Class PointViz

Defined in File point_viz.h

Class Documentation

class PointViz

A basic visualizer for sensor data.

Displays a set of point clouds, images, cuboids, and text labels with a few options for coloring and handling input.

All operations are thread safe when running rendering (run() or run_once()) in a separate thread. This is the intended way to use the visualizer library when a nontrivial amount of processing needs to run concurrently with rendering (e.g. when streaming data from a running sensor).

Public Functions

void add_default_controls(std::mutex *mx)

Add default keyboard and mouse bindings to a visualizer instance.

Controls will modify the camera from the thread that calls run() or run_once(), which will require synchronization when using multiple threads.

Parameters:: mx[in] – mutex to lock while modifying camera

explicit PointViz(const std::string &name, bool fix_aspect = false, int window_width = DEFAULT_WINDOW_WIDTH, int window_height = DEFAULT_WINDOW_HEIGHT, bool maximized = false, bool fullscreen = false, bool borderless = false)

Creates a window and initializes the rendering context.

Parameters:

name[in] – name of the visualizer, shown in the title bar
fix_aspect[in] – Window aspect to set
window_width[in] – Window width to set, else uses the default_window_width
window_height[in] – Window height to set, else uses the default_window_height
maximized[in] – If true, the window will be maximized to fit the screen.
fullscreen[in] – If true, the window will be fullscreened.
borderless[in] – If true, the window will be borderless.

PointViz(const PointViz&) = delete

PointViz(PointViz&&) = delete

PointViz &operator=(PointViz&) = delete

PointViz &operator=(PointViz&&) = delete

~PointViz(): Tears down the rendering context and closes the viz window.

void run()

Main drawing loop, keeps drawing things until running(false)

Should be called from the main thread for macos compatibility

void run_once()

Run one iteration of the main loop for rendering and input handling.

Should be called from the main thread for macos compatibility

bool running()

Check if the run() has been signaled to exit.

Returns:: true if the run() loop is currently executing

void running(bool state)

Set the running flag.

Will signal run() to exit

Parameters:: state[in] – new value of the flag

void visible(bool state)

Show or hide the visualizer window.

Parameters:: state[in] – true to show

void update()

Update visualization state.

Send state updates to be rendered on the next frame.

void cursor_visible(bool state)

Show or hide the mouse cursor when over this window.

Parameters:: state[in] – true to show

void push_key_handler(std::function<bool(const WindowCtx&, int, int)> &&callback)

Add a callback for handling keyboard input.

Parameters:: callback[in] – the callback. The second argument is the ascii value of the key pressed. Third argument is a bitmask of the modifier keys The callback’s return value determines whether the remaining key callbacks should be called.

void push_mouse_button_handler(std::function<bool(const WindowCtx &ctx, MouseButton button, MouseButtonEvent event, EventModifierKeys mods)> &&callback)

Add a callback for handling mouse button input.

Parameters:: callback[in] – the callback. The callback’s arguments are ctx: the context containing information about the buttons pressed, the mouse position, and the viewport; button: the mouse button pressed; mods: representing which modifier keys are pressed during the mouse click. The callback’s return value determines whether the remaining mouse button callbacks should be called.

void push_scroll_handler(std::function<bool(const WindowCtx&, double x, double y)> &&callback)

Add a callback for handling mouse scrolling input.

Parameters:: callback[in] – the callback. The callback’s arguments are ctx: the context containing information about the buttons pressed, the mouse position, and the viewport; x: the amount of scrolling in the x direction; y: the amount of scrolling in the y direction. The callback’s return value determines whether the remaining mouse scroll callbacks should be called.

void push_mouse_pos_handler(std::function<bool(const WindowCtx&, double x, double y)> &&callback)

Add a callback for handling mouse movement.

Parameters:: callback[in] – the callback. The callback’s arguments are ctx: the context containing information about the buttons pressed, the mouse position, and the viewport; x: the mouse position in the x direction; y: the mouse position in the y direction. The callback’s return value determines whether the remaining mouse position callbacks should be called.

void pop_key_handler(): Remove the last added callback for handling keyboard events.

void pop_mouse_button_handler(): Remove the last added callback for handling mouse button events.

void pop_scroll_handler(): Remove the last added callback for handling mouse scroll events.

void pop_mouse_pos_handler(): Remove the last added callback for handling mouse position events.

void push_frame_buffer_resize_handler(std::function<bool(const WindowCtx&)> &&callback)

Add a callback for handling frame buffer resize events.

Parameters:: callback[in] – function callback of the form f(const WindowCtx&). The callback’s return value determines whether the remaining frame buffer resize callbacks should be called.

void pop_frame_buffer_resize_handler(): Remove the last added callback for handling frame buffer resize events.

Camera &camera()

Get a reference to the camera controls.

Returns:: Handler to the camera object

TargetDisplay &target_display()

Get a reference to the target display controls.

Returns:: Handler to the target display controls

void add(const std::shared_ptr<Cloud> &cloud)

Add an object to the scene.

Parameters:: cloud[in] – Adds a point cloud to the scene

void add(const std::shared_ptr<Image> &image)

Add an object to the scene.

Parameters:: image[in] – Adds an image to the scene

void add(const std::shared_ptr<Mesh> &mesh)

Add an object to the scene.

Parameters:: mesh[in] – Adds a mesh to the scene

void add(const std::shared_ptr<Cuboid> &cuboid)

Add an object to the scene.

Parameters:: cuboid[in] – Adds a cuboid to the scene

void add(const std::shared_ptr<Lines> &lines)

Add an object to the scene.

Parameters:: lines[in] – Adds a lines to the scene

void add(const std::shared_ptr<Label> &label)

Add an object to the scene.

Parameters:: label[in] – Adds a label to the scene

bool remove(const std::shared_ptr<Cloud> &cloud)