Merge pull request ros-visualization#1016 from ros2/mergify/bp/humble…

…/pr-996

Added DepthCloud default plugin (backport ros-visualization#996)

README.md

@@ -16,12 +16,13 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 | --------------------- | ------------- | --------------------- | --------------- |
 | Axes                  | Move Camera   | Orbit                 | Displays        |
 | Camera                | Focus Camera  | XY Orbit              | Help            |
-| Effort                | Measure       | First Person          | Selections      |
-| Fluid                 | Select        | Third Person Follower | Time            |
-| Grid                  | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
-| Grid Cells            | Publish Point |                       | Views           |
-| Illuminance           | Initial Pose  |
-| Image                 | Interact      |
+| DepthCloud            | Measure       | First Person          | Selections      |
+| Effort                | Select        | Third Person Follower | Time            |
+| Fluid                 | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
+| Grid                  | Publish Point |                       | Views           |
+| Grid Cells            | Initial Pose  |
+| Illuminance           | Interact      |
+| Image                 |
 | Interactive Marker    |
 | Laser Scan            |
 | Map                   |
@@ -43,12 +44,6 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 
 
 ### Not yet ported
-These features have not been ported to `ros2/rviz` yet.
-
-| Displays      |
-| ------------- |
-| DepthCloud    |
-
 Other features:
 - Stereo
 

rviz_common/CMakeLists.txt

@@ -137,6 +137,7 @@ set(rviz_common_source_files
   src/rviz_common/add_display_dialog.cpp
   src/rviz_common/bit_allocator.cpp
   src/rviz_common/config.cpp
+  src/rviz_common/depth_cloud_mld.cpp
   src/rviz_common/display_factory.cpp
   src/rviz_common/display_group.cpp
   src/rviz_common/display.cpp

rviz_common/include/rviz_common/depth_cloud_mld.hpp

@@ -0,0 +1,157 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef RVIZ_COMMON__DEPTH_CLOUD_MLD_HPP_
+#define RVIZ_COMMON__DEPTH_CLOUD_MLD_HPP_
+
+#include <cmath>
+#include <cstdint>
+#include <stdexcept>
+#include <exception>
+#include <memory>
+#include <mutex>
+#include <string>
+#include <vector>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <sensor_msgs/msg/camera_info.hpp>
+#include <sensor_msgs/msg/point_cloud2.hpp>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+#include "rviz_common/visibility_control.hpp"
+
+// This is necessary because of using stl types here. It is completely safe, because
+// a) the member is not accessible from the outside
+// b) there are no inline functions.
+#ifdef _WIN32
+# pragma warning(push)
+# pragma warning(disable:4251)
+#endif
+
+namespace rviz_common
+{
+class MultiLayerDepthException : public std::exception
+{
+public:
+  RVIZ_COMMON_PUBLIC
+  explicit MultiLayerDepthException(const std::string & error_msg)
+  : std::exception(), error_msg_(error_msg)
+  {
+  }
+  ~MultiLayerDepthException() throw() override
+  {
+  }
+
+  RVIZ_COMMON_PUBLIC
+  const char * what() const throw() override
+  {
+    return error_msg_.c_str();
+  }
+
+protected:
+  std::string error_msg_;
+};
+
+class RVIZ_COMMON_PUBLIC MultiLayerDepth final
+{
+public:
+  MultiLayerDepth()
+  : shadow_time_out_(30.0), shadow_distance_(0.01f) {}
+
+  virtual ~MultiLayerDepth()
+  {
+  }
+
+  void setShadowTimeOut(double time_out);
+
+  void enableOcclusionCompensation(bool occlusion_compensation);
+
+  sensor_msgs::msg::PointCloud2::SharedPtr
+  generatePointCloudFromDepth(
+    const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
+    const sensor_msgs::msg::Image::ConstSharedPtr & color_msg,
+    sensor_msgs::msg::CameraInfo::ConstSharedPtr camera_info_msg,
+    ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node);
+
+  void reset();
+
+private:
+  /** @brief Precompute projection matrix, initialize buffers */
+  void initializeConversion(
+    const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
+    sensor_msgs::msg::CameraInfo::ConstSharedPtr & camera_info_msg);
+
+  /** @brief Convert color data to RGBA format */
+  template<typename T>
+  void convertColor(
+    const sensor_msgs::msg::Image::ConstSharedPtr & color_msg,
+    std::vector<uint32_t> & rgba_color_raw);
+
+  /** @brief Generate single-layered depth cloud (depth only) */
+  template<typename T>
+  sensor_msgs::msg::PointCloud2::SharedPtr generatePointCloudSL(
+    const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
+    std::vector<uint32_t> & rgba_color_raw);
+
+  /** @brief Generate multi-layered depth cloud (depth+shadow) */
+  template<typename T>
+  sensor_msgs::msg::PointCloud2::SharedPtr generatePointCloudML(
+    const sensor_msgs::msg::Image::ConstSharedPtr & depth_msg,
+    std::vector<uint32_t> & rgba_color_raw,
+    ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node);
+
+  // Helpers to generate pointcloud2 message
+  sensor_msgs::msg::PointCloud2::SharedPtr initPointCloud();
+  void finalizePointCloud(
+    sensor_msgs::msg::PointCloud2::SharedPtr & point_cloud,
+    std::size_t size);
+
+  std::vector<float> projection_map_x_;
+  std::vector<float> projection_map_y_;
+
+  // shadow buffers
+  std::vector<float> shadow_depth_;
+  std::vector<double> shadow_timestamp_;
+  std::vector<uint8_t> shadow_buffer_;
+
+  // configuration
+  bool occlusion_compensation_;
+  double shadow_time_out_;
+  float shadow_distance_;
+};
+}  // namespace rviz_common
+
+#ifdef _WIN32
+# pragma warning(pop)
+#endif
+
+#endif  // RVIZ_COMMON__DEPTH_CLOUD_MLD_HPP_

rviz_common/include/rviz_common/properties/ros_topic_property.hpp

@@ -78,8 +78,35 @@ protected Q_SLOTS:
   QString message_type_;
 };
 
-}  // end namespace properties
+class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty
+  : public rviz_common::properties::RosTopicProperty
+{
+  Q_OBJECT
+
+public:
+  RosFilteredTopicProperty(
+    const QString & name = QString(),
+    const QString & default_value = QString(),
+    const QString & message_type = QString(),
+    const QString & description = QString(),
+    const QRegExp & filter = QRegExp(),
+    Property * parent = 0,
+    const char * changed_slot = 0,
+    QObject * receiver = 0);
 
+  void enableFilter(bool enabled);
+
+  QRegExp filter() const;
+
+protected Q_SLOTS:
+  void fillTopicList() override;
+
+private:
+  QRegExp filter_;
+  bool filter_enabled_;
+};
+
+}  // end namespace properties
 }  // end namespace rviz_common
 
 #endif  // RVIZ_COMMON__PROPERTIES__ROS_TOPIC_PROPERTY_HPP_