Point cloud visualization plugin

examples/standalone/point_cloud/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
+
+project(ignition-gui-point-cloud-example)
+
+if(${CMAKE_SYSTEM_NAME} STREQUAL "Linux")
+  find_package(ignition-transport12 QUIET REQUIRED OPTIONAL_COMPONENTS log)
+  set(IGN_TRANSPORT_VER ${ignition-transport12_VERSION_MAJOR})
+
+  find_package(ignition-common5 REQUIRED)
+  set(IGN_COMMON_VER ${ignition-common5_VERSION_MAJOR})
+
+  find_package(ignition-msgs9 REQUIRED)
+  set(IGN_MSGS_VER ${ignition-msgs9_VERSION_MAJOR})
+
+  add_executable(point_cloud point_cloud.cc)
+  target_link_libraries(point_cloud
+    ignition-transport${IGN_TRANSPORT_VER}::core
+    ignition-msgs${IGN_MSGS_VER}
+    ignition-common${IGN_COMMON_VER}::ignition-common${IGN_COMMON_VER}
+    )
+endif()

examples/standalone/point_cloud/README.md

@@ -0,0 +1,43 @@
+# Point cloud visualization example
+
+This example publishes a point cloud that can be visualized with the
+`PointCloud` plugin. The example publishes:
+
+* `ignition::msgs::PointCloudPacked` messages on `/point_cloud` with XYZ
+  positions of points.
+* `ignition::msgs::FloatV` messages on 3 different topics:
+    * `/flat`: Array of 1s
+    * `/sum`: Each value in the array corresponds to the sum of its point's
+       coordinates (X + Y + Z).
+    * `/product`: Each value in the array corresponds to the product of its
+       point's  coordinates (X * Y * Z).
+
+## Build Instructions
+
+Navigate to this directory:
+
+    cd <path to ign-gui>/examples/standalone/point_cloud
+
+Build:
+
+    mkdir build
+    cd build
+    cmake ..
+    make
+
+## Execute Instructions
+
+1. Navigate to this directory:
+
+        cd <path to ign-gui>/examples/standalone/point_cloud
+
+1. Launch the example config file:
+
+        ign gui -c point_cloud.config
+
+3. From the build directory above, publish clouds to be visualized:
+
+        ./point_cloud
+
+4. Try out different options on the plugin.
+

examples/standalone/point_cloud/point_cloud.cc

@@ -0,0 +1,106 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+#include <ignition/msgs/float_v.pb.h>
+#include <ignition/msgs/pointcloud_packed.pb.h>
+
+#include <ignition/transport/Node.hh>
+
+#include <atomic>
+#include <chrono>
+#include <csignal>
+#include <iostream>
+#include <thread>
+
+using namespace std::chrono_literals;
+
+// Set to true if a signal has been received to terminate publishing
+static std::atomic<bool> g_terminatePub(false);
+
+/////////////////////////////////////////////////
+int main(int _argc, char **_argv)
+{
+  // Install a signal handler for SIGINT and SIGTERM.
+  auto signalHandler = [](int _signal) -> void
+  {
+    if (_signal == SIGINT || _signal == SIGTERM)
+      g_terminatePub = true;
+  };
+  std::signal(SIGINT,  signalHandler);
+  std::signal(SIGTERM, signalHandler);
+
+  // Create messages
+  ignition::msgs::PointCloudPacked pcMsg;
+  ignition::msgs::InitPointCloudPacked(pcMsg, "some_frame", true,
+      {{"xyz", ignition::msgs::PointCloudPacked::Field::FLOAT32}});
+
+  int numberOfPoints{1000};
+  unsigned int dataSize{numberOfPoints * pcMsg.point_step()};
+  pcMsg.mutable_data()->resize(dataSize);
+  pcMsg.set_height(1);
+  pcMsg.set_width(1000);
+
+  ignition::msgs::Float_V flatMsg;
+  ignition::msgs::Float_V sumMsg;
+  ignition::msgs::Float_V productMsg;
+
+  // Populate messages
+  ignition::msgs::PointCloudPackedIterator<float> xIter(pcMsg, "x");
+  ignition::msgs::PointCloudPackedIterator<float> yIter(pcMsg, "y");
+  ignition::msgs::PointCloudPackedIterator<float> zIter(pcMsg, "z");
+
+  for (float x = 0.0, y = 0.0, z = 0.0;
+       xIter != xIter.End();
+       ++xIter, ++yIter, ++zIter)
+  {
+    *xIter = x;
+    *yIter = y;
+    *zIter = z;
+    flatMsg.add_data(1);
+    sumMsg.add_data(x + y + z);
+    productMsg.add_data(x * y * z);
+
+    x += 1.0;
+    if (x > 9)
+    {
+      x = 0.0;
+      y += 1.0;
+    }
+    if (y > 9)
+    {
+      y = 0.0;
+      z += 1.0;
+    }
+  }
+
+  // Publish messages at 1Hz until interrupted.
+  ignition::transport::Node node;
+  auto flatPub = node.Advertise<ignition::msgs::Float_V>("/flat");
+  auto sumPub = node.Advertise<ignition::msgs::Float_V>("/sum");
+  auto productPub = node.Advertise<ignition::msgs::Float_V>("/product");
+  auto pcPub = node.Advertise<ignition::msgs::PointCloudPacked>("/point_cloud");
+
+  while (!g_terminatePub)
+  {
+    std::cout << "Publishing" << std::endl;
+    flatPub.Publish(flatMsg);
+    sumPub.Publish(sumMsg);
+    productPub.Publish(productMsg);
+    pcPub.Publish(pcMsg);
+    std::this_thread::sleep_for(1s);
+  }
+}

