Open3D (C++ API)  0.14.1
O3DVisualizer.h
Go to the documentation of this file.
1 // ----------------------------------------------------------------------------
2 // - Open3D: www.open3d.org -
3 // ----------------------------------------------------------------------------
4 // The MIT License (MIT)
5 //
6 // Copyright (c) 2018-2021 www.open3d.org
7 //
8 // Permission is hereby granted, free of charge, to any person obtaining a copy
9 // of this software and associated documentation files (the "Software"), to deal
10 // in the Software without restriction, including without limitation the rights
11 // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
12 // copies of the Software, and to permit persons to whom the Software is
13 // furnished to do so, subject to the following conditions:
14 //
15 // The above copyright notice and this permission notice shall be included in
16 // all copies or substantial portions of the Software.
17 //
18 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
19 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
20 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
21 // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
22 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
23 // FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
24 // IN THE SOFTWARE.
25 // ----------------------------------------------------------------------------
26 
27 #pragma once
28 
34 
35 namespace open3d {
36 
37 namespace geometry {
38 class Geometry3D;
39 class Image;
40 } // namespace geometry
41 
42 namespace t {
43 namespace geometry {
44 class Geometry;
45 } // namespace geometry
46 } // namespace t
47 
48 namespace visualization {
49 
50 namespace rendering {
51 class Open3DScene;
52 struct TriangleMeshModel;
53 } // namespace rendering
54 
55 namespace visualizer {
56 
57 class O3DVisualizer : public gui::Window {
58  using Super = gui::Window;
59 
60 public:
61  enum class Shader { STANDARD, UNLIT, NORMALS, DEPTH };
62 
63  struct DrawObject {
64  std::string name;
65  std::shared_ptr<geometry::Geometry3D> geometry;
66  std::shared_ptr<t::geometry::Geometry> tgeometry;
67  std::shared_ptr<rendering::TriangleMeshModel> model;
69  std::string group;
70  double time = 0.0;
71  bool is_visible = true;
72 
73  // internal
74  bool is_color_default = true;
75  };
76 
77  struct UIState {
79  gui::SceneWidget::Controls::ROTATE_CAMERA;
81  bool show_settings = false;
82  bool show_skybox = true;
83  bool show_axes = false;
84  bool show_ground = false;
87  bool is_animating = false;
88  std::set<std::string> enabled_groups;
89 
90  Eigen::Vector4f bg_color = {1.0f, 1.0f, 1.0f, 1.0f};
91  int point_size = 3;
92  int line_width = 2;
93 
94  bool use_ibl = false;
95  bool use_sun = true;
96  std::string ibl_path = ""; // "" is default path
97  int ibl_intensity = 0;
98  int sun_intensity = 100000;
99  Eigen::Vector3f sun_dir = {0.577f, -0.577f, -0.577f};
100  Eigen::Vector3f sun_color = {1.0f, 1.0f, 1.0f};
101 
102  double current_time = 0.0; // seconds
103  double time_step = 1.0; // seconds
104  double frame_delay = 0.100; // seconds
105  };
106 
107  O3DVisualizer(const std::string& title, int width, int height);
108  virtual ~O3DVisualizer();
109 
110  void AddAction(const std::string& name,
111  std::function<void(O3DVisualizer&)> callback);
112 
113  void SetBackground(const Eigen::Vector4f& bg_color,
114  std::shared_ptr<geometry::Image> bg_image = nullptr);
115 
116  void SetShader(Shader shader);
117 
119  void AddGeometry(const std::string& name,
120  std::shared_ptr<geometry::Geometry3D> geom,
121  const rendering::MaterialRecord* material = nullptr,
122  const std::string& group = "",
123  double time = 0.0,
124  bool is_visible = true);
125 
128  void AddGeometry(const std::string& name,
129  std::shared_ptr<t::geometry::Geometry> tgeom,
130  const rendering::MaterialRecord* material = nullptr,
131  const std::string& group = "",
132  double time = 0.0,
133  bool is_visible = true);
134 
136  void AddGeometry(const std::string& name,
137  std::shared_ptr<rendering::TriangleMeshModel> tgeom,
138  const rendering::MaterialRecord* material = nullptr,
139  const std::string& group = "",
140  double time = 0.0,
141  bool is_visible = true);
142 
144  void RemoveGeometry(const std::string& name);
145 
148  void UpdateGeometry(const std::string& name,
149  std::shared_ptr<t::geometry::Geometry> tgeom,
150  uint32_t update_flags);
151 
153  void ShowGeometry(const std::string& name, bool show);
154 
