Display subclass for subscribing and displaying to image messages. More...

#include <image_display_base.h>

Inheritance diagram for rviz::ImageDisplayBase:

[legend]

Public Member Functions
	ImageDisplayBase ()
	Constructor. More...

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

	~ImageDisplayBase () override

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)

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

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

virtual void	updateQueueSize ()
	Update queue size of tf filter More...

virtual void	updateTopic ()
	Update topic and resubscribe. More...

Protected Member Functions
void	enableTFFilter (std::string &targetFrame)
	Enabling TF filtering by defining a target frame. More...

void	failedMessage (const sensor_msgs::Image::ConstPtr &msg, tf2_ros::FilterFailureReason reason)
	Callback for messages, whose frame_id cannot resolved. More...

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

void	incomingMessage (const sensor_msgs::Image::ConstPtr &msg)
	Incoming message callback. Checks if the message pointer is valid, increments messages_received_, then calls processMessage(). More...

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

virtual void	processMessage (const sensor_msgs::Image::ConstPtr &msg)=0
	Implement this to process the contents of a message. More...

void	reset () override
	Reset display. More...

void	scanForTransportSubscriberPlugins ()

virtual void	subscribe ()
	ROS topic management. More...

virtual void	unsubscribe ()

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...

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...

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
boost::scoped_ptr< image_transport::ImageTransport >	it_

uint32_t	messages_received_

IntProperty *	queue_size_property_

boost::shared_ptr< image_transport::SubscriberFilter >	sub_

std::string	targetFrame_

boost::shared_ptr< tf2_ros::MessageFilter< sensor_msgs::Image > >	tf_filter_

RosTopicProperty *	topic_property_

std::string	transport_

std::set< std::string >	transport_plugin_types_

EnumProperty *	transport_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 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...

Detailed Description

Display subclass for subscribing and displaying to image messages.

This class brings together some common things used for subscribing and displaying image messages in Display types. It has a tf2_ros::MessageFilter and image_tranport::SubscriberFilter to filter incoming image messages, and it handles subscribing and unsubscribing when the display is enabled or disabled.

Definition at line 63 of file image_display_base.h.

Constructor & Destructor Documentation

◆ ImageDisplayBase()

rviz::ImageDisplayBase::ImageDisplayBase ( )

Constructor.

Definition at line 44 of file image_display_base.cpp.

◆ ~ImageDisplayBase()

rviz::ImageDisplayBase::~ImageDisplayBase ( )

override

Definition at line 70 of file image_display_base.cpp.

Member Function Documentation

◆ enableTFFilter()

void rviz::ImageDisplayBase::enableTFFilter ( std::string & targetFrame )

inlineprotected

Enabling TF filtering by defining a target frame.

Definition at line 90 of file image_display_base.h.

◆ failedMessage()

void rviz::ImageDisplayBase::failedMessage	(	const sensor_msgs::Image::ConstPtr &	msg,
		tf2_ros::FilterFailureReason	reason
	)

protected

Callback for messages, whose frame_id cannot resolved.

Definition at line 121 of file image_display_base.cpp.

◆ fillTransportOptionList

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

protectedslot

Fill list of available and working transport options.

Definition at line 264 of file image_display_base.cpp.

◆ fixedFrameChanged()

void rviz::ImageDisplayBase::fixedFrameChanged ( )

overrideprotectedvirtual

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

Reimplemented from rviz::Display.

Definition at line 215 of file image_display_base.cpp.

◆ incomingMessage()

void rviz::ImageDisplayBase::incomingMessage ( const sensor_msgs::Image::ConstPtr & msg )

protected

Incoming message callback. Checks if the message pointer is valid, increments messages_received_, then calls processMessage().

Definition at line 105 of file image_display_base.cpp.

◆ onInitialize()

void rviz::ImageDisplayBase::onInitialize ( )

overrideprotectedvirtual

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 75 of file image_display_base.cpp.

◆ processMessage()

virtual void rviz::ImageDisplayBase::processMessage ( const sensor_msgs::Image::ConstPtr & msg )

protectedpure virtual

Implement this to process the contents of a message.

This is called by incomingMessage().

Implemented in rviz::CameraDisplay, and rviz::ImageDisplay.

◆ reset()

void rviz::ImageDisplayBase::reset ( )

overrideprotectedvirtual

Reset display.

Reimplemented from rviz::Display.

Definition at line 130 of file image_display_base.cpp.

◆ scanForTransportSubscriberPlugins()

void rviz::ImageDisplayBase::scanForTransportSubscriberPlugins ( )

protected

Definition at line 224 of file image_display_base.cpp.

◆ setTopic()

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

overridevirtual

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 81 of file image_display_base.cpp.

◆ subscribe()

void rviz::ImageDisplayBase::subscribe ( )

protectedvirtual

ROS topic management.

Reimplemented in rviz::CameraDisplay.

Definition at line 152 of file image_display_base.cpp.

◆ unsubscribe()

void rviz::ImageDisplayBase::unsubscribe ( )

protectedvirtual

Reimplemented in rviz::CameraDisplay.

Definition at line 209 of file image_display_base.cpp.

◆ updateQueueSize

void rviz::ImageDisplayBase::updateQueueSize ( )

protectedvirtualslot

Update queue size of tf filter

Definition at line 142 of file image_display_base.cpp.

◆ updateTopic

void rviz::ImageDisplayBase::updateTopic ( )

protectedvirtualslot

Update topic and resubscribe.

Reimplemented in rviz::ImageDisplay.

Definition at line 256 of file image_display_base.cpp.

Member Data Documentation

◆ it_

boost::scoped_ptr<image_transport::ImageTransport> rviz::ImageDisplayBase::it_

protected

Definition at line 117 of file image_display_base.h.

◆ messages_received_

uint32_t rviz::ImageDisplayBase::messages_received_

protected

Definition at line 123 of file image_display_base.h.

◆ queue_size_property_

IntProperty* rviz::ImageDisplayBase::queue_size_property_

protected

Definition at line 127 of file image_display_base.h.

◆ sub_

boost::shared_ptr<image_transport::SubscriberFilter> rviz::ImageDisplayBase::sub_

protected

Definition at line 118 of file image_display_base.h.

◆ targetFrame_

std::string rviz::ImageDisplayBase::targetFrame_

protected

Definition at line 121 of file image_display_base.h.

◆ tf_filter_

boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::Image> > rviz::ImageDisplayBase::tf_filter_

protected

Definition at line 119 of file image_display_base.h.

◆ topic_property_

RosTopicProperty* rviz::ImageDisplayBase::topic_property_

protected

Definition at line 125 of file image_display_base.h.

◆ transport_

std::string rviz::ImageDisplayBase::transport_

protected

Definition at line 129 of file image_display_base.h.

◆ transport_plugin_types_

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

protected

Definition at line 131 of file image_display_base.h.

◆ transport_property_

EnumProperty* rviz::ImageDisplayBase::transport_property_

protected

Definition at line 126 of file image_display_base.h.

◆ unreliable_property_

BoolProperty* rviz::ImageDisplayBase::unreliable_property_

protected

Definition at line 133 of file image_display_base.h.

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

Public Member Functions

Protected Slots

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ImageDisplayBase()

◆ ~ImageDisplayBase()

Member Function Documentation

◆ enableTFFilter()

◆ failedMessage()

◆ fillTransportOptionList

◆ fixedFrameChanged()

◆ incomingMessage()

◆ onInitialize()

◆ processMessage()

◆ reset()

◆ scanForTransportSubscriberPlugins()

◆ setTopic()

◆ subscribe()

◆ unsubscribe()

◆ updateQueueSize

◆ updateTopic

Member Data Documentation

◆ it_

◆ messages_received_

◆ queue_size_property_

◆ sub_

◆ targetFrame_

◆ tf_filter_

◆ topic_property_

◆ transport_

◆ transport_plugin_types_

◆ transport_property_

◆ unreliable_property_