examples/standalone/point_cloud/point_cloud.config

@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+
+<plugin filename="MinimalScene">
+    <ignition-gui>
+      <title>View 1</title>
+      <property type="string" key="state">docked</property>
+    </ignition-gui>
+    <engine>ogre2</engine>
+    <scene>scene</scene>
+    <ambient_light>1 1 1</ambient_light>
+    <background_color>0.8 0.8 0.8</background_color>
+    <camera_pose>-10 5 10 0 0.5 0</camera_pose>
+</plugin>
+<plugin filename="InteractiveViewControl" name="Interactive view control">
+  <ignition-gui>
+    <anchors target="View 1">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="MarkerManager" name="Marker Manager">
+  <ignition-gui>
+    <anchors target="View 1">
+      <line own="right" target="right"/>
+      <line own="top" target="top"/>
+    </anchors>
+    <property key="resizable" type="bool">false</property>
+    <property key="width" type="double">5</property>
+    <property key="height" type="double">5</property>
+    <property key="state" type="string">floating</property>
+    <property key="showTitleBar" type="bool">false</property>
+  </ignition-gui>
+</plugin>
+<plugin filename="PointCloud" name="Point Cloud">
+  <ignition-gui>
+    <title>Flat</title>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+  <point_cloud_topic>/point_cloud</point_cloud_topic>
+  <float_v_topic>/flat</float_v_topic>
+</plugin>
+<plugin filename="PointCloud" name="Point Cloud">
+  <ignition-gui>
+    <title>Sum</title>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+  <point_cloud_topic>/point_cloud</point_cloud_topic>
+  <float_v_topic>/sum</float_v_topic>
+</plugin>
+<plugin filename="PointCloud" name="Point Cloud">
+  <ignition-gui>
+    <title>Product</title>
+    <property type="string" key="state">docked</property>
+  </ignition-gui>
+  <point_cloud_topic>/point_cloud</point_cloud_topic>
+  <float_v_topic>/product</float_v_topic>
+</plugin>

include/ignition/gui/Helpers.hh

@@ -108,8 +108,14 @@ namespace ignition
     T findFirstByProperty(const QList<T> _list, const char *_key,
         QVariant _value)
     {
+      if (nullptr == _key)
+        return nullptr;
+
       for (const auto &w : _list)
       {
+        if (nullptr == w)
+          continue;
+
         if (w->property(_key) == _value)
           return w;
       }

src/Helpers_TEST.cc

@@ -126,12 +126,15 @@ TEST(HelpersTest, IGN_UTILS_TEST_DISABLED_ON_WIN32(findFirstByProperty))
 
   // Construct a list
   auto o0 = new QObject();
+  ASSERT_NE(nullptr, o0);
   o0->setProperty("banana", 1.0);
 
   auto o1 = new QObject();
+  ASSERT_NE(nullptr, o1);
   o1->setProperty("banana", 2.0);
 
   auto o2 = new QObject();
+  ASSERT_NE(nullptr, o2);
   o2->setProperty("banana", 1.0);
 
   QList<QObject *> list;

src/plugins/CMakeLists.txt

@@ -120,6 +120,7 @@ add_subdirectory(image_display)
 add_subdirectory(interactive_view_control)
 add_subdirectory(key_publisher)
 add_subdirectory(plotting)
+add_subdirectory(point_cloud)
 add_subdirectory(publisher)
 add_subdirectory(marker_manager)
 add_subdirectory(minimal_scene)

src/plugins/point_cloud/CMakeLists.txt

@@ -0,0 +1,10 @@
+ign_gui_add_plugin(PointCloud
+  SOURCES
+    PointCloud.cc
+  QT_HEADERS
+    PointCloud.hh
+  PUBLIC_LINK_LIBS
+    ignition-rendering${IGN_RENDERING_VER}::ignition-rendering${IGN_RENDERING_VER}
+  TEST_SOURCES
+    PointCloud_TEST.cc
+)