156  DrawObject GetGeometry(const std::string& name) const;
158  const std::string& name) const;
159 
160  void ModifyGeometryMaterial(const std::string& name,
161  const rendering::MaterialRecord* material);
162 
164  void Add3DLabel(const Eigen::Vector3f& pos, const char* text);
165 
167  void Clear3DLabels();
168 
169  void SetupCamera(float fov,
170  const Eigen::Vector3f& center,
171  const Eigen::Vector3f& eye,
172  const Eigen::Vector3f& up);
173  void SetupCamera(const camera::PinholeCameraIntrinsic& intrinsic,
174  const Eigen::Matrix4d& extrinsic);
175  void SetupCamera(const Eigen::Matrix3d& intrinsic,
176  const Eigen::Matrix4d& extrinsic,
177  int intrinsic_width_px,
178  int intrinsic_height_px);
179 
180  void ResetCameraToDefault();
181 
182  void ShowSettings(bool show);
183  void ShowSkybox(bool show);
184  void SetIBL(const std::string& path);
185  void SetIBLIntensity(float intensity);
186  void ShowAxes(bool show);
187  void ShowGround(bool show);
189  void SetPointSize(int point_size);
190  void SetLineWidth(int line_width);
191  void EnableGroup(const std::string& group, bool enable);
193 
194  std::vector<O3DVisualizerSelections::SelectionSet> GetSelectionSets() const;
195 
196  double GetAnimationFrameDelay() const;
197  void SetAnimationFrameDelay(double secs);
198 
199  double GetAnimationTimeStep() const;
200  void SetAnimationTimeStep(double time_step);
201 
202  double GetAnimationDuration() const;
203  void SetAnimationDuration(double sec);
204 
205  double GetCurrentTime() const;
206  void SetCurrentTime(double t);
207 
208  bool GetIsAnimating() const;
209  void SetAnimating(bool is_animating);
210 
211  void SetOnAnimationFrame(std::function<void(O3DVisualizer&, double)> cb);
212 
213  enum class TickResult { NO_CHANGE, REDRAW };
214  void SetOnAnimationTick(
215  std::function<TickResult(O3DVisualizer&, double, double)> cb);
216 
217  void ExportCurrentImage(const std::string& path);
218 
219  UIState GetUIState() const;
221 
223  void StartRPCInterface(const std::string& address, int timeout);
224 
225  void StopRPCInterface();
226 
227 protected:
228  void Layout(const gui::LayoutContext& context);
229 
230 private:
231  struct Impl;
232  std::unique_ptr<Impl> impl_;
233 };
234 
235 } // namespace visualizer
236 } // namespace visualization
237 } // namespace open3d
std::function< void(std::shared_ptr< core::Tensor >)> callback
Definition: FilamentRenderer.cpp:227
ImGuiContext * context
Definition: Window.cpp:95
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
Controls
Definition: SceneWidget.h:88
Definition: Window.h:49
bool GetIsAnimating() const
Definition: O3DVisualizer.cpp:2138
void SetGroundPlane(rendering::Scene::GroundPlane plane)
Definition: O3DVisualizer.cpp:2080
void ShowGeometry(const std::string &name, bool show)
Show/hide the named geometry.
Definition: O3DVisualizer.cpp:2047
void ModifyGeometryMaterial(const std::string &name, const rendering::MaterialRecord *material)
Definition: O3DVisualizer.cpp:2061
void SetShader(Shader shader)
Definition: O3DVisualizer.cpp:1996
std::vector< O3DVisualizerSelections::SelectionSet > GetSelectionSets() const
Definition: O3DVisualizer.cpp:2101
void SetMouseMode(gui::SceneWidget::Controls mode)
Definition: O3DVisualizer.cpp:2092
void SetupCamera(float fov, const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)
Definition: O3DVisualizer.cpp:2146
void SetAnimationTimeStep(double time_step)
Definition: O3DVisualizer.cpp:2117
TickResult
Definition: O3DVisualizer.h:213
O3DVisualizer(const std::string &title, int width, int height)
Definition: O3DVisualizer.cpp:1877
void ExportCurrentImage(const std::string &path)
Definition: O3DVisualizer.cpp:2188
void Add3DLabel(const Eigen::Vector3f &pos, const char *text)
Adds a label with text text at the 3D position pos.
Definition: O3DVisualizer.cpp:2031
void SetCurrentTime(double t)
Definition: O3DVisualizer.cpp:2136
double GetCurrentTime() const
Definition: O3DVisualizer.cpp:2132
void SetIBLIntensity(float intensity)
Definition: O3DVisualizer.cpp:2072
void SetBackground(const Eigen::Vector4f &bg_color, std::shared_ptr< geometry::Image > bg_image=nullptr)
Definition: O3DVisualizer.cpp:1990
void SetAnimationFrameDelay(double secs)
Definition: O3DVisualizer.cpp:2109
void EnableGroup(const std::string &group, bool enable)
Definition: O3DVisualizer.cpp:2096
double GetAnimationDuration() const
Definition: O3DVisualizer.cpp:2122
void ShowSkybox(bool show)
Definition: O3DVisualizer.cpp:2068
void Layout(const gui::LayoutContext