class mola::VizInterface

Overview

Virtual visualization interface (see MolaViz)

#include <VizInterface.h>

class VizInterface
{
public:
    // typedefs

    typedef std::shared_ptr<VizInterface> Ptr;

    // methods

    virtual std::future<nanogui::Window*> create_subwindow(
        const std::string& title,
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<void> subwindow_grid_layout(
        const std::string& subWindowTitle,
        const bool orientationVertical,
        int resolution,
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<void> subwindow_move_resize(
        const std::string& subWindowTitle,
        const mrpt::math::TPoint2D_<int>& location,
        const mrpt::math::TPoint2D_<int>& size,
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> subwindow_update_visualization(
        const mrpt::rtti::CObject::Ptr& obj,
        const std::string& subWindowTitle,
        const mrpt::containers::yaml* extra_parameters = nullptr,
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> update_3d_object(
        const std::string& objName,
        const std::shared_ptr<mrpt::opengl::CSetOfObjects>& obj,
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> insert_point_cloud_with_decay(
        const std::shared_ptr<mrpt::opengl::CPointCloudColoured>& cloud,
        const double decay_time_seconds,
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> clear_all_point_clouds_with_decay(
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> update_viewport_look_at(
        const mrpt::math::TPoint3Df& lookAt,
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> update_viewport_camera_azimuth(
        const double azimuth,
        bool absolute_falseForRelative = true,
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> update_viewport_camera_orthographic(
        const bool orthographic,
        const std::string& viewportName = "main",
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<bool> execute_custom_code_on_background_scene(
        const std::function<void(mrpt::opengl::Scene&)>& userCode,
        const std::string& parentWindow = "main"
        ) = 0;

    virtual std::future<void> enqueue_custom_nanogui_code(const std::function<void(void)>& userCode) = 0;

    virtual std::future<bool> output_console_message(
        const std::string& msg,
        const std::string& parentWindow = "main"
        ) = 0;
};

// direct descendants

class MolaViz;

Methods

virtual std::future<bool> subwindow_update_visualization(
    const mrpt::rtti::CObject::Ptr& obj,
    const std::string& subWindowTitle,
    const mrpt::containers::yaml* extra_parameters = nullptr,
    const std::string& parentWindow = "main"
    ) = 0

Updates the contents of a subwindow from a given object, typically a mrpt::obs::CObservation, but custom handlers can be installed for arbitrary classes.

Depending on the object class RTTI, the corresponding handler is called.

Returns:

false if no handler is found for the given object.

See also:

mola::MolaViz

virtual std::future<bool> update_3d_object(
    const std::string& objName,
    const std::shared_ptr<mrpt::opengl::CSetOfObjects>& obj,
    const std::string& viewportName = "main",
    const std::string& parentWindow = "main"
    ) = 0

Updates or inserts a 3D object in the background scene of a specified window.

This method schedules a task to update (or insert if not present) a named 3D object (objName) in the background scene of the given parent window (parentWindow), optionally within a specific viewport (viewportName). The object is provided as a shared pointer to a mrpt::opengl::CSetOfObjects.

The update is performed in the GUI thread. If the object already exists, its contents and properties are updated by copying the shared pointers contained into obj.

Parameters:

objName	The name of the 3D object to update or insert.
obj	Shared pointer to the 3D object (CSetOfObjects) to be displayed.
viewportName	The name of the viewport where the object should be placed.
parentWindow	The name of the parent window containing the background scene.

Returns:

A future<bool>, will return true when the task is run in its thread.

virtual std::future<bool> insert_point_cloud_with_decay(
    const std::shared_ptr<mrpt::opengl::CPointCloudColoured>& cloud,
    const double decay_time_seconds,
    const std::string& viewportName = "main",
    const std::string& parentWindow = "main"
    ) = 0

Inserts a temporary point cloud, which will be visible only during decay_time_seconds

Parameters:

obj	Shared pointer to the cloud (CPointCloudColoured) to be added.
decay_time_seconds	Seconds that the cloud will be visible before disappearing.
viewportName	The name of the viewport where the object should be placed.
parentWindow	The name of the parent window containing the background scene.

Returns:

A future<bool>, will return true when the task is run in its thread.

virtual std::future<bool> clear_all_point_clouds_with_decay(
    const std::string& viewportName = "main",
    const std::string& parentWindow = "main"
    ) = 0

Removes from the visualization all clouds inserted with insert_point_cloud_with_decay()

Parameters:

viewportName	The name of the viewport where the object should be placed.
parentWindow	The name of the parent window containing the background scene.

Returns:

A future<bool>, will return true when the task is run in its thread.

virtual std::future<bool> execute_custom_code_on_background_scene(
    const std::function<void(mrpt::opengl::Scene&)>& userCode,
    const std::string& parentWindow = "main"
    ) = 0

Executes arbitrary user code on the 3D Scene in the background of the main window space.

This can be used to modify the viewport, create new sub-viewports, etc. The user-provided code will be executed in the main GUI thread, so mutexes must be used as needed.