#include <point_cloud_transformers.h>

Inheritance diagram for rviz::IntensityPCTransformer:

Public Member Functions
virtual void	createProperties (PropertyManager *property_man, const CategoryPropertyWPtr &parent, const std::string &prefix, uint32_t mask, V_PropertyBaseWPtr &out_props)
	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.
bool	getAutoComputeIntensityBounds ()
const std::string &	getChannelName ()
const Color &	getMaxColor ()
float	getMaxIntensity ()
const Color &	getMinColor ()
float	getMinIntensity ()
bool	getUseFullRGBColors ()
	IntensityPCTransformer ()
virtual void	reset ()
	Reset any internal state used by this transformer.
virtual uint8_t	score (const sensor_msgs::PointCloud2ConstPtr &cloud)
	"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.
void	setAutoComputeIntensityBounds (bool compute)
void	setChannelName (const std::string &channel)
void	setMaxColor (const Color &color)
void	setMaxIntensity (float val)
void	setMinColor (const Color &color)
void	setMinIntensity (float val)
void	setUseFullRGBColors (bool full_rgb)
virtual uint8_t	supports (const sensor_msgs::PointCloud2ConstPtr &cloud)
	Returns a level of support for a specific cloud. This level of support is a mask using the SupportLevel enum.
virtual bool	transform (const sensor_msgs::PointCloud2ConstPtr &cloud, uint32_t mask, const Ogre::Matrix4 &transform, V_PointCloudPoint &points_out)
	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()
void	updateChannels (const sensor_msgs::PointCloud2ConstPtr &cloud)
Private Attributes
bool	auto_compute_intensity_bounds_
BoolPropertyWPtr	auto_compute_intensity_bounds_property_
V_string	available_channels_
EditEnumPropertyWPtr	channel_name_property_
bool	intensity_bounds_changed_
Color	max_color_
ColorPropertyWPtr	max_color_property_
float	max_intensity_
FloatPropertyWPtr	max_intensity_property_
Color	min_color_
ColorPropertyWPtr	min_color_property_
float	min_intensity_
FloatPropertyWPtr	min_intensity_property_
RetransformFunc	retransform_func_
std::string	selected_channel_
bool	use_full_rgb_colors_
BoolPropertyWPtr	use_full_rgb_colors_property_

Detailed Description

Definition at line 107 of file point_cloud_transformers.h.

Constructor & Destructor Documentation

rviz::IntensityPCTransformer::IntensityPCTransformer ( ) [inline]

Definition at line 110 of file point_cloud_transformers.h.

Member Function Documentation

void rviz::IntensityPCTransformer::createProperties	(	PropertyManager *	property_man,
		const CategoryPropertyWPtr &	parent,
		const std::string &	prefix,
		uint32_t	mask,
		V_PropertyBaseWPtr &	out_props
	)		`[virtual]`

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 from rviz::PointCloudTransformer.

Definition at line 154 of file point_cloud_transformers.cpp.

bool rviz::IntensityPCTransformer::getAutoComputeIntensityBounds ( ) [inline]

Definition at line 139 of file point_cloud_transformers.h.

const std::string& rviz::IntensityPCTransformer::getChannelName ( ) [inline]

Definition at line 142 of file point_cloud_transformers.h.

const Color& rviz::IntensityPCTransformer::getMaxColor ( ) [inline]

Definition at line 132 of file point_cloud_transformers.h.

float rviz::IntensityPCTransformer::getMaxIntensity ( ) [inline]

Definition at line 137 of file point_cloud_transformers.h.

const Color& rviz::IntensityPCTransformer::getMinColor ( ) [inline]

Definition at line 133 of file point_cloud_transformers.h.

float rviz::IntensityPCTransformer::getMinIntensity ( ) [inline]

Definition at line 136 of file point_cloud_transformers.h.

bool rviz::IntensityPCTransformer::getUseFullRGBColors ( ) [inline]

Definition at line 141 of file point_cloud_transformers.h.

void rviz::IntensityPCTransformer::reset ( ) [virtual]

Reset any internal state used by this transformer.

Reimplemented from rviz::PointCloudTransformer.

Definition at line 146 of file point_cloud_transformers.cpp.

uint8_t rviz::IntensityPCTransformer::score ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [virtual]

"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 from rviz::PointCloudTransformer.

Definition at line 65 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setAutoComputeIntensityBounds ( bool compute )

Definition at line 306 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setChannelName ( const std::string & channel )

Definition at line 220 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setMaxColor ( const Color & color )

Definition at line 262 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setMaxIntensity ( float val )

Definition at line 293 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setMinColor ( const Color & color )

Definition at line 271 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setMinIntensity ( float val )

Definition at line 280 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::setUseFullRGBColors ( bool full_rgb )

Definition at line 326 of file point_cloud_transformers.cpp.

uint8_t rviz::IntensityPCTransformer::supports ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [virtual]

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

Implements rviz::PointCloudTransformer.

Definition at line 59 of file point_cloud_transformers.cpp.

bool rviz::IntensityPCTransformer::transform	(	const sensor_msgs::PointCloud2ConstPtr &	cloud,
		uint32_t	mask,
		const Ogre::Matrix4 &	transform,
		V_PointCloudPoint &	out
	)		`[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()

Implements rviz::PointCloudTransformer.

Definition at line 70 of file point_cloud_transformers.cpp.

void rviz::IntensityPCTransformer::updateChannels ( const sensor_msgs::PointCloud2ConstPtr & cloud )

Definition at line 234 of file point_cloud_transformers.cpp.