Displays point clouds from rtabmap::MapData. More...

#include <MapCloudDisplay.h>

Inheritance diagram for rtabmap_ros::MapCloudDisplay:

[legend]

Classes
struct	CloudInfo

struct	TransformerInfo

Public Types
typedef boost::shared_ptr< CloudInfo >	CloudInfoPtr

Public Types inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData >
typedef MessageFilterDisplay< rtabmap_ros::MapData >	MFDClass

Public Slots
void	causeRetransform ()

Public Slots inherited from rviz::Display
virtual void	onEnableChanged ()

void	queueRender ()

void	setEnabled (bool enabled)

virtual void	setIcon (const QIcon &icon)

Public Slots inherited from rviz::BoolProperty
bool	setBool (bool value)

Public Member Functions
	MapCloudDisplay ()

virtual void	reset ()

virtual void	update (float wall_dt, float ros_dt)

virtual	~MapCloudDisplay ()

Public Member Functions inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData >
	MessageFilterDisplay ()

virtual void	setTopic (const QString &topic, const QString &datatype)

virtual	~MessageFilterDisplay ()

Public Member Functions inherited from rviz::_RosTopicDisplay
	_RosTopicDisplay ()

Public Member Functions inherited from rviz::Display
virtual void	deleteStatus (const QString &name)

void	deleteStatusStd (const std::string &name)

	Display ()

void	emitTimeSignal (ros::Time time)

QWidget *	getAssociatedWidget () const

PanelDockWidget *	getAssociatedWidgetPanel ()

virtual QString	getClassId () const

Ogre::SceneNode *	getSceneNode () const

virtual QVariant	getViewData (int column, int role) const

virtual Qt::ItemFlags	getViewFlags (int column) const

uint32_t	getVisibilityBits ()

void	initialize (DisplayContext *context)

bool	isEnabled () const

virtual void	load (const Config &config)

virtual void	save (Config config) const

void	setAssociatedWidget (QWidget *widget)

virtual void	setClassId (const QString &class_id)

void	setFixedFrame (const QString &fixed_frame)

void	setName (const QString &name)

virtual void	setStatus (StatusProperty::Level level, const QString &name, const QString &text)

void	setStatusStd (StatusProperty::Level level, const std::string &name, const std::string &text)

void	setVisibilityBits (uint32_t bits)

void	unsetVisibilityBits (uint32_t bits)

virtual	~Display ()

Public Member Functions inherited from rviz::BoolProperty
	BoolProperty (const QString &name=QString(), bool default_value=false, const QString &description=QString(), Property parent=0, const char changed_slot=0, QObject *receiver=0)

virtual bool	getBool () const

virtual bool	getDisableChildren ()

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

virtual	~BoolProperty ()

Public Member Functions inherited from rviz::Property
virtual void	addChild (Property *child, int index=-1)

Property *	childAt (int index) const

virtual Property *	childAtUnchecked (int index) const

virtual void	collapse ()

bool	contains (Property *possible_child) const

virtual QWidget *	createEditor (QWidget *parent, const QStyleOptionViewItem &option)

virtual void	expand ()

virtual QString	getDescription () const

virtual bool	getHidden () const

virtual QIcon	getIcon () const

PropertyTreeModel *	getModel () const

virtual QString	getName () const

std::string	getNameStd () const

Property *	getParent () const

virtual bool	getReadOnly ()

virtual QVariant	getValue () const

void	hide ()

bool	isAncestorOf (Property *possible_child) const

virtual void	moveChild (int from_index, int to_index)

virtual int	numChildren () const

virtual bool	paint (QPainter *painter, const QStyleOptionViewItem &option) const

	Property (const QString &name=QString(), const QVariant default_value=QVariant(), const QString &description=QString(), Property parent=0, const char changed_slot=0, QObject *receiver=0)

virtual void	removeChildren (int start_index=0, int count=-1)

int	rowNumberInParent () const

virtual void	setDescription (const QString &description)

virtual void	setHidden (bool hidden)

virtual void	setIcon (const QIcon &icon)

void	setModel (PropertyTreeModel *model)

void	setParent (Property *new_parent)

virtual void	setReadOnly (bool read_only)

void	setShouldBeSaved (bool save)

virtual bool	setValue (const QVariant &new_value)

bool	shouldBeSaved () const

void	show ()

virtual Property *	subProp (const QString &sub_name)

