vpDisplayPCL.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 * Description:
 * Display a point cloud using PCL library.
 */
 
#ifndef _vpDisplayPCL_h_
#define _vpDisplayPCL_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION) && defined(VISP_HAVE_THREADS)
 
#include <mutex>
#include <thread>
#include <string>
 
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
 
class VISP_EXPORT vpDisplayPCL
{
public:
  vpDisplayPCL(int posx = 0, int posy = 0, const std::string &window_name = "");
  vpDisplayPCL(unsigned int width, unsigned int height, int posx = 0, int posy = 0, const std::string &window_name = "");
  ~vpDisplayPCL();
 
  void setVerbose(bool verbose);
  void startThread(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud);
  void startThread(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud);
  void setPosition(int posx, int posy);
  void setWindowName(const std::string &window_name);
  void stop();
 
private:
  void run(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud);
  void run_color(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud);
 
  bool m_stop;
  bool m_verbose;
  std::thread m_thread; 
  std::mutex m_mutex;
  unsigned int m_width;
  unsigned int m_height;
  int m_posx;
  int m_posy;
  std::string m_window_name;
  pcl::visualization::PCLVisualizer::Ptr m_viewer;
};
 
#endif
 
#endif