void MapCloudDisplay::onInitialize()
{
MFDClass::onInitialize();
transformer_class_loader_ = new pluginlib::ClassLoader<rviz::PointCloudTransformer>( "rviz", "rviz::PointCloudTransformer" );
loadTransformers();
updateStyle();
updateBillboardSize();
updateAlpha();
spinner_.start();
}
PointCloudBase::PointCloudBase( const std::string& name, VisualizationManager* manager )
: Display( name, manager )
, spinner_(1, &cbqueue_)
, new_cloud_(false)
, new_xyz_transformer_(false)
, new_color_transformer_(false)
, needs_retransform_(false)
, style_( Billboards )
, billboard_size_( 0.01 )
, point_decay_time_(0.0f)
, selectable_(false)
, coll_handle_(0)
, messages_received_(0)
, total_point_count_(0)
{
cloud_ = new ogre_tools::PointCloud();
scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
scene_node_->attachObject(cloud_);
coll_handler_ = PointCloudSelectionHandlerPtr(new PointCloudSelectionHandler(this));
setStyle( style_ );
setBillboardSize( billboard_size_ );
setAlpha(1.0f);
setSelectable(true);
PluginManager* pman = vis_manager_->getPluginManager();
const L_Plugin& plugins = pman->getPlugins();
L_Plugin::const_iterator it = plugins.begin();
L_Plugin::const_iterator end = plugins.end();
for (; it != end; ++it)
{
const PluginPtr& plugin = *it;
PluginConns pc;
pc.loaded = plugin->getLoadedSignal().connect(boost::bind(&PointCloudBase::onPluginLoaded, this, _1));
pc.unloading = plugin->getUnloadingSignal().connect(boost::bind(&PointCloudBase::onPluginUnloading, this, _1));
loadTransformers(plugin.get());
plugin_conns_[plugin.get()] = pc;
}
threaded_nh_.setCallbackQueue(&cbqueue_);
spinner_.start();
}
void PointCloudBase::onPluginLoaded(const PluginStatus& status)
{
loadTransformers(status.plugin);
}
