Classes | Public Types | Public Slots | Public Member Functions | Public Attributes | Protected Member Functions | Private Types | Private Slots | Private Member Functions | Private Attributes
rtabmap_ros::MapCloudDisplay Class Reference

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

#include <MapCloudDisplay.h>

Inheritance diagram for rtabmap_ros::MapCloudDisplay:
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List of all members.

Classes

struct  CloudInfo
struct  TransformerInfo

Public Types

typedef boost::shared_ptr
< CloudInfo
CloudInfoPtr

Public Slots

void causeRetransform ()

Public Member Functions

 MapCloudDisplay ()
virtual void reset ()
virtual void update (float wall_dt, float ros_dt)
virtual ~MapCloudDisplay ()

Public Attributes

rviz::FloatPropertyalpha_property_
rviz::IntPropertycloud_decimation_
rviz::FloatPropertycloud_filter_ceiling_height_
rviz::FloatPropertycloud_filter_floor_height_
rviz::FloatPropertycloud_max_depth_
rviz::FloatPropertycloud_min_depth_
rviz::FloatPropertycloud_voxel_size_
rviz::EnumPropertycolor_transformer_property_
rviz::BoolPropertydownload_graph_
rviz::BoolPropertydownload_map_
rviz::FloatPropertynode_filtering_angle_
rviz::FloatPropertynode_filtering_radius_
rviz::FloatPropertypoint_pixel_size_property_
rviz::FloatPropertypoint_world_size_property_
rviz::EnumPropertystyle_property_
rviz::EnumPropertyxyz_transformer_property_

Protected Member Functions

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

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.
void updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud)

Private Attributes

ros::CallbackQueue cbqueue_
std::map< int, CloudInfoPtrcloud_infos_
std::map< int, rtabmap::Transformcurrent_map_
boost::mutex current_map_mutex_
bool needs_retransform_
std::map< int, CloudInfoPtrnew_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_

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 74 of file MapCloudDisplay.h.


Member Typedef Documentation

Definition at line 97 of file MapCloudDisplay.h.

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

Definition at line 183 of file MapCloudDisplay.h.


Constructor & Destructor Documentation

Definition at line 87 of file MapCloudDisplay.cpp.

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Member Function Documentation

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

Definition at line 812 of file MapCloudDisplay.cpp.

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

Definition at line 796 of file MapCloudDisplay.cpp.

Definition at line 207 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::onInitialize ( ) [protected, virtual]

Do initialization. Overridden from MessageFilterDisplay.

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

Definition at line 242 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMapData ( const rtabmap_ros::MapData &  map) [private]

Definition at line 263 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::processMessage ( const rtabmap_ros::MapDataConstPtr &  cloud) [protected, virtual]

Process a single message. Overridden from MessageFilterDisplay.

Definition at line 256 of file MapCloudDisplay.cpp.

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

Definition at line 725 of file MapCloudDisplay.cpp.

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

Definition at line 347 of file MapCloudDisplay.cpp.

Definition at line 761 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 842 of file MapCloudDisplay.cpp.

void rtabmap_ros::MapCloudDisplay::update ( float  wall_dt,
float  ros_dt 
) [virtual]

Reimplemented from rviz::Display.

Definition at line 595 of file MapCloudDisplay.cpp.

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

Definition at line 355 of file MapCloudDisplay.cpp.

Definition at line 739 of file MapCloudDisplay.cpp.


Member Data Documentation

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boost::recursive_mutex rtabmap_ros::MapCloudDisplay::transformers_mutex_ [private]

Definition at line 185 of file MapCloudDisplay.h.

Definition at line 108 of file MapCloudDisplay.h.


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


rtabmap_ros
Author(s): Mathieu Labbe
autogenerated on Sun Jul 24 2016 03:49:08