text: /*
   * Copyright (c) 2008, Willow Garage, 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_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD2_DISPLAY_HPP_
  #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD2_DISPLAY_HPP_
  
  #include <memory>
  
  #include "sensor_msgs/msg/point_cloud2.hpp"
  
  #include "rviz_common/message_filter_display.hpp"
  
  #include "rviz_default_plugins/displays/pointcloud/point_cloud_common.hpp"
  #include "rviz_default_plugins/visibility_control.hpp"
  
  namespace rviz_common
  {
  namespace properties
  {
  class IntProperty;
  }
  }
  
  namespace rviz_default_plugins
  {
  namespace displays
  {
  
  struct Offsets
  {
    uint32_t x, y, z;
  };
  
  // TODO(greimela) This display originally extended the MessageFilterDisplay. Revisit when available
  /**
   * \class PointCloud2Display
   * \brief Displays a point cloud of type sensor_msgs::PointCloud2
   *
   * By default it will assume channel 0 of the cloud is an intensity value, and will color them by intensity.
   * If you set the channel's name to "rgb", it will interpret the channel as an integer rgb value, with r, g and b
   * all being 8 bits.
   */
  class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloud2Display : public
    rviz_common::MessageFilterDisplay<sensor_msgs::msg::PointCloud2>
  {
  public:
    PointCloud2Display();
  
    void reset() override;
  
    void update(float wall_dt, float ros_dt) override;
  
    /**
     * Filter any NAN values out of the cloud.  Any NAN values that make it through to PointCloudBase
     * will get their points put off in lala land, but it means they still do get processed/rendered
     * which can be a big performance hit
     * @param cloud The cloud to be filtered
     * @return A new cloud containing only the filtered points
     */
    sensor_msgs::msg::PointCloud2::ConstSharedPtr filterOutInvalidPoints(
      sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
  
    /// Move to public for testing
    bool hasXYZChannels(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
  
    /// Move to public for testing
    bool cloudDataMatchesDimensions(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
  
    void onDisable() override;
  
  protected:
    /** @brief Do initialization. Overridden from MessageFilterDisplay. */
    void onInitialize() override;
  
    /** @brief Process a single message.  Overridden from MessageFilterDisplay. */
    void processMessage(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) override;
  
  private:
    std::unique_ptr<PointCloudCommon> point_cloud_common_;
  
    sensor_msgs::msg::PointCloud2::_data_type
    filterData(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
  
    bool validateFloatsAtPosition(
      sensor_msgs::msg::PointCloud2::_data_type::const_iterator position, Offsets offsets) const;
  
    Offsets determineOffsets(sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) const;
  };
  
  }  // namespace displays
  }  // namespace rviz_default_plugins
  
  #endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD2_DISPLAY_HPP_
  