#include <vpPclViewer.h>

Classes
struct	legendParams

Public Types
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 pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const std::string &name="", const std::vector< unsigned char > &v_color=std::vector< unsigned char >())
unsigned int	addSurface (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const vpColVector &weights, const std::string &name="", const std::vector< unsigned char > &v_color=std::vector< unsigned char >())
void	updateSurface (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const unsigned int &id, const bool &hasToKeepColor=false)
void	updateSurface (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const unsigned int &id, const vpColVector &weights, const bool &hasToKeepColor=false)
void	display (const bool &blocking=false)
void	launchThread ()
void	stopThread ()

Protected Member Functions
void	threadUpdateSurface (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const unsigned int &id)
void	threadUpdateSurfaceOriginalColor (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const unsigned int &id)
void	threadUpdateSurface (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &surface, const unsigned int &id, const vpColVector &weights)
void	threadUpdateSurfaceOriginalColor (const pcl::PointCloud< pcl::PointXYZRGB >::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< pcl::PointCloud< pcl::PointXYZRGB >::Ptr >	m_vPointClouds
std::vector< std::vector< double > >	m_vhandler
pcl::visualization::PCLVisualizer::Ptr	mp_viewer
int	m_width
int	m_height
int	m_posU
int	m_posV
double	m_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

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

Definition at line 66 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.

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.

Referenced by runThread().

◆ ~vpPclViewer()

vpPclViewer::~vpPclViewer ( )

Member Function Documentation

◆ addSurface() [1/2]

unsigned int vpPclViewer::addSurface	(	const pcl::PointCloud< pcl::PointXYZRGB >::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.

◆ addSurface() [2/2]

unsigned int vpPclViewer::addSurface	(	const pcl::PointCloud< pcl::PointXYZRGB >::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 ( const bool & blocking = false )

Blocking-mode display of the viewer.

Parameters

blocking True if we must wait for the user to press 'Q' to leave the method, false otherwise.

◆ launchThread()

void vpPclViewer::launchThread ( )

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

◆ loopThread()

void vpPclViewer::loopThread ( )

protected

The internal loop of the non-blocking drawing thread.

◆ runThread()

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 ).

References vpPclViewer().

◆ 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 pcl::PointCloud< pcl::PointXYZRGB >::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 pcl::PointCloud< pcl::PointXYZRGB >::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 pcl::PointCloud< pcl::PointXYZRGB >::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 pcl::PointCloud< pcl::PointXYZRGB >::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 pcl::PointCloud< pcl::PointXYZRGB >::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.

◆ updateSurface() [2/2]

void vpPclViewer::updateSurface	(	const pcl::PointCloud< pcl::PointXYZRGB >::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 250 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 252 of file vpPclViewer.h.

◆ m_height

int vpPclViewer::m_height

protected

The height of the window.

Definition at line 241 of file vpPclViewer.h.

◆ m_ignoreThresh

double vpPclViewer::m_ignoreThresh

protected

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

Definition at line 244 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 253 of file vpPclViewer.h.

◆ m_posU

int vpPclViewer::m_posU

protected

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

Definition at line 242 of file vpPclViewer.h.

◆ m_posV

int vpPclViewer::m_posV

protected

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

Definition at line 243 of file vpPclViewer.h.

◆ m_threadDisplay

std::thread vpPclViewer::m_threadDisplay

protected

The non-blocking drawing thread.

Definition at line 249 of file vpPclViewer.h.

◆ m_title

std::string vpPclViewer::m_title

protected

The title of the viewer window.

Definition at line 251 of file vpPclViewer.h.

◆ m_vhandler

std::vector<std::vector<double> > vpPclViewer::m_vhandler

protected

The list of color handlers.

Definition at line 238 of file vpPclViewer.h.

◆ m_vlegends

std::vector<legendParams> vpPclViewer::m_vlegends

protected

The list of the legend items.

Definition at line 246 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 245 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 247 of file vpPclViewer.h.

◆ m_vPointClouds

std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> vpPclViewer::m_vPointClouds

protected

The list of point clouds known by the viewer.

Definition at line 237 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 248 of file vpPclViewer.h.

◆ m_width

int vpPclViewer::m_width

protected

The width of the window.

Definition at line 240 of file vpPclViewer.h.

◆ mp_viewer

pcl::visualization::PCLVisualizer::Ptr vpPclViewer::mp_viewer

protected

The PCL viewer permitting the display.

Definition at line 239 of file vpPclViewer.h.

Classes

Public Types

Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ legendParams

Constructor & Destructor Documentation

◆ vpPclViewer()

◆ ~vpPclViewer()

Member Function Documentation

◆ addSurface() [1/2]

◆ addSurface() [2/2]

◆ display()

◆ launchThread()

◆ loopThread()

◆ 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_height

◆ m_ignoreThresh

◆ m_outFolder

◆ m_posU

◆ m_posV

◆ m_threadDisplay

◆ m_title

◆ m_vhandler

◆ m_vlegends

◆ m_vmeshid

◆ m_vpmutex

◆ m_vPointClouds

◆ m_vweights

◆ m_width

◆ mp_viewer