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();
}
void StereoImageDisplayBase::onInitialize()
{
it_.reset( new image_transport::ImageTransport( update_nh_ ));
scanForTransportSubscriberPlugins();
}
