rviz::PointCloudBase Class Reference

Displays a point cloud of type sensor_msgs::PointCloud. More...

#include <point_cloud_base.h>

Inheritance diagram for rviz::PointCloudBase:

Classes
struct	CloudInfo
struct	TransformerInfo
Public Types
enum	ChannelRender { Intensity, Curvature, ColorRGBSpace, NormalSphere, ChannelRenderCount }
	The different channels that we support rendering. More...
enum	Style { Points, Billboards, BillboardSpheres, Boxes, StyleCount }
	The different styles of pointcloud drawing. More...
Public Member Functions
void	causeRetransform ()
virtual void	fixedFrameChanged ()
	Called by setFixedFrame(). Override to respond to changes to fixed_frame_.
void	onInitialize ()
	Override this function to do subclass-specific initialization.
	PointCloudBase ()
virtual void	reset ()
	Called to tell the display to clear its state.
virtual void	update (float wall_dt, float ros_dt)
	Called periodically by the visualization manager.
	~PointCloudBase ()
Protected Types
typedef std::map< std::string, TransformerInfo >	M_TransformerInfo
typedef std::vector < PointCloud::Point >	V_Point
typedef std::vector< V_Point >	VV_Point
Protected Member Functions
void	addMessage (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	addMessage (const sensor_msgs::PointCloudConstPtr &cloud)
PointCloudTransformerPtr	getColorTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
PointCloudTransformerPtr	getXYZTransformer (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	loadTransformers ()
virtual void	onDisable ()
	Derived classes override this to do the actual work of disabling themselves.
virtual void	onEnable ()
	Derived classes override this to do the actual work of enabling themselves.
void	onTransformerOptions (V_string &ops, uint32_t mask)
void	processMessage (const sensor_msgs::PointCloud2ConstPtr &cloud)
void	retransform ()
bool	transformCloud (const CloudInfoPtr &cloud, V_Point &points, bool fully_update_transformers)
	Transforms the cloud into the correct frame, and sets up our renderable cloud.
void	updateStatus ()
void	updateTransformers (const sensor_msgs::PointCloud2ConstPtr &cloud)
Protected Attributes
FloatProperty *	alpha_property_
FloatProperty *	billboard_size_property_
ros::CallbackQueue	cbqueue_
PointCloud *	cloud_
D_CloudInfo	clouds_
boost::mutex	clouds_mutex_
CollObjectHandle	coll_handle_
PointCloudSelectionHandlerPtr	coll_handler_
EnumProperty *	color_transformer_property_
FloatProperty *	decay_time_property_
uint32_t	messages_received_
bool	needs_retransform_
bool	new_cloud_
V_CloudInfo	new_clouds_
boost::mutex	new_clouds_mutex_
bool	new_color_transformer_
VV_Point	new_points_
bool	new_xyz_transformer_
Ogre::SceneNode *	scene_node_
BoolProperty *	selectable_property_
ros::AsyncSpinner	spinner_
EnumProperty *	style_property_
uint32_t	total_point_count_
pluginlib::ClassLoader < PointCloudTransformer > *	transformer_class_loader_
M_TransformerInfo	transformers_
boost::recursive_mutex	transformers_mutex_
EnumProperty *	xyz_transformer_property_
Private Types
typedef boost::shared_ptr < CloudInfo >	CloudInfoPtr
typedef std::deque< CloudInfoPtr >	D_CloudInfo
typedef std::queue< CloudInfoPtr >	Q_CloudInfo
typedef std::vector< CloudInfoPtr >	V_CloudInfo
Private Slots
void	updateAlpha ()
void	updateBillboardSize ()
void	updateColorTransformer ()
void	updateSelectable ()
void	updateStyle ()
void	updateXyzTransformer ()
Private Member Functions
float	getSelectionBoxSize ()
void	setPropertiesHidden (const QList< Property * > &props, bool hide)
Friends
class	PointCloudSelectionHandler

Detailed Description

Displays a point cloud of type sensor_msgs::PointCloud.

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 point_cloud_base.h.

