class mola::MolaViz

Overview

MOLA GUI and visualization API

#include <MolaViz.h>

class MolaViz:
    public mola::ExecutableBase,
    public mola::VizInterface
{
public:
    // typedefs

    typedef std::string window_name_t;
    typedef std::string subwindow_name_t;
    typedef std::function<void(const mrpt::rtti::CObject::Ptr&, nanogui::Window*subWin, const window_name_t&parentWin, MolaViz*instance, const mrpt::containers::yaml*extra_parameters)> update_handler_t;
    typedef std::string class_name_t;

    // structs

    struct DataPerDatasetUI;
    struct DecayingCloud;
    struct PerWindowData;

    // fields

    static const window_name_t DEFAULT_WINDOW_NAME = "main";
    double console_text_font_size_ = 9.0;
    unsigned int max_console_lines_ = 5;
    bool show_rgbd_as_point_cloud_ = false;

    // construction

    MolaViz();
    MolaViz(const MolaViz&);
    MolaViz(MolaViz&&);

    // methods

    virtual std::future<nanogui::Window*> create_subwindow(
        const std::string& subWindowTitle,
        const std::string& parentWindow = DEFAULT_WINDOW_NAME
        );

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

    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 = DEFAULT_WINDOW_NAME
        );

    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 = DEFAULT_WINDOW_NAME
        );

    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 = DEFAULT_WINDOW_NAME
        );

    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"
        );

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

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

    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"
        );

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

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

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

    virtual std::future<void> enqueue_custom_nanogui_code(const std::function<void(void)>& userCode);
    static bool IsRunning();
    static MolaViz* Instance();

    static void register_gui_handler(
        const class_name_t& name,
        const update_handler_t& handler
        );

    MolaViz& operator = (const MolaViz&);
    MolaViz& operator = (MolaViz&&);
    virtual void initialize(const Yaml& cfg);
    virtual void spinOnce();
    void markWindowForReLayout(const window_name_t& name);
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<VizInterface> Ptr;

    // structs

    struct DiagnosticsOutput;

    // methods

    virtual void initialize(const Yaml& cfg) = 0;
    virtual void spinOnce() = 0;
    ExecutableBase& operator = (const ExecutableBase&);
    ExecutableBase& operator = (ExecutableBase&&);

    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;

Methods

virtual std::future<nanogui::Window*> create_subwindow(
    const std::string& subWindowTitle,
    const std::string& parentWindow = DEFAULT_WINDOW_NAME
    )

Returned object is owned by the VizInterface, do NOT delete it. Updates to it must be done via enqueue_custom_nanogui_code()

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 = DEFAULT_WINDOW_NAME
    )

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 = DEFAULT_WINDOW_NAME
    )

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"
    )

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"
    )

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"
    )

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.

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

Updates to nanogui window controls must happen via this method to ensure it is run by the correct thread, in the next available time slot.

virtual void initialize(const Yaml& cfg)

This must be implemented to read all the required parameters

This should be reimplemented to read all the required parameters

virtual void spinOnce()

Runs any required action on a timely manner