Add support for configuring point size in Visualize Lidar GUI plugin

src/gui/plugins/visualize_lidar/VisualizeLidar.cc

@@ -364,6 +364,13 @@ void VisualizeLidar::UpdateType(int _type)
  this->dataPtr->lidar->SetType(this->dataPtr->visualType);
 }
 
+//////////////////////////////////////////////////
+void VisualizeLidar::UpdateSize(int _size)
+{
+ std::lock_guard<std::mutex> lock(this->dataPtr->serviceMutex);
+ this->dataPtr->lidar->SetSize(_size);
+}
+
 //////////////////////////////////////////////////
 void VisualizeLidar::OnTopic(const QString &_topicName)
 {

src/gui/plugins/visualize_lidar/VisualizeLidar.hh

@@ -90,6 +90,10 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE
  /// \param[in] _type Index of selected visual type
  public: Q_INVOKABLE void UpdateType(int _type);
 
+ /// \brief Set lidar visualization size
+ /// \param[in] _size Size of lidar visualization
+ public: Q_INVOKABLE void UpdateSize(int _size);
+
  /// \brief Get the topic list as a string
  /// \return Message type
  public: Q_INVOKABLE QStringList TopicList() const;

src/gui/plugins/visualize_lidar/VisualizeLidar.qml

@@ -25,7 +25,7 @@ GridLayout {
  columns: 6
  columnSpacing: 10
  Layout.minimumWidth: 350
- Layout.minimumHeight: 300
+ Layout.minimumHeight: 400
  anchors.fill: parent
  anchors.leftMargin: 10
  anchors.rightMargin: 10
@@ -131,4 +131,21 @@ GridLayout {
  VisualizeLidar.UpdateType(typeCombo.currentIndex);
  }
  }
+
+ Text {
+ Layout.columnSpan: 2
+ id: pointSizeText
+ color: "dimgrey"
+ text: "Point Size"
+ }
+
+ IgnSpinBox {
+ Layout.columnSpan: 2
+ id: pointSize
+ maximumValue: 1000
+ minimumValue: 1
+ value: 1
+ onEditingFinished: VisualizeLidar.UpdateSize(pointSize.value)
+ }
+
 }