Member Typedef Documentation

typedef boost::shared_ptr<CloudInfo> rviz::PointCloudBase::CloudInfoPtr [private]

Definition at line 93 of file point_cloud_base.h.

typedef std::deque<CloudInfoPtr> rviz::PointCloudBase::D_CloudInfo [private]

Definition at line 94 of file point_cloud_base.h.

typedef std::map<std::string, TransformerInfo> rviz::PointCloudBase::M_TransformerInfo [protected]

Definition at line 196 of file point_cloud_base.h.

typedef std::queue<CloudInfoPtr> rviz::PointCloudBase::Q_CloudInfo [private]

Definition at line 96 of file point_cloud_base.h.

typedef std::vector<CloudInfoPtr> rviz::PointCloudBase::V_CloudInfo [private]

Definition at line 95 of file point_cloud_base.h.

typedef std::vector<PointCloud::Point> rviz::PointCloudBase::V_Point [protected]

Definition at line 152 of file point_cloud_base.h.

typedef std::vector<V_Point> rviz::PointCloudBase::VV_Point [protected]

Definition at line 153 of file point_cloud_base.h.

Member Enumeration Documentation

enum rviz::PointCloudBase::ChannelRender

The different channels that we support rendering.

Enumerator:

Intensity	Intensity data.
Curvature	Surface curvature estimates.
ColorRGBSpace	RGB Color.
NormalSphere	Use the nx-ny-nz (normal coordinates) instead of x-y-z.
ChannelRenderCount

Definition at line 117 of file point_cloud_base.h.

enum rviz::PointCloudBase::Style

The different styles of pointcloud drawing.

Enumerator:

Points	Points -- points are drawn as a fixed size in 2d space, ie. always 1 pixel on screen.
Billboards	Billboards -- points are drawn as camera-facing quads in 3d space.
BillboardSpheres	Billboard "spheres" -- cam-facing tris with a pixel shader that causes them to look like spheres.
Boxes	Boxes -- Actual 3d cube geometry.
StyleCount

Definition at line 103 of file point_cloud_base.h.

Constructor & Destructor Documentation

rviz::PointCloudBase::PointCloudBase ( )

Definition at line 342 of file point_cloud_base.cpp.

rviz::PointCloudBase::~PointCloudBase ( )

Definition at line 417 of file point_cloud_base.cpp.

Member Function Documentation

void rviz::PointCloudBase::addMessage ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 958 of file point_cloud_base.cpp.

void rviz::PointCloudBase::addMessage ( const sensor_msgs::PointCloudConstPtr & cloud ) [protected]

Definition at line 951 of file point_cloud_base.cpp.

void rviz::PointCloudBase::causeRetransform ( )

Definition at line 529 of file point_cloud_base.cpp.

void rviz::PointCloudBase::fixedFrameChanged ( ) [virtual]

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

Reimplemented from rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 970 of file point_cloud_base.cpp.

PointCloudTransformerPtr rviz::PointCloudBase::getColorTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 791 of file point_cloud_base.cpp.

float rviz::PointCloudBase::getSelectionBoxSize ( ) [private]

Definition at line 1022 of file point_cloud_base.cpp.

PointCloudTransformerPtr rviz::PointCloudBase::getXYZTransformer ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 775 of file point_cloud_base.cpp.

void rviz::PointCloudBase::loadTransformers ( ) [protected]

Definition at line 432 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onDisable ( ) [protected, virtual]

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

Reimplemented from rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 521 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onEnable ( ) [protected, virtual]

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

Reimplemented from rviz::Display.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 517 of file point_cloud_base.cpp.

void rviz::PointCloudBase::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.

Reimplemented in rviz::LaserScanDisplay, rviz::PointCloud2Display, and rviz::PointCloudDisplay.

Definition at line 400 of file point_cloud_base.cpp.

void rviz::PointCloudBase::onTransformerOptions	(	V_string &	ops,
		uint32_t	mask
	)			`[protected]`

void rviz::PointCloudBase::processMessage ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 734 of file point_cloud_base.cpp.

void rviz::PointCloudBase::reset ( ) [virtual]

Called to tell the display to clear its state.

Reimplemented from rviz::Display.

Definition at line 1012 of file point_cloud_base.cpp.

void rviz::PointCloudBase::retransform ( ) [protected]

Definition at line 807 of file point_cloud_base.cpp.

void rviz::PointCloudBase::setPropertiesHidden	(	const QList< Property * > &	props,
		bool	hide
	)			`[private]`

Definition at line 648 of file point_cloud_base.cpp.

bool rviz::PointCloudBase::transformCloud	(	const CloudInfoPtr &	cloud,
		V_Point &	points,
		bool	fully_update_transformers
	)			`[protected]`

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

Definition at line 827 of file point_cloud_base.cpp.

void rviz::PointCloudBase::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 535 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateAlpha ( ) [private, slot]

Definition at line 463 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateBillboardSize ( ) [private, slot]

Definition at line 510 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateColorTransformer ( ) [private, slot]

Definition at line 764 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateSelectable ( ) [private, slot]

Definition at line 468 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateStatus ( ) [protected]

Definition at line 714 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateStyle ( ) [private, slot]

Definition at line 495 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateTransformers ( const sensor_msgs::PointCloud2ConstPtr & cloud ) [protected]

Definition at line 656 of file point_cloud_base.cpp.

void rviz::PointCloudBase::updateXyzTransformer ( ) [private, slot]

Definition at line 753 of file point_cloud_base.cpp.

