ImageDisplayBase::ImageDisplayBase() :
Display()
, it_(update_nh_)
, sub_()
, tf_filter_()
, messages_received_(0)
{
topic_property_ = new RosTopicProperty("Image Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
"sensor_msgs::Image topic to subscribe to.", this, SLOT( updateTopic() ));
transport_property_ = new EnumProperty("Transport Hint", "raw", "Preferred method of sending images.", this,
SLOT( updateTopic() ));
connect(transport_property_, SIGNAL( requestOptions( EnumProperty* )), this,
SLOT( fillTransportOptionList( EnumProperty* )));
queue_size_property_ = new IntProperty( "Queue Size", 2,
"Advanced: set the size of the incoming message queue. Increasing this "
"is useful if your incoming TF data is delayed significantly from your"
" image data, but it can greatly increase memory usage if the messages are big.",
this, SLOT( updateQueueSize() ));
queue_size_property_->setMin( 1 );
transport_property_->setStdString("raw");
scanForTransportSubscriberPlugins();
}
DepthCloudDisplay::DepthCloudDisplay()
: rviz::Display()
, messages_received_(0)
, depthmap_it_(update_nh_)
, depthmap_sub_()
, rgb_it_ (update_nh_)
, rgb_sub_()
, cameraInfo_sub_()
, queue_size_(5)
{
// Depth map properties
depth_topic_property_ = new RosTopicProperty("Depth Map Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
"sensor_msgs::Image topic to subscribe to.", this, SLOT( updateTopic() ));
depth_transport_property_ = new EnumProperty("Depth Map Transport Hint", "raw", "Preferred method of sending images.", this,
SLOT( updateTopic() ));
connect(depth_transport_property_, SIGNAL( requestOptions( EnumProperty* )), this,
SLOT( fillTransportOptionList( EnumProperty* )));
depth_transport_property_->setStdString("raw");
// RGB image properties
rgb_topic_property_ = new RosTopicProperty("RGB Image Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
"sensor_msgs::Image topic to subscribe to.", this, SLOT( updateTopic() ));
rgb_transport_property_ = new EnumProperty("RGB Transport Hint", "raw", "Preferred method of sending images.", this,
SLOT( updateTopic() ));
connect(rgb_transport_property_, SIGNAL( requestOptions( EnumProperty* )), this,
SLOT( fillTransportOptionList( EnumProperty* )));
rgb_transport_property_->setStdString("raw");
// Queue size property
queue_size_property_ = new IntProperty( "Queue Size", queue_size_,
"Advanced: set the size of the incoming message queue. Increasing this "
"is useful if your incoming TF data is delayed significantly from your"
" image data, but it can greatly increase memory usage if the messages are big.",
this, SLOT( updateQueueSize() ));
queue_size_property_->setMin( 1 );
// Instantiate PointCloudCommon class for displaying point clouds
pointcloud_common_ = new PointCloudCommon(this);
// PointCloudCommon sets up a callback queue with a thread for each
// instance. Use that for processing incoming messages.
update_nh_.setCallbackQueue( pointcloud_common_->getCallbackQueue() );
// Scan for available transport plugins
scanForTransportSubscriberPlugins();
}
ChangeDisplay::ChangeDisplay()
: point_cloud_common_( new PointCloudCommon( this ))
{
queue_size_property_ = new IntProperty( "Queue Size", 10,
"Advanced: set the size of the incoming PointCloud message queue. "
" Increasing this is useful if your incoming TF data is delayed significantly "
"from your PointCloud data, but it can greatly increase memory usage if the messages are big.",
this, SLOT( updateQueueSize() ));
// PointCloudCommon sets up a callback queue with a thread for each
// instance. Use that for processing incoming messages.
