Program Listing for File VizInterface.h

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/* -------------------------------------------------------------------------
 *   A Modular Optimization framework for Localization and mApping  (MOLA)
 * Copyright (C) 2018-2025 Jose Luis Blanco, University of Almeria
 * See LICENSE for license information.
 * ------------------------------------------------------------------------- */
#pragma once

#include <mrpt/math/TPoint2D.h>
#include <mrpt/math/TPoint3D.h>
#include <mrpt/rtti/CObject.h>

#include <future>
#include <memory>

// Fwrd decl to avoid pushing gui dependencies to all clients of mola-kernel
// Was: #include <mrpt/gui/CDisplayWindowGUI.h>  // nanogui
// clang-format off
namespace nanogui { class Window; }
namespace mrpt::opengl { class CSetOfObjects; class Scene; }
// clang-format on

namespace mola
{
class VizInterface
{
 public:
  VizInterface() = default;

  using Ptr = std::shared_ptr<VizInterface>;

  // ===============================
  // See class MolaViz for docs
  // ===============================

  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 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> 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;
};

}  // namespace mola