Visualize gz::msgs::PointCloudPacked messages in a 3D scene. More...

#include <PointCloud.hh>

Signals
void	FloatVTopicListChanged ()
	Notify that topic list has changed.

void	MaxColorChanged ()
	Notify that maximum color has changed.

void	MaxFloatVChanged ()
	Notify that maximum value has changed.

void	MinColorChanged ()
	Notify that minimum color has changed.

void	MinFloatVChanged ()
	Notify that minimum value has changed.

void	PointCloudTopicListChanged ()
	Notify that topic list has changed.

void	PointSizeChanged ()
	Notify that point size has changed.

Public Member Functions
	PointCloud ()
	Constructor.

	~PointCloud () override
	Destructor.

Q_INVOKABLE QStringList	FloatVTopicList () const
	Get the topic list.

void	LoadConfig (const tinyxml2::XMLElement *_pluginElem) override

Q_INVOKABLE QColor	MaxColor () const
	Get the maximum color.

Q_INVOKABLE float	MaxFloatV () const
	Get the maximum value.

Q_INVOKABLE QColor	MinColor () const
	Get the minimum color.

Q_INVOKABLE float	MinFloatV () const
	Get the minimum value.

void	OnFloatV (const msgs::Float_V &_msg)
	Callback function for float vector topic.

void	OnFloatVService (const msgs::Float_V &_msg, bool _result)
	Callback function for point cloud service.

Q_INVOKABLE void	OnFloatVTopic (const QString &_topicName)
	Set topic to subscribe to for float vectors.

void	OnPointCloud (const msgs::PointCloudPacked &_msg)
	Callback function for point cloud topic.

void	OnPointCloudService (const msgs::PointCloudPacked &_msg, bool _result)
	Callback function for point cloud service.

Q_INVOKABLE void	OnPointCloudTopic (const QString &_topicName)
	Set topic to subscribe to for point cloud.

Q_INVOKABLE void	OnRefresh ()
	Callback when refresh button is pressed.

Q_INVOKABLE QStringList	PointCloudTopicList () const
	Get the topic list.

Q_INVOKABLE float	PointSize () const
	Get the point size.

Q_INVOKABLE void	SetFloatVTopicList (const QStringList &_floatVTopicList)
	Set the topic list from a string.

Q_INVOKABLE void	SetMaxColor (const QColor &_maxColor)
	Set the maximum color.

Q_INVOKABLE void	SetMaxFloatV (float _maxFloatV)
	Set the maximum value.

Q_INVOKABLE void	SetMinColor (const QColor &_minColor)
	Set the minimum color.

Q_INVOKABLE void	SetMinFloatV (float _minFloatV)
	Set the minimum value.

Q_INVOKABLE void	SetPointCloudTopicList (const QStringList &_pointCloudTopicList)
	Set the topic list from a string.

Q_INVOKABLE void	SetPointSize (float _pointSize)
	Set the point size.

Q_INVOKABLE void	Show (bool _show)
	Set whether to show the point cloud.

Properties
QStringList	floatVTopicList
	List of topics publishing FloatV messages.

QColor	maxColor
	Color for maximum value.

float	maxFloatV
	Maximum value.

QColor	minColor
	Color for minimum value.

float	minFloatV
	Minimum value.

QStringList	pointCloudTopicList
	List of topics publishing PointCloudPacked messages.

float	pointSize
	Point size.

Detailed Description

Visualize gz::msgs::PointCloudPacked messages in a 3D scene.

By default, the whole cloud is displayed using a single color. Users can optionally choose a topic publishing gz::msgs::FloatV messages which will be used to color all points with a color gradient according to their values. The float message must have the same number of elements as the point cloud and be indexed the same way. NaN values on the FloatV message aren't displayed.

Requirements:

A plugin that loads a 3D scene, such as MinimalScene
The MarkerManager plugin

Parameters:

<point_cloud_topic>: Topic to receive gz::msgs::PointCloudPacked messages.
<float_v_topic>: Topic to receive gz::msgs::FloatV messages.

Constructor & Destructor Documentation

◆ PointCloud()

PointCloud ( )

Constructor.

◆ ~PointCloud()

~PointCloud ( )

override

Destructor.

Member Function Documentation

◆ FloatVTopicList()

Q_INVOKABLE QStringList FloatVTopicList ( ) const

Get the topic list.

Returns: List of topics

◆ FloatVTopicListChanged

void FloatVTopicListChanged ( )

signal

Notify that topic list has changed.

◆ LoadConfig()

void LoadConfig ( const tinyxml2::XMLElement * _pluginElem )

override

◆ MaxColor()

Q_INVOKABLE QColor MaxColor ( ) const

Get the maximum color.

Returns: Maximum color

◆ MaxColorChanged

void MaxColorChanged ( )

signal

Notify that maximum color has changed.

◆ MaxFloatV()

Q_INVOKABLE float MaxFloatV ( ) const

Get the maximum value.

Returns: Maximum value

◆ MaxFloatVChanged

void MaxFloatVChanged ( )

signal

Notify that maximum value has changed.

◆ MinColor()

Q_INVOKABLE QColor MinColor ( ) const

Get the minimum color.

Returns: Minimum color

◆ MinColorChanged

void MinColorChanged ( )

signal

Notify that minimum color has changed.

◆ MinFloatV()

Q_INVOKABLE float MinFloatV ( ) const

Get the minimum value.