update_nh_.setCallbackQueue( point_cloud_common_->getCallbackQueue() );
}
MarkerDisplay::MarkerDisplay()
: Display()
{
marker_topic_property_ = new RosTopicProperty( "Marker Topic", "visualization_marker",
QString::fromStdString( ros::message_traits::datatype<visualization_msgs::Marker>() ),
"visualization_msgs::Marker topic to subscribe to. <topic>_array will also"
" automatically be subscribed with type visualization_msgs::MarkerArray.",
this, SLOT( updateTopic() ));
queue_size_property_ = new IntProperty( "Queue Size", 100,
"Advanced: set the size of the incoming Marker message queue. Increasing this is"
" useful if your incoming TF data is delayed significantly from your Marker data, "
"but it can greatly increase memory usage if the messages are big.",
this, SLOT( updateQueueSize() ));
queue_size_property_->setMin( 0 );
namespaces_category_ = new Property( "Namespaces", QVariant(), "", this );
}
StereoImageDisplayBase::StereoImageDisplayBase() :
Display()
, left_sub_()
, right_sub_()
, left_tf_filter_()
, right_tf_filter_()
, messages_received_(0)
, use_approx_sync_(false)
{
left_topic_property_ = new RosTopicProperty("Left Image Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
"sensor_msgs::Image topic to subscribe to.", this, SLOT( updateTopics() ));
right_topic_property_ = new RosTopicProperty("Right Image Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
"sensor_msgs::Image topic to subscribe to.", this, SLOT( updateTopics() ));
transport_property_ = new EnumProperty(
"Transport Hint", "raw", "Preferred method of sending images.",
this, SLOT( updateTopics() ));
bool ok = connect(transport_property_,
SIGNAL( requestOptions( EnumProperty* )),
this, SLOT( fillTransportOptionList( EnumProperty* )));
Q_ASSERT(ok);
queue_size_property_ = new IntProperty( "Queue Size", 2,
"Advanced: set the size of the incoming message queue. Increasing this "
"is useful if your incoming TF data is delayed significantly from your"
" image data, but it can greatly increase memory usage if the messages are big.",
this, SLOT( updateQueueSize() ));
queue_size_property_->setMin( 1 );
approx_sync_property_ = new BoolProperty( "Approximate Sync", false,
"Advanced: set this to true if your timestamps aren't synchronized.",
this, SLOT( updateApproxSync() ));
transport_property_->setStdString("raw");
}
CameraPub::CameraPub()
: Display()
, camera_trigger_name_("camera_trigger")
, nh_()
, new_caminfo_(false)
, force_render_(false)
, trigger_activated_(false)
, last_image_publication_time_(0)
, caminfo_ok_(false)
, video_publisher_(0)
{
topic_property_ = new RosTopicProperty("Image Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::Image>()),
"sensor_msgs::Image topic to publish to.", this, SLOT(updateTopic()));
namespace_property_ = new StringProperty("Display namespace", "",
"Namespace for this display.", this, SLOT(updateDisplayNamespace()));
camera_info_property_ = new RosTopicProperty("Camera Info Topic", "",
QString::fromStdString(ros::message_traits::datatype<sensor_msgs::CameraInfo>()),
"sensor_msgs::CameraInfo topic to subscribe to.", this, SLOT(updateTopic()));
queue_size_property_ = new IntProperty( "Queue Size", 2,
"Advanced: set the size of the incoming message queue. Increasing this "
"is useful if your incoming TF data is delayed significantly from your"
" image data, but it can greatly increase memory usage if the messages are big.",
this, SLOT(updateQueueSize()));
queue_size_property_->setMin(1);
frame_rate_property_ = new FloatProperty("Frame Rate", -1,
"Sets target frame rate. Set to < 0 for maximum speed, set to 0 to stop, you can "
"trigger single images with the /rviz_camera_trigger service.",
this, SLOT(updateFrameRate()));
frame_rate_property_->setMin(-1);
background_color_property_ = new ColorProperty("Background Color", Qt::black,
"Sets background color, values from 0.0 to 1.0.",
this, SLOT(updateBackgroundColor()));
}
