RVIZ: added rtabmap/InfoDisplay to show loop closure information from rtabmap::Info msgs

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1555 f169173b-cf89-36c8-b27e-44dbe73f0c83

src/rviz/InfoDisplay.h

@@ -0,0 +1,41 @@
+
+#ifndef INFO_DISPLAY_H
+#define INFO_DISPLAY_H
+
+#include <rtabmap/Info.h>
+
+#include <rviz/message_filter_display.h>
+
+namespace rtabmap
+{
+
+class InfoDisplay: public rviz::MessageFilterDisplay<rtabmap::Info>
+{
+Q_OBJECT
+public:
+	InfoDisplay();
+	virtual ~InfoDisplay();
+
+	virtual void reset();
+	virtual void update( float wall_dt, float ros_dt );
+
+protected:
+	/** @brief Do initialization. Overridden from MessageFilterDisplay. */
+	virtual void onInitialize();
+
+	/** @brief Process a single message.  Overridden from MessageFilterDisplay. */
+	virtual void processMessage( const rtabmap::InfoConstPtr& cloud );
+
+private:
+	ros::AsyncSpinner spinner_;
+	ros::CallbackQueue cbqueue_;
+
+	QString info_;
+	int globalCount_;
+	int localCount_;
+	boost::mutex info_mutex_;
+};
+
+} // namespace rtabmap
+
+#endif