Returns: Minimum value

◆ MinFloatVChanged

void MinFloatVChanged ( )

signal

Notify that minimum value has changed.

◆ OnFloatV()

void OnFloatV ( const msgs::Float_V & _msg )

Callback function for float vector topic.

Parameters

[in] _msg Float vector message

◆ OnFloatVService()

void OnFloatVService	(	const msgs::Float_V &	_msg,
		bool	_result
	)

Callback function for point cloud service.

Parameters

[in]	_msg	Float vector message
[out]	_result	True on success.

◆ OnFloatVTopic()

Q_INVOKABLE void OnFloatVTopic ( const QString & _topicName )

Set topic to subscribe to for float vectors.

Parameters

[in] _topicName Name of selected topic

◆ OnPointCloud()

void OnPointCloud ( const msgs::PointCloudPacked & _msg )

Callback function for point cloud topic.

Parameters

[in] _msg Point cloud message

◆ OnPointCloudService()

void OnPointCloudService	(	const msgs::PointCloudPacked &	_msg,
		bool	_result
	)

Callback function for point cloud service.

Parameters

[in]	_msg	Point cloud message
[out]	_result	True on success.

◆ OnPointCloudTopic()

Q_INVOKABLE void OnPointCloudTopic ( const QString & _topicName )

Set topic to subscribe to for point cloud.

Parameters

[in] _topicName Name of selected topic

◆ OnRefresh()

Q_INVOKABLE void OnRefresh ( )

Callback when refresh button is pressed.

◆ PointCloudTopicList()

Q_INVOKABLE QStringList PointCloudTopicList ( ) const

Get the topic list.

Returns: List of topics

◆ PointCloudTopicListChanged

void PointCloudTopicListChanged ( )

signal

Notify that topic list has changed.

◆ PointSize()

Q_INVOKABLE float PointSize ( ) const

Get the point size.

Returns: Maximum value

◆ PointSizeChanged

void PointSizeChanged ( )

signal

Notify that point size has changed.

◆ SetFloatVTopicList()

Q_INVOKABLE void SetFloatVTopicList ( const QStringList & _floatVTopicList )

Set the topic list from a string.

Parameters

[in] _floatVTopicList List of topics.

◆ SetMaxColor()

Q_INVOKABLE void SetMaxColor ( const QColor & _maxColor )

Set the maximum color.

Parameters

[in] _maxColor Maximum color.

◆ SetMaxFloatV()

Q_INVOKABLE void SetMaxFloatV ( float _maxFloatV )

Set the maximum value.

Parameters

[in] _maxFloatV Maximum value.

◆ SetMinColor()

Q_INVOKABLE void SetMinColor ( const QColor & _minColor )

Set the minimum color.

Parameters

[in] _minColor Minimum color.

◆ SetMinFloatV()

Q_INVOKABLE void SetMinFloatV ( float _minFloatV )

Set the minimum value.

Parameters

[in] _minFloatV Minimum value.

◆ SetPointCloudTopicList()

Q_INVOKABLE void SetPointCloudTopicList ( const QStringList & _pointCloudTopicList )

Set the topic list from a string.

Parameters

[in] _pointCloudTopicList List of topics.

◆ SetPointSize()

Q_INVOKABLE void SetPointSize ( float _pointSize )

Set the point size.

Parameters

[in] _pointSize Maximum value.

◆ Show()

Q_INVOKABLE void Show ( bool _show )

Set whether to show the point cloud.

Parameters

[in] _show Boolean value for displaying the points.

Property Documentation

◆ floatVTopicList

QStringList floatVTopicList

readwrite

List of topics publishing FloatV messages.

◆ maxColor

QColor maxColor

readwrite

Color for maximum value.

◆ maxFloatV

float maxFloatV

readwrite

Maximum value.

◆ minColor

QColor minColor

readwrite

Color for minimum value.

◆ minFloatV

float minFloatV

readwrite

Minimum value.

◆ pointCloudTopicList

QStringList pointCloudTopicList

readwrite

List of topics publishing PointCloudPacked messages.

◆ pointSize

float pointSize

readwrite

Point size.

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

PointCloud.hh

Signals

Public Member Functions

Properties

Detailed Description

Constructor & Destructor Documentation

◆ PointCloud()

◆ ~PointCloud()

Member Function Documentation

◆ FloatVTopicList()

◆ FloatVTopicListChanged

◆ LoadConfig()

◆ MaxColor()

◆ MaxColorChanged

◆ MaxFloatV()

◆ MaxFloatVChanged

◆ MinColor()

◆ MinColorChanged

◆ MinFloatV()

◆ MinFloatVChanged

◆ OnFloatV()

◆ OnFloatVService()

◆ OnFloatVTopic()

◆ OnPointCloud()

◆ OnPointCloudService()

◆ OnPointCloudTopic()

◆ OnRefresh()

◆ PointCloudTopicList()

◆ PointCloudTopicListChanged

◆ PointSize()

◆ PointSizeChanged

◆ SetFloatVTopicList()

◆ SetMaxColor()

◆ SetMaxFloatV()

◆ SetMinColor()

◆ SetMinFloatV()

◆ SetPointCloudTopicList()

◆ SetPointSize()

◆ Show()

Property Documentation

◆ floatVTopicList

◆ maxColor

◆ maxFloatV

◆ minColor

◆ minFloatV

◆ pointCloudTopicList

◆ pointSize