_t	messages_received_
message_filters::Subscriber< sensor_msgs::PointCloud >	sub_
tf2_ros::MessageFilter< sensor_msgs::PointCloud > *	tf_filter_
Protected Attributes inherited from rviz::_RosTopicDisplay
IntProperty *	queue_size_property_
RosTopicProperty *	topic_property_
BoolProperty *	unreliable_property_
Protected Attributes inherited from rviz::Display
DisplayContext *	context_
	This DisplayContext pointer is the main connection a Display has into the rest of rviz. This is how the FrameManager is accessed, the SelectionManager, etc. When a Display subclass wants to signal that a new render should be done right away, call context_->queueRender(). More...
QString	fixed_frame_
	A convenience variable equal to context_->getFixedFrame(). More...
Ogre::SceneManager *	scene_manager_
	A convenience variable equal to context_->getSceneManager(). More...
Ogre::SceneNode *	scene_node_
	The Ogre::SceneNode to hold all 3D scene elements shown by this Display. More...
ros::NodeHandle	threaded_nh_
	A NodeHandle whose CallbackQueue is run from a different thread than the GUI. More...
ros::NodeHandle	update_nh_
	A NodeHandle whose CallbackQueue is run from the main GUI thread (the "update" thread). More...
Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_
	True if row_number_within_parent_ of all children is valid, false if not. More...
QIcon	icon_
PropertyTreeModel *	model_
	Pointer to the PropertyTreeModel managing this property tree. More...
QVariant	value_
	This is the central property value. If you set it directly in a subclass, do so with care because many things depend on the aboutToChange() and changed() events emitted by setValue(). More...

Additional Inherited Members
Public Types inherited from rviz::MessageFilterDisplay< sensor_msgs::PointCloud >
typedef MessageFilterDisplay< sensor_msgs::PointCloud >	MFDClass
	Convenience typedef so subclasses don't have to use the long templated class name to refer to their super class. More...
Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()
void	queueRender ()
	Convenience function which calls context_->queueRender(). More...
void	setEnabled (bool enabled)
	Enable or disable this Display. More...
void	setIcon (const QIcon &icon) override
	Set the Display's icon. More...
Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)
Signals inherited from rviz::Display
void	timeSignal (ros::Time time, QPrivateSignal)
Signals inherited from rviz::Property
void	aboutToChange ()
	Emitted by setValue() just before the value has changed. More...
void	changed ()
	Emitted by setValue() just after the value has changed. More...
void	childListChanged (Property *this_property)
	Emitted after insertions and deletions of child Properties. More...
Protected Slots inherited from rviz::_RosTopicDisplay

Detailed Description

Displays a point cloud of type sensor_msgs::PointCloud.

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 56 of file point_cloud_display.h.

Constructor & Destructor Documentation

PointCloudDisplay()

rviz::PointCloudDisplay::PointCloudDisplay

(

)

Definition at line 45 of file point_cloud_display.cpp.

~PointCloudDisplay()

rviz::PointCloudDisplay::~PointCloudDisplay ( )

override

Definition at line 49 of file point_cloud_display.cpp.

Member Function Documentation

onInitialize()

void rviz::PointCloudDisplay::onInitialize ( )

overrideprotectedvirtual

Do initialization. Overridden from MessageFilterDisplay.

Reimplemented from rviz::Display.

Definition at line 55 of file point_cloud_display.cpp.

processMessage()

void rviz::PointCloudDisplay::processMessage ( const sensor_msgs::PointCloudConstPtr &  cloud )

overrideprotected

Process a single message. Overridden from MessageFilterDisplay.

Definition at line 64 of file point_cloud_display.cpp.

reset()

void rviz::PointCloudDisplay::reset ( )

overridevirtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 74 of file point_cloud_display.cpp.

update()

void rviz::PointCloudDisplay::update ( float  wall_dt, float  ros_dt  )

overridevirtual

Called periodically by the visualization manager.

Parameters

wall_dt	Wall-clock time, in seconds, since the last time the update list was run through.
ros_dt	ROS time, in seconds, since the last time the update list was run through.

Reimplemented from rviz::Display.

Definition at line 69 of file point_cloud_display.cpp.

Member Data Documentation

point_cloud_common_

PointCloudCommon* rviz::PointCloudDisplay::point_cloud_common_

protected

Definition at line 74 of file point_cloud_display.h.

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

• point_cloud_display.h
• point_cloud_display.cpp