PclViewer¶

class PclViewer(self: visp._visp.gui.PclViewer, title: str, width: int = 640, height: int = 480, posU: int = 720, posV: int = 560, outFolder: str = std::string(), ignoreThreshold: float = 0.95)¶

Bases: pybind11_object

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 soft_tool_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 pcl_viewer_known_issues section to see if it is a known problem.

Note

See tutorial-pcl-viewer

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.

Methods

`__init__`	Construct a new vpPclViewer object.
`addSurface`	Overloaded function.
`display`	Blocking-mode display of the viewer.
`launchThread`	Start the drawing thread that permits to have a non-blocking display.
`refresh`	Refresh the display.
`setIgnoreThreshold`	Set the threshold below which a point must be displayed in black.
`setNameWindow`	Set the name of the PCL viewer window.
`setOutFolder`	Set the path to the output folder.
`stopThread`	Stop the drawing thread that permits to have a non-blocking display.
`updateSurface`	Overloaded function.

Inherited Methods

Operators

`__doc__`
`__init__`	Construct a new vpPclViewer object.
`__module__`

Attributes

`__annotations__`

__init__(self: visp._visp.gui.PclViewer, title: str, width: int = 640, height: int = 480, posU: int = 720, posV: int = 560, outFolder: str = std::string(), ignoreThreshold: float = 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.

addSurface(*args, **kwargs)¶

Overloaded function.

addSurface(self: visp._visp.gui.PclViewer, surface: pcl::PointCloud<pcl::PointXYZRGB>, name: str = , v_color: list[int] = []) -> int

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.

addSurface(self: visp._visp.gui.PclViewer, surface: pcl::PointCloud<pcl::PointXYZRGB>, weights: visp._visp.core.ColVector, name: str = , v_color: list[int] = []) -> int

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(self) → None¶: Blocking-mode display of the viewer.

launchThread(self) → None¶: Start the drawing thread that permits to have a non-blocking display.

refresh(self, timeout: int = 100, waitForDrawing: bool = true) → None¶

Refresh the display.

Parameters:

timeout: int = 100¶: Duration allowed for the drawing.
waitForDrawing: bool = true¶: If true, will wait until the drawing is done. Otherwise, might return without doing nothing.

setIgnoreThreshold(self, thresh: float) → None¶

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

Parameters:

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

setNameWindow(self, nameWindow: str) → None¶

Set the name of the PCL viewer window.

Parameters:

nameWindow: str¶: The name of the PCL viewer window.

setOutFolder(self, outputFolder: str) → None¶

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

Parameters:

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

stopThread(self) → None¶: Stop the drawing thread that permits to have a non-blocking display.

updateSurface(*args, **kwargs)¶

Overloaded function.

updateSurface(self: visp._visp.gui.PclViewer, surface: pcl::PointCloud<pcl::PointXYZRGB>, id: int, hasToKeepColor: bool = false) -> None

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.

updateSurface(self: visp._visp.gui.PclViewer, surface: pcl::PointCloud<pcl::PointXYZRGB>, id: int, weights: visp._visp.core.ColVector, hasToKeepColor: bool = false) -> None

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.