point_cloud_transformer.h
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00001 /*
00002  * Copyright (c) 2010, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #ifndef RVIZ_POINT_CLOUD_TRANSFORMER_H
00031 #define RVIZ_POINT_CLOUD_TRANSFORMER_H
00032 
00033 #include <QObject>
00034 
00035 #include <ros/message_forward.h>
00036 
00037 #include <OGRE/OgreVector3.h>
00038 #include <OGRE/OgreColourValue.h>
00039 
00040 #include <rviz/ogre_helpers/point_cloud.h>
00041 
00042 namespace Ogre
00043 {
00044 class Matrix4;
00045 }
00046 
00047 namespace sensor_msgs
00048 {
00049 ROS_DECLARE_MESSAGE(PointCloud2);
00050 }
00051 
00052 namespace rviz
00053 {
00054 class Property;
00055 
00056 typedef std::vector<PointCloud::Point> V_PointCloudPoint;
00057 
00058 class PointCloudTransformer: public QObject
00059 {
00060 Q_OBJECT
00061 public:
00062   virtual void init() {}
00063 
00068   enum SupportLevel
00069   {
00070     Support_None = 0,
00071     Support_XYZ = 1 << 1,
00072     Support_Color = 1 << 2,
00073     Support_Both = Support_XYZ|Support_Color,
00074   };
00075 
00079   virtual uint8_t supports(const sensor_msgs::PointCloud2ConstPtr& cloud) = 0;
00085   virtual bool transform(const sensor_msgs::PointCloud2ConstPtr& cloud, uint32_t mask, const Ogre::Matrix4& transform, V_PointCloudPoint& out) = 0;
00086 
00092   virtual uint8_t score(const sensor_msgs::PointCloud2ConstPtr& cloud) { return 0; }
00093 
00099   virtual void createProperties( Property* parent_property,
00100                                  uint32_t mask,
00101                                  QList<Property*>& out_props ) {}
00102 
00103 Q_SIGNALS:
00105   void needRetransform();
00106 };
00107 
00108 } // namespace rviz
00109 
00110 #endif


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Mon Oct 6 2014 07:26:35