#include <visp3/gui/vpPclViewer.h>

Classes
struct	legendParams

Public Types
typedef pcl::PointXYZRGB	pclPointXYZRGB

typedef pcl::PointCloud< pclPointXYZRGB >	pclPointCloudPointXYZRGB

typedef pclPointCloudPointXYZRGB::Ptr	pclPointCloudPointXYZRGBPtr

typedef struct vpPclViewer::legendParams	legendParams

Public Member Functions
	vpPclViewer (const std::string &title, const int &width=640, const int &height=480, const int &posU=720, const int &posV=560, const std::string &outFolder=std::string(), const double &ignoreThreshold=0.95)

	~vpPclViewer ()

void	setNameWindow (const std::string &nameWindow)

void	setOutFolder (const std::string &outputFolder)

void	setIgnoreThreshold (const double &thresh)

unsigned int	addSurface (const pclPointCloudPointXYZRGB::Ptr &surface, const std::string &name="", const std::vector< unsigned char > &v_color=std::vector< unsigned char >())

unsigned int	addSurface (const pclPointCloudPointXYZRGB::Ptr &surface, const vpColVector &weights, const std::string &name="", const std::vector< unsigned char > &v_color=std::vector< unsigned char >())

void	updateSurface (const pclPointCloudPointXYZRGB::Ptr &surface, const unsigned int &id, const bool &hasToKeepColor=false)

void	updateSurface (const pclPointCloudPointXYZRGB::Ptr &surface, const unsigned int &id, const vpColVector &weights, const bool &hasToKeepColor=false)

void	display ()

void	refresh (const int &timeout=100, const bool &waitForDrawing=true)

void	launchThread ()

void	stopThread ()

Protected Member Functions
void	threadUpdateSurface (const pclPointCloudPointXYZRGB::Ptr &surface, const unsigned int &id)

void	threadUpdateSurfaceOriginalColor (const pclPointCloudPointXYZRGB::Ptr &surface, const unsigned int &id)

void	threadUpdateSurface (const pclPointCloudPointXYZRGB::Ptr &surface, const unsigned int &id, const vpColVector &weights)

void	threadUpdateSurfaceOriginalColor (const pclPointCloudPointXYZRGB::Ptr &surface, const unsigned int &id, const vpColVector &weights)

void	loopThread ()

Static Protected Member Functions
static void	runThread (vpPclViewer *p_viewer)

Protected Attributes
std::vector< pclPointCloudPointXYZRGB::Ptr >	m_vPointClouds

std::vector< std::string >	m_vmeshid

std::vector< legendParams >	m_vlegends

std::vector< std::mutex * >	m_vpmutex

std::vector< vpColVector >	m_vweights

std::thread	m_threadDisplay

bool	m_hasToRun

std::string	m_title

bool	m_hasToSavePCDs

std::string	m_outFolder

Static Protected Attributes
static pcl::visualization::PCLVisualizer::Ptr	sp_viewer

static std::vector< std::vector< double > >	s_vhandler

static int	s_width

static int	s_height

static int	s_posU

static int	s_posV

static double	s_ignoreThresh

Detailed Description

This class enables real time plotting of 3D point clouds. It relies on the PCL library. To see how to install PCL library, please refer to the Point Cloud Library (PCL) section. You can either plot in a non-blocking threaded manner or in a blocking manner. The point clouds can be displayed using their original colors, or using uniform colors to match a legend. Additionally, it is possible to use confidence weights to hide points that are not trusted. These weights can result from a robust estimation using for instance the vpRobust class.

Warning: If you face some runtime errors with the following class, please refer to the Known issues section to see if it is a known problem.

See also: Tutorial: Threaded PCL viewer

Examples: ClassUsingPclViewer.h.

Definition at line 68 of file vpPclViewer.h.

Member Typedef Documentation

◆ legendParams

typedef struct vpPclViewer::legendParams vpPclViewer::legendParams

Structure that contains all the required parameters to display a legend on the viewer.

◆ pclPointCloudPointXYZRGB

typedef pcl::PointCloud<pclPointXYZRGB> vpPclViewer::pclPointCloudPointXYZRGB

Definition at line 72 of file vpPclViewer.h.

◆ pclPointCloudPointXYZRGBPtr

typedef pclPointCloudPointXYZRGB::Ptr vpPclViewer::pclPointCloudPointXYZRGBPtr

Definition at line 73 of file vpPclViewer.h.

◆ pclPointXYZRGB

typedef pcl::PointXYZRGB vpPclViewer::pclPointXYZRGB

Definition at line 71 of file vpPclViewer.h.

Constructor & Destructor Documentation

◆ vpPclViewer()

vpPclViewer::vpPclViewer	(	const std::string &	title,
		const int &	width = `640`,
		const int &	height = `480`,
		const int &	posU = `720`,
		const int &	posV = `560`,
		const std::string &	outFolder = `std::string()`,
		const double &	ignoreThreshold = `0.95`
	)

Construct a new vpPclViewer object.

Parameters

title	The title of the window of the viewer.
width	The width of the window of the viewer.
height	The height of the window of the viewer.
posU	The position on the horizontal axis of the screen of the window of the viewer.
posV	The position on the vertical axis of the screen of the window of the viewer.
outFolder	If different from the empty string, the point clouds will be saved in this folder.
ignoreThreshold	A point for which the weight is below this threshold will be displayed in black.

◆ ~vpPclViewer()

vpPclViewer::~vpPclViewer ( )

Member Function Documentation

◆ addSurface() [1/2]

unsigned int vpPclViewer::addSurface	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const std::string &	name = `""`,
		const std::vector< unsigned char > &	v_color = `std::vector< unsigned char >()`
	)

Add a surface to the list of point clouds known by the viewer.

Parameters

surface	The surface that must be knwon to be displayed by the PCL viewer.
name	The name of the surface that will be displayed in the legend. If empty, it will be automatically generated.
v_color	A vector containing the 3 RGB values.

Returns: unsigned int The ID by which is known the point cloud by the viewer.

Examples: ClassUsingPclViewer.cpp.

Referenced by ClassUsingPclViewer::blockingMode(), and ClassUsingPclViewer::threadedMode().

◆ addSurface() [2/2]

unsigned int vpPclViewer::addSurface	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const vpColVector &	weights,
		const std::string &	name = `""`,
		const std::vector< unsigned char > &	v_color = `std::vector< unsigned char >()`
	)

Add a surface to the list of point clouds known by the viewer. The points whose weights are below the vpPclViewer::s_ignoreThresh wil be displayed in black.

Parameters

surface	The surface that must be knwon to be displayed by the PCL viewer.
weights	The confidence weights of each points. Must be between 0 and 1.
name	The name of the surface that will be displayed in the legend. If empty, it will be automatically generated.
v_color	A vector containing the 3 RGB values.

Returns: unsigned int The ID by which is known the point cloud by the viewer.

◆ display()

void vpPclViewer::display ( )

Blocking-mode display of the viewer.

Examples: ClassUsingPclViewer.cpp.

Referenced by ClassUsingPclViewer::blockingMode().

◆ launchThread()

void vpPclViewer::launchThread ( )

Start the drawing thread that permits to have a non-blocking display.

Examples: ClassUsingPclViewer.cpp.

Referenced by ClassUsingPclViewer::threadedMode().

◆ loopThread()

void vpPclViewer::loopThread ( )

protected

The internal loop of the non-blocking drawing thread.

◆ refresh()

void vpPclViewer::refresh	(	const int &	timeout = `100`,
		const bool &	waitForDrawing = `true`
	)

Refresh the display.

Parameters

timeout	Duration allowed for the drawing.
waitForDrawing	If true, will wait until the drawing is done. Otherwise, might return without doing nothing.

◆ runThread()

static void vpPclViewer::runThread ( vpPclViewer * p_viewer )

staticprotected

Internal method that is called by vpPclViewer::launchThread to launch the drawing thread.

Parameters

p_viewer The pointer of the vpPclViewer object that will run the thread (is equal to this ).

◆ setIgnoreThreshold()

void vpPclViewer::setIgnoreThreshold ( const double & thresh )

Set the threshold below which a point must be displayed in black.

Parameters

thresh The threshold below which a point must be displayed in black.

◆ setNameWindow()

void vpPclViewer::setNameWindow ( const std::string & nameWindow )

Set the name of the PCL viewer window.

Parameters

nameWindow The name of the PCL viewer window.

◆ setOutFolder()

void vpPclViewer::setOutFolder ( const std::string & outputFolder )

Set the path to the output folder. If different from the empty string, the point clouds will be saved in this folder.

Parameters

outputFolder The path towards to the output folder, or empty if the point clouds must not be saved.

◆ stopThread()

void vpPclViewer::stopThread ( )

Stop the drawing thread that permits to have a non-blocking display.

◆ threadUpdateSurface() [1/2]

void vpPclViewer::threadUpdateSurface	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const unsigned int &	id
	)

protected

Method to update a point cloud known by the viewer when the drawing thread is running. The updated surface will be drawn with the default color that was affected to it.

Parameters

surface	The updated surface.
id	The ID of the point cloud that must be updated.

◆ threadUpdateSurface() [2/2]

void vpPclViewer::threadUpdateSurface	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const unsigned int &	id,
		const vpColVector &	weights
	)

protected

Method to update a point cloud known by the viewer when the drawing thread is running. The updated surface will be drawn with the default color that was affected to it.

Parameters

surface	The updated surface.
id	The ID of the point cloud that must be updated.
weights	The confidence weights of each point. Must be between 0 and 1.

◆ threadUpdateSurfaceOriginalColor() [1/2]

void vpPclViewer::threadUpdateSurfaceOriginalColor	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const unsigned int &	id
	)

protected

Method to update a point cloud known by the viewer when the drawing thread is running. The updated surface will be drawn with the color it contains.

Parameters

surface	The updated surface.
id	The ID of the point cloud that must be updated.

◆ threadUpdateSurfaceOriginalColor() [2/2]

void vpPclViewer::threadUpdateSurfaceOriginalColor	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const unsigned int &	id,
		const vpColVector &	weights
	)

protected

Method to update a point cloud known by the viewer when the drawing thread is running. The updated surface will be drawn with the color it contains.

Parameters

surface	The updated surface.
id	The ID of the point cloud that must be updated.
weights	The confidence weights of each point. Must be between 0 and 1.

◆ updateSurface() [1/2]

void vpPclViewer::updateSurface	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const unsigned int &	id,
		const bool &	hasToKeepColor = `false`
	)

Update the surface known by id by the viewer.

Parameters

surface	The updated surface.
id	The ID of the surface that must be updated.
hasToKeepColor	If true, will be displayed in its original color. Otherwise, will be displayed in its default color.

Examples: ClassUsingPclViewer.cpp.

Referenced by ClassUsingPclViewer::threadedMode().

◆ updateSurface() [2/2]

void vpPclViewer::updateSurface	(	const pclPointCloudPointXYZRGB::Ptr &	surface,
		const unsigned int &	id,
		const vpColVector &	weights,
		const bool &	hasToKeepColor = `false`
	)

Update the surface known by id by the viewer.

Parameters

surface	The updated surface.
id	The ID of the surface that must be updated.
weights	The confidence weights of each points.
hasToKeepColor	If true, will be displayed in its original color. Otherwise, will be displayed in its default color.

Member Data Documentation

◆ m_hasToRun

bool vpPclViewer::m_hasToRun

protected

If true, the drawing thread is running. Otherwise, it is stopped.

Definition at line 255 of file vpPclViewer.h.

◆ m_hasToSavePCDs

bool vpPclViewer::m_hasToSavePCDs

protected

If true, the point clouds will be saved at each iteration of the drawing thread.

Definition at line 257 of file vpPclViewer.h.

◆ m_outFolder

std::string vpPclViewer::m_outFolder

protected

If non empty, the path to the folders where the point clouds will be saved.

Definition at line 258 of file vpPclViewer.h.

◆ m_threadDisplay

std::thread vpPclViewer::m_threadDisplay

protected

The non-blocking drawing thread.

Definition at line 254 of file vpPclViewer.h.

◆ m_title

std::string vpPclViewer::m_title

protected

The title of the viewer window.

Definition at line 256 of file vpPclViewer.h.

◆ m_vlegends

std::vector<legendParams> vpPclViewer::m_vlegends

protected

The list of the legend items.

Definition at line 251 of file vpPclViewer.h.

◆ m_vmeshid

std::vector<std::string> vpPclViewer::m_vmeshid

protected

The list of the point cloud names, for the legend.

Definition at line 250 of file vpPclViewer.h.

◆ m_vpmutex

std::vector<std::mutex *> vpPclViewer::m_vpmutex

protected

The list of mutexes protecting the point clouds from data race when using the drawing thread.

Definition at line 252 of file vpPclViewer.h.

◆ m_vPointClouds

std::vector<pclPointCloudPointXYZRGB::Ptr> vpPclViewer::m_vPointClouds

protected

The list of point clouds known by the viewer.

Definition at line 242 of file vpPclViewer.h.

◆ m_vweights

std::vector<vpColVector> vpPclViewer::m_vweights

protected

The list of confidence weights of each point cloud.

Definition at line 253 of file vpPclViewer.h.

◆ s_height

int vpPclViewer::s_height

staticprotected

The height of the window.

Definition at line 246 of file vpPclViewer.h.

◆ s_ignoreThresh

double vpPclViewer::s_ignoreThresh

staticprotected

The minimum value of the confidence weight of a point to allow it to be displayed.

Definition at line 249 of file vpPclViewer.h.

◆ s_posU

int vpPclViewer::s_posU

staticprotected

The position along the horizontal axis of the screen of the window.

Definition at line 247 of file vpPclViewer.h.

◆ s_posV

int vpPclViewer::s_posV

staticprotected

The position along the vertical axis of the screen of the window.

Definition at line 248 of file vpPclViewer.h.

◆ s_vhandler

std::vector<std::vector<double> > vpPclViewer::s_vhandler

staticprotected

The list of color handlers.

Definition at line 244 of file vpPclViewer.h.

◆ s_width

int vpPclViewer::s_width

staticprotected

The width of the window.

Definition at line 245 of file vpPclViewer.h.

◆ sp_viewer

pcl::visualization::PCLVisualizer::Ptr vpPclViewer::sp_viewer

staticprotected

The PCL viewer permitting the display.

Definition at line 243 of file vpPclViewer.h.

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

◆ legendParams

◆ pclPointCloudPointXYZRGB

◆ pclPointCloudPointXYZRGBPtr

◆ pclPointXYZRGB

Constructor & Destructor Documentation

◆ vpPclViewer()

◆ ~vpPclViewer()

Member Function Documentation

◆ addSurface() [1/2]

◆ addSurface() [2/2]

◆ display()

◆ launchThread()

◆ loopThread()

◆ refresh()

◆ runThread()

◆ setIgnoreThreshold()

◆ setNameWindow()

◆ setOutFolder()

◆ stopThread()

◆ threadUpdateSurface() [1/2]

◆ threadUpdateSurface() [2/2]

◆ threadUpdateSurfaceOriginalColor() [1/2]

◆ threadUpdateSurfaceOriginalColor() [2/2]

◆ updateSurface() [1/2]

◆ updateSurface() [2/2]

Member Data Documentation

◆ m_hasToRun

◆ m_hasToSavePCDs

◆ m_outFolder

◆ m_threadDisplay

◆ m_title

◆ m_vlegends

◆ m_vmeshid

◆ m_vpmutex

◆ m_vPointClouds

◆ m_vweights

◆ s_height

◆ s_ignoreThresh

◆ s_posU

◆ s_posV

◆ s_vhandler

◆ s_width

◆ sp_viewer