vpPclViewer.h

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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:
 * Real-time 3D point clouds plotter based on the PCL library.
 *
*****************************************************************************/
 
#ifndef _vpPclViewer_h_
#define _vpPclViewer_h_
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PCL) && defined(VISP_HAVE_PCL_VISUALIZATION) && defined(VISP_HAVE_THREADS)
// System
#include <thread>
#include <mutex>
 
// ViSP
#include <visp3/core/vpColVector.h>
 
// PCL
#include <pcl/visualization/pcl_visualizer.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPclViewer
{
public:
  typedef typename pcl::PointXYZRGB pclPointXYZRGB;
  typedef typename pcl::PointCloud<pclPointXYZRGB> pclPointCloudPointXYZRGB;
  typedef typename pclPointCloudPointXYZRGB::Ptr pclPointCloudPointXYZRGBPtr;
 
  typedef struct legendParams
  {
    std::string m_text; 
    unsigned int m_posU; 
    unsigned int m_posV; 
    unsigned int m_size; 
    double m_rRatio; 
    double m_gRatio; 
    double m_bRatio; 
  }legendParams;
 
  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:
  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);
 
 
  static void runThread(vpPclViewer *p_viewer);
 
  void loopThread();
 
  std::vector<pclPointCloudPointXYZRGB::Ptr> m_vPointClouds; 
  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; 
  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; 
};
END_VISP_NAMESPACE
#endif // #if defined(VISP_HAVE_PCL)
#endif // _vpPclVisualizer_h_