Property *	takeChild (Property *child)

virtual Property *	takeChildAt (int index)

virtual	~Property ()

Protected Member Functions
virtual void	onInitialize ()
	Do initialization. Overridden from MessageFilterDisplay. More...

virtual void	processMessage (const rtabmap_ros::MapDataConstPtr &cloud)
	Process a single message. Overridden from MessageFilterDisplay. More...

Protected Member Functions inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData >
virtual void	fixedFrameChanged ()

void	incomingMessage (const typename rtabmap_ros::MapData::ConstPtr &msg)

virtual void	onDisable ()

virtual void	onEnable ()

virtual void	processMessage (const typename rtabmap_ros::MapData::ConstPtr &msg)=0

virtual void	subscribe ()

virtual void	unsubscribe ()

virtual void	updateTopic ()

Protected Member Functions inherited from rviz::Display
virtual void	clearStatuses ()

bool	initialized () const

Protected Member Functions inherited from rviz::Property
void	loadValue (const Config &config)

Private Types
typedef std::map< std::string, TransformerInfo >	M_TransformerInfo

Private Slots
void	downloadGraph ()

void	downloadMap ()

void	setColorTransformerOptions (EnumProperty *prop)

void	setXyzTransformerOptions (EnumProperty *prop)

void	updateAlpha ()

void	updateBillboardSize ()

void	updateCloudParameters ()

void	updateColorTransformer ()

void	updateStyle ()

void	updateXyzTransformer ()

Private Member Functions
void	fillTransformerOptions (rviz::EnumProperty *prop, uint32_t mask)

rviz::PointCloudTransformerPtr	getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)

rviz::PointCloudTransformerPtr	getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)

void	loadTransformers ()

void	processMapData (const rtabmap_ros::MapData &map)

void	retransform ()

void	setPropertiesHidden (const QList< Property * > &props, bool hide)

bool	transformCloud (const CloudInfoPtr &cloud, bool fully_update_transformers)
	Transforms the cloud into the correct frame, and sets up our renderable cloud. More...

void	updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud)

Private Attributes
ros::CallbackQueue	cbqueue_

std::map< int, CloudInfoPtr >	cloud_infos_

std::map< int, rtabmap::Transform >	current_map_

boost::mutex	current_map_mutex_

int	lastCloudAdded_

bool	needs_retransform_

std::map< int, CloudInfoPtr >	new_cloud_infos_

boost::mutex	new_clouds_mutex_

bool	new_color_transformer_

bool	new_xyz_transformer_

ros::AsyncSpinner	spinner_

pluginlib::ClassLoader< rviz::PointCloudTransformer > *	transformer_class_loader_

M_TransformerInfo	transformers_

boost::recursive_mutex	transformers_mutex_

Additional Inherited Members
Signals inherited from rviz::Display
void	timeSignal (rviz::Display *display, ros::Time time)

Signals inherited from rviz::Property
void	aboutToChange ()

void	changed ()

void	childListChanged (Property *this_property)

Protected Slots inherited from rviz::_RosTopicDisplay
Protected Attributes inherited from rviz::MessageFilterDisplay< rtabmap_ros::MapData >
uint32_t	messages_received_

message_filters::Subscriber< rtabmap_ros::MapData >	sub_

tf::MessageFilter< rtabmap_ros::MapData > *	tf_filter_

Protected Attributes inherited from rviz::_RosTopicDisplay
RosTopicProperty *	topic_property_

BoolProperty *	unreliable_property_

Protected Attributes inherited from rviz::Display
DisplayContext *	context_

QString	fixed_frame_

Ogre::SceneManager *	scene_manager_

Ogre::SceneNode *	scene_node_

ros::NodeHandle	threaded_nh_

ros::NodeHandle	update_nh_

Protected Attributes inherited from rviz::Property
bool	child_indexes_valid_

QIcon	icon_

PropertyTreeModel *	model_

QVariant	value_

Detailed Description

Displays point clouds from rtabmap::MapData.

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 76 of file MapCloudDisplay.h.

Member Typedef Documentation

typedef boost::shared_ptr<CloudInfo> rtabmap_ros::MapCloudDisplay::CloudInfoPtr

Definition at line 99 of file MapCloudDisplay.h.

typedef std::map<std::string, TransformerInfo> rtabmap_ros::MapCloudDisplay::M_TransformerInfo

private

Definition at line 188 of file MapCloudDisplay.h.

Constructor & Destructor Documentation

rtabmap_ros::MapCloudDisplay::MapCloudDisplay ( )

Definition at line 87 of file MapCloudDisplay.cpp.

rtabmap_ros::MapCloudDisplay::~MapCloudDisplay ( )

virtual

Definition at line 202 of file MapCloudDisplay.cpp.

Member Function Documentation

void rtabmap_ros::MapCloudDisplay::causeRetransform ( )

slot

Definition at line 643 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::downloadGraph ( )

privateslot

Definition at line 588 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::downloadMap ( )

privateslot

Definition at line 530 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::fillTransformerOptions	(	rviz::EnumProperty *	prop,
		uint32_t	mask
	)

private

Definition at line 847 of file MapCloudDisplay.cpp.

rviz::PointCloudTransformerPtr rtabmap_ros::MapCloudDisplay::getColorTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud )

private

Definition at line 888 of file MapCloudDisplay.cpp.

rviz::PointCloudTransformerPtr rtabmap_ros::MapCloudDisplay::getXYZTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud )

private

Definition at line 872 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::loadTransformers ( )

private

Definition at line 212 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::onInitialize ( )

protectedvirtual

Do initialization. Overridden from MessageFilterDisplay.

Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.

Definition at line 247 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMapData ( const rtabmap_ros::MapData & map )

private

Definition at line 268 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMessage ( const rtabmap_ros::MapDataConstPtr & cloud )

protectedvirtual

Process a single message. Overridden from MessageFilterDisplay.

Definition at line 261 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::reset ( )

virtual

Reimplemented from rviz::MessageFilterDisplay< rtabmap_ros::MapData >.

Definition at line 800 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::retransform ( )

private

Definition at line 905 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setColorTransformerOptions ( EnumProperty * prop )

privateslot

Definition at line 842 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setPropertiesHidden	(	const QList< Property * > &	props,
		bool	hide
	)

private

Definition at line 391 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::setXyzTransformerOptions ( EnumProperty * prop )

privateslot

Definition at line 837 of file MapCloudDisplay.cpp.

bool rtabmap_ros::MapCloudDisplay::transformCloud	(	const CloudInfoPtr &	cloud,
		bool	fully_update_transformers
	)

private

Transforms the cloud into the correct frame, and sets up our renderable cloud.

Definition at line 918 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::update	(	float	wall_dt,
		float	ros_dt
	)

virtual

Reimplemented from rviz::Display.

Definition at line 648 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateAlpha ( )

privateslot

Definition at line 478 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateBillboardSize ( )

privateslot

Definition at line 506 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateCloudParameters ( )

privateslot

Definition at line 525 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateColorTransformer ( )

privateslot

Definition at line 826 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateStyle ( )

privateslot

Definition at line 486 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateTransformers ( const sensor_msgs::PointCloud2ConstPtr & cloud )

private

Definition at line 399 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::updateXyzTransformer ( )

privateslot

Definition at line 815 of file MapCloudDisplay.cpp.

Member Data Documentation

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::alpha_property_

Definition at line 109 of file MapCloudDisplay.h.

ros::CallbackQueue rtabmap_ros::MapCloudDisplay::cbqueue_

private

Definition at line 167 of file MapCloudDisplay.h.

rviz::IntProperty* rtabmap_ros::MapCloudDisplay::cloud_decimation_

Definition at line 114 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_ceiling_height_

Definition at line 119 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_filter_floor_height_

Definition at line 118 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::cloud_from_scan_

Definition at line 113 of file MapCloudDisplay.h.

std::map<int, CloudInfoPtr> rtabmap_ros::MapCloudDisplay::cloud_infos_

private

Definition at line 169 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_max_depth_

Definition at line 115 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_min_depth_

Definition at line 116 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::cloud_voxel_size_

Definition at line 117 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::color_transformer_property_

Definition at line 111 of file MapCloudDisplay.h.

std::map<int, rtabmap::Transform> rtabmap_ros::MapCloudDisplay::current_map_

private

Definition at line 174 of file MapCloudDisplay.h.

boost::mutex rtabmap_ros::MapCloudDisplay::current_map_mutex_

private

Definition at line 175 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_graph_

Definition at line 123 of file MapCloudDisplay.h.

rviz::BoolProperty* rtabmap_ros::MapCloudDisplay::download_map_

Definition at line 122 of file MapCloudDisplay.h.

int rtabmap_ros::MapCloudDisplay::lastCloudAdded_

private

Definition at line 177 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::needs_retransform_

private

Definition at line 194 of file MapCloudDisplay.h.

std::map<int, CloudInfoPtr> rtabmap_ros::MapCloudDisplay::new_cloud_infos_

private

Definition at line 171 of file MapCloudDisplay.h.

boost::mutex rtabmap_ros::MapCloudDisplay::new_clouds_mutex_

private

Definition at line 172 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::new_color_transformer_

private

Definition at line 193 of file MapCloudDisplay.h.

bool rtabmap_ros::MapCloudDisplay::new_xyz_transformer_

private

Definition at line 192 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_angle_

Definition at line 121 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::node_filtering_radius_

Definition at line 120 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_pixel_size_property_

Definition at line 108 of file MapCloudDisplay.h.

rviz::FloatProperty* rtabmap_ros::MapCloudDisplay::point_world_size_property_

Definition at line 107 of file MapCloudDisplay.h.

ros::AsyncSpinner rtabmap_ros::MapCloudDisplay::spinner_

private

Definition at line 166 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::style_property_

Definition at line 112 of file MapCloudDisplay.h.

pluginlib::ClassLoader<rviz::PointCloudTransformer>* rtabmap_ros::MapCloudDisplay::transformer_class_loader_

private

Definition at line 196 of file MapCloudDisplay.h.

M_TransformerInfo rtabmap_ros::MapCloudDisplay::transformers_

private

Definition at line 191 of file MapCloudDisplay.h.

boost::recursive_mutex rtabmap_ros::MapCloudDisplay::transformers_mutex_

private

Definition at line 190 of file MapCloudDisplay.h.

rviz::EnumProperty* rtabmap_ros::MapCloudDisplay::xyz_transformer_property_

Definition at line 110 of file MapCloudDisplay.h.

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

Public Attributes
rviz::FloatProperty *	alpha_property_

rviz::IntProperty *	cloud_decimation_

rviz::FloatProperty *	cloud_filter_ceiling_height_

rviz::FloatProperty *	cloud_filter_floor_height_

rviz::BoolProperty *	cloud_from_scan_

rviz::FloatProperty *	cloud_max_depth_

rviz::FloatProperty *	cloud_min_depth_

rviz::FloatProperty *	cloud_voxel_size_

rviz::EnumProperty *	color_transformer_property_

rviz::BoolProperty *	download_graph_

rviz::BoolProperty *	download_map_

rviz::FloatProperty *	node_filtering_angle_

rviz::FloatProperty *	node_filtering_radius_

rviz::FloatProperty *	point_pixel_size_property_

rviz::FloatProperty *	point_world_size_property_

rviz::EnumProperty *	style_property_

rviz::EnumProperty *	xyz_transformer_property_

Classes

Public Types

Public Slots

Public Member Functions

Public Attributes

Protected Member Functions

Private Types

Private Slots

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation