#include <depth_cloud_display.h>

Inheritance diagram for rviz::DepthCloudDisplay:

Public Member Functions
	DepthCloudDisplay ()

virtual void	onInitialize ()
	Override this function to do subclass-specific initialization. More...

virtual void	reset ()
	Called to tell the display to clear its state. More...

virtual void	setTopic (const QString &topic, const QString &datatype)
	Set the ROS topic to listen to for this display. More...

virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization manager. More...

virtual	~DepthCloudDisplay ()

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...

virtual QVariant	getViewData (int column, int role) const
	Return data appropriate for the given column (0 or 1) and role for this Display. More...

virtual Qt::ItemFlags	getViewFlags (int column) const
	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...

virtual void	load (const Config &config)
	Load the settings for this display from the given Config node, which must be a map. More...

virtual void	save (Config config) const
	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)
	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)

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 ()
	If true, the children of this property should set their ItemIsEnabled flag to false. More...

bool	getDisableChildrenIfFalse ()

void	setDisableChildrenIfFalse (bool disable)

virtual	~BoolProperty ()

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...

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 ()
	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...

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...

	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)
	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 true and getReadOnly() is false, shouldBeSaved will return true; otherwise false. Default is true. 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 is not read-only AND 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...

virtual	~Property ()
	Destructor. Removes this property from its parent's list of children. More...

Protected Types
typedef message_filters::Synchronizer< SyncPolicyDepthColor >	SynchronizerDepthColor

typedef ApproximateTime< sensor_msgs::Image, sensor_msgs::Image >	SyncPolicyDepthColor

typedef std::vector< rviz::PointCloud::Point >	V_Point

Protected Slots
void	fillTransportOptionList (EnumProperty *property)
	Fill list of available and working transport options. More...

virtual void	updateAutoSizeFactor ()

virtual void	updateOcclusionTimeOut ()

void	updateQueueSize ()

virtual void	updateTopic ()

virtual void	updateTopicFilter ()

virtual void	updateUseAutoSize ()

virtual void	updateUseOcclusionCompensation ()

Protected Member Functions
void	caminfoCallback (sensor_msgs::CameraInfo::ConstPtr msg)

void	clear ()

virtual void	fixedFrameChanged ()
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_. More...

virtual void	onDisable ()
	Derived classes override this to do the actual work of disabling themselves. More...

virtual void	onEnable ()
	Derived classes override this to do the actual work of enabling themselves. More...

virtual void	processMessage (sensor_msgs::Image::ConstPtr msg)

virtual void	processMessage (sensor_msgs::ImageConstPtr depth_msg, sensor_msgs::ImageConstPtr rgb_msg)

void	scanForTransportSubscriberPlugins ()

void	setStatusList ()

void	subscribe ()

void	unsubscribe ()

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

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
float	angular_thres_

FloatProperty *	auto_size_factor_property_

sensor_msgs::CameraInfo::ConstPtr	cam_info_

boost::mutex	cam_info_mutex_

boost::shared_ptr< message_filters::Subscriber< sensor_msgs::CameraInfo > >	cam_info_sub_

RosFilteredTopicProperty *	color_topic_property_

EnumProperty *	color_transport_property_

Ogre::Quaternion	current_orientation_

Ogre::Vector3	current_position_

RosFilteredTopicProperty *	depth_topic_property_

EnumProperty *	depth_transport_property_

boost::scoped_ptr< image_transport::ImageTransport >	depthmap_it_

boost::shared_ptr< image_transport::SubscriberFilter >	depthmap_sub_

boost::shared_ptr< tf::MessageFilter< sensor_msgs::Image > >	depthmap_tf_filter_

uint32_t	messages_received_

MultiLayerDepth *	ml_depth_data_

boost::mutex	mutex_

FloatProperty *	occlusion_shadow_timeout_property_

PointCloudCommon *	pointcloud_common_

u_int32_t	queue_size_

IntProperty *	queue_size_property_

boost::scoped_ptr< image_transport::ImageTransport >	rgb_it_

boost::shared_ptr< image_transport::SubscriberFilter >	rgb_sub_

boost::shared_ptr< SynchronizerDepthColor >	sync_depth_color_

Property *	topic_filter_property_

float	trans_thres_

std::set< std::string >	transport_plugin_types_

BoolProperty *	use_auto_size_property_

BoolProperty *	use_occlusion_compensation_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 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...

virtual void	setIcon (const QIcon &icon)
	Set the Display's icon. More...

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

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

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...

Detailed Description

Definition at line 123 of file depth_cloud_display.h.

Member Typedef Documentation

typedef message_filters::Synchronizer<SyncPolicyDepthColor> rviz::DepthCloudDisplay::SynchronizerDepthColor

protected

Definition at line 192 of file depth_cloud_display.h.

typedef ApproximateTime<sensor_msgs::Image, sensor_msgs::Image> rviz::DepthCloudDisplay::SyncPolicyDepthColor

protected

Definition at line 191 of file depth_cloud_display.h.

typedef std::vector<rviz::PointCloud::Point> rviz::DepthCloudDisplay::V_Point

protected

Definition at line 153 of file depth_cloud_display.h.

Constructor & Destructor Documentation

rviz::DepthCloudDisplay::DepthCloudDisplay ( )

Definition at line 69 of file depth_cloud_display.cpp.

rviz::DepthCloudDisplay::~DepthCloudDisplay ( )

virtual

Definition at line 186 of file depth_cloud_display.cpp.

Member Function Documentation

void rviz::DepthCloudDisplay::caminfoCallback ( sensor_msgs::CameraInfo::ConstPtr msg )

protected

Definition at line 349 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::clear ( )

protected

Definition at line 375 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::fillTransportOptionList ( EnumProperty * property )

protectedslot

Fill list of available and working transport options.

Definition at line 565 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::fixedFrameChanged ( )

protectedvirtual

Called by setFixedFrame(). Override to respond to changes to fixed_frame_.

Reimplemented from rviz::Display.

Definition at line 609 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::onDisable ( )

protectedvirtual

Derived classes override this to do the actual work of disabling themselves.

Reimplemented from rviz::Display.

Definition at line 278 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::onEnable ( )

protectedvirtual

Derived classes override this to do the actual work of enabling themselves.

Reimplemented from rviz::Display.

Definition at line 273 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::onInitialize ( )

virtual

Override this function to do subclass-specific initialization.

This is called after vis_manager_ and scene_manager_ are set, and before load() or setEnabled().

setName() may or may not have been called before this.

Reimplemented from rviz::Display.

Definition at line 164 of file depth_cloud_display.cpp.

virtual void rviz::DepthCloudDisplay::processMessage ( sensor_msgs::Image::ConstPtr msg )

protectedvirtual

void rviz::DepthCloudDisplay::processMessage	(	sensor_msgs::ImageConstPtr	depth_msg,
		sensor_msgs::ImageConstPtr	rgb_msg
	)

protectedvirtual

Definition at line 406 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::reset ( )

virtual

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 393 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::scanForTransportSubscriberPlugins ( )

protected

Definition at line 525 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::setStatusList ( )

protected

void rviz::DepthCloudDisplay::setTopic	(	const QString &	topic,
		const QString &	datatype
	)

virtual

Set the ROS topic to listen to for this display.

By default, do nothing. Subclasses should override this method if they subscribe to a single ROS topic.

setTopic() is used by the "New display by topic" window; it is called with a user selected topic and its type.

Parameters

topic	The published topic to be visualized.
datatype	The datatype of the topic.

Reimplemented from rviz::Display.

Definition at line 200 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::subscribe ( )

protected

Definition at line 287 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::unsubscribe ( )

protected

Definition at line 355 of file depth_cloud_display.cpp.

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

virtual

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 384 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateAutoSizeFactor ( )

protectedvirtualslot

Definition at line 240 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateOcclusionTimeOut ( )

protectedvirtualslot

Definition at line 267 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateQueueSize ( )

protectedslot

Definition at line 225 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateStatus	(	StatusProperty::Level	level,
		const QString &	name,
		const QString &	text
	)

protected

void rviz::DepthCloudDisplay::updateTopic ( )

protectedvirtualslot

Definition at line 557 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateTopicFilter ( )

protectedvirtualslot

Definition at line 244 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateUseAutoSize ( )

protectedvirtualslot

Definition at line 230 of file depth_cloud_display.cpp.

void rviz::DepthCloudDisplay::updateUseOcclusionCompensation ( )

protectedvirtualslot

Definition at line 251 of file depth_cloud_display.cpp.

Member Data Documentation

float rviz::DepthCloudDisplay::angular_thres_

protected

Definition at line 214 of file depth_cloud_display.h.