Friends And Related Function Documentation

friend class PointCloudSelectionHandler [friend]

Definition at line 220 of file point_cloud_base.h.

Member Data Documentation

FloatProperty* rviz::PointCloudBase::alpha_property_ [protected]

Definition at line 214 of file point_cloud_base.h.

FloatProperty* rviz::PointCloudBase::billboard_size_property_ [protected]

Definition at line 213 of file point_cloud_base.h.

ros::CallbackQueue rviz::PointCloudBase::cbqueue_ [protected]

Definition at line 174 of file point_cloud_base.h.

PointCloud* rviz::PointCloudBase::cloud_ [protected]

Definition at line 180 of file point_cloud_base.h.

D_CloudInfo rviz::PointCloudBase::clouds_ [protected]

Definition at line 176 of file point_cloud_base.h.

boost::mutex rviz::PointCloudBase::clouds_mutex_ [protected]

Definition at line 177 of file point_cloud_base.h.

CollObjectHandle rviz::PointCloudBase::coll_handle_ [protected]

Definition at line 204 of file point_cloud_base.h.

PointCloudSelectionHandlerPtr rviz::PointCloudBase::coll_handler_ [protected]

Definition at line 205 of file point_cloud_base.h.

EnumProperty* rviz::PointCloudBase::color_transformer_property_ [protected]

Definition at line 216 of file point_cloud_base.h.

FloatProperty* rviz::PointCloudBase::decay_time_property_ [protected]

Definition at line 218 of file point_cloud_base.h.

uint32_t rviz::PointCloudBase::messages_received_ [protected]

Definition at line 207 of file point_cloud_base.h.

bool rviz::PointCloudBase::needs_retransform_ [protected]

Definition at line 202 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_cloud_ [protected]

Definition at line 178 of file point_cloud_base.h.

V_CloudInfo rviz::PointCloudBase::new_clouds_ [protected]

Definition at line 184 of file point_cloud_base.h.

boost::mutex rviz::PointCloudBase::new_clouds_mutex_ [protected]

Definition at line 185 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_color_transformer_ [protected]

Definition at line 201 of file point_cloud_base.h.

VV_Point rviz::PointCloudBase::new_points_ [protected]

Definition at line 183 of file point_cloud_base.h.

bool rviz::PointCloudBase::new_xyz_transformer_ [protected]

Definition at line 200 of file point_cloud_base.h.

Ogre::SceneNode* rviz::PointCloudBase::scene_node_ [protected]

Definition at line 181 of file point_cloud_base.h.

BoolProperty* rviz::PointCloudBase::selectable_property_ [protected]

Definition at line 212 of file point_cloud_base.h.

ros::AsyncSpinner rviz::PointCloudBase::spinner_ [protected]

Definition at line 173 of file point_cloud_base.h.

EnumProperty* rviz::PointCloudBase::style_property_ [protected]

Definition at line 217 of file point_cloud_base.h.

uint32_t rviz::PointCloudBase::total_point_count_ [protected]

Definition at line 208 of file point_cloud_base.h.

pluginlib::ClassLoader<PointCloudTransformer>* rviz::PointCloudBase::transformer_class_loader_ [protected]

Definition at line 210 of file point_cloud_base.h.

M_TransformerInfo rviz::PointCloudBase::transformers_ [protected]

Definition at line 199 of file point_cloud_base.h.

boost::recursive_mutex rviz::PointCloudBase::transformers_mutex_ [protected]

Definition at line 198 of file point_cloud_base.h.

EnumProperty* rviz::PointCloudBase::xyz_transformer_property_ [protected]

Definition at line 215 of file point_cloud_base.h.

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

/u/hersh/groovy_stacks/visualization/rviz/src/rviz/default_plugin/point_cloud_base.h
/u/hersh/groovy_stacks/visualization/rviz/src/rviz/default_plugin/point_cloud_base.cpp

rviz::PointCloudBase Class Reference

Classes

Public Types

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Private Types

Private Slots

Private Member Functions

Friends

Detailed Description

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation