Visual Servoing Platform  version 3.6.1 under development (2024-12-06)
vpDisplayPCL.h
1 /*
2  * ViSP, open source Visual Servoing Platform software.
3  * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
4  *
5  * This software is free software; you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation; either version 2 of the License, or
8  * (at your option) any later version.
9  * See the file LICENSE.txt at the root directory of this source
10  * distribution for additional information about the GNU GPL.
11  *
12  * For using ViSP with software that can not be combined with the GNU
13  * GPL, please contact Inria about acquiring a ViSP Professional
14  * Edition License.
15  *
16  * See https://visp.inria.fr for more information.
17  *
18  * This software was developed at:
19  * Inria Rennes - Bretagne Atlantique
20  * Campus Universitaire de Beaulieu
21  * 35042 Rennes Cedex
22  * France
23  *
24  * If you have questions regarding the use of this file, please contact
25  * Inria at visp@inria.fr
26  *
27  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
28  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
29  *
30  * Description:
31  * Display a point cloud using PCL library.
32  */
33 
34 #ifndef _vpDisplayPCL_h_
35 #define _vpDisplayPCL_h_
36 
37 #include <visp3/core/vpConfig.h>
38 
39 #if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION) && defined(VISP_HAVE_THREADS)
40 
41 #include <mutex>
42 #include <thread>
43 #include <string>
44 
45 #include <pcl/visualization/cloud_viewer.h>
46 #include <pcl/visualization/pcl_visualizer.h>
47 
48 BEGIN_VISP_NAMESPACE
55 class VISP_EXPORT vpDisplayPCL
56 {
57 public:
58  vpDisplayPCL(int posx = 0, int posy = 0, const std::string &window_name = "");
59  vpDisplayPCL(unsigned int width, unsigned int height, int posx = 0, int posy = 0, const std::string &window_name = "");
60  ~vpDisplayPCL();
61 
62  void setVerbose(bool verbose);
63  void startThread(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud);
64  void startThread(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud);
65  void setPosition(int posx, int posy);
66  void setWindowName(const std::string &window_name);
67  void stop();
68 
69 private:
70  void run(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZ>::Ptr pointcloud);
71  void run_color(std::mutex &mutex, pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointcloud);
72 
73  bool m_stop;
74  bool m_verbose;
75  std::thread m_thread;
76  std::mutex m_mutex;
77  unsigned int m_width;
78  unsigned int m_height;
79  int m_posx;
80  int m_posy;
81  std::string m_window_name;
82  pcl::visualization::PCLVisualizer::Ptr m_viewer;
83 };
84 END_VISP_NAMESPACE
85 #endif
86 
87 #endif