FloatProperty* rviz::DepthCloudDisplay::auto_size_factor_property_

protected

Definition at line 200 of file depth_cloud_display.h.

sensor_msgs::CameraInfo::ConstPtr rviz::DepthCloudDisplay::cam_info_

protected

Definition at line 188 of file depth_cloud_display.h.

boost::mutex rviz::DepthCloudDisplay::cam_info_mutex_

protected

Definition at line 189 of file depth_cloud_display.h.

boost::shared_ptr<message_filters::Subscriber<sensor_msgs::CameraInfo> > rviz::DepthCloudDisplay::cam_info_sub_

protected

Definition at line 187 of file depth_cloud_display.h.

RosFilteredTopicProperty* rviz::DepthCloudDisplay::color_topic_property_

protected

Definition at line 203 of file depth_cloud_display.h.

EnumProperty* rviz::DepthCloudDisplay::color_transport_property_

protected

Definition at line 204 of file depth_cloud_display.h.

Ogre::Quaternion rviz::DepthCloudDisplay::current_orientation_

protected

Definition at line 212 of file depth_cloud_display.h.

Ogre::Vector3 rviz::DepthCloudDisplay::current_position_

protected

Definition at line 213 of file depth_cloud_display.h.

RosFilteredTopicProperty* rviz::DepthCloudDisplay::depth_topic_property_

protected

Definition at line 201 of file depth_cloud_display.h.

EnumProperty* rviz::DepthCloudDisplay::depth_transport_property_

protected

Definition at line 202 of file depth_cloud_display.h.

boost::scoped_ptr<image_transport::ImageTransport> rviz::DepthCloudDisplay::depthmap_it_

protected

Definition at line 182 of file depth_cloud_display.h.

boost::shared_ptr<image_transport::SubscriberFilter > rviz::DepthCloudDisplay::depthmap_sub_

protected

Definition at line 183 of file depth_cloud_display.h.

boost::shared_ptr<tf::MessageFilter<sensor_msgs::Image> > rviz::DepthCloudDisplay::depthmap_tf_filter_

protected

Definition at line 184 of file depth_cloud_display.h.

uint32_t rviz::DepthCloudDisplay::messages_received_

protected

Definition at line 177 of file depth_cloud_display.h.

MultiLayerDepth* rviz::DepthCloudDisplay::ml_depth_data_

protected

Definition at line 210 of file depth_cloud_display.h.

boost::mutex rviz::DepthCloudDisplay::mutex_

protected

Definition at line 179 of file depth_cloud_display.h.

FloatProperty* rviz::DepthCloudDisplay::occlusion_shadow_timeout_property_

protected

Definition at line 206 of file depth_cloud_display.h.

PointCloudCommon* rviz::DepthCloudDisplay::pointcloud_common_

protected

Definition at line 217 of file depth_cloud_display.h.

u_int32_t rviz::DepthCloudDisplay::queue_size_

protected

Definition at line 208 of file depth_cloud_display.h.

IntProperty* rviz::DepthCloudDisplay::queue_size_property_

protected

Definition at line 198 of file depth_cloud_display.h.

boost::scoped_ptr<image_transport::ImageTransport> rviz::DepthCloudDisplay::rgb_it_

protected

Definition at line 185 of file depth_cloud_display.h.

boost::shared_ptr<image_transport::SubscriberFilter > rviz::DepthCloudDisplay::rgb_sub_

protected

Definition at line 186 of file depth_cloud_display.h.

boost::shared_ptr<SynchronizerDepthColor> rviz::DepthCloudDisplay::sync_depth_color_

protected

Definition at line 194 of file depth_cloud_display.h.

Property* rviz::DepthCloudDisplay::topic_filter_property_

protected

Definition at line 197 of file depth_cloud_display.h.

float rviz::DepthCloudDisplay::trans_thres_

protected

Definition at line 215 of file depth_cloud_display.h.

std::set<std::string> rviz::DepthCloudDisplay::transport_plugin_types_

protected

Definition at line 219 of file depth_cloud_display.h.

BoolProperty* rviz::DepthCloudDisplay::use_auto_size_property_

protected

Definition at line 199 of file depth_cloud_display.h.

BoolProperty* rviz::DepthCloudDisplay::use_occlusion_compensation_property_

protected

Definition at line 205 of file depth_cloud_display.h.

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

Public Member Functions

Protected Types

Protected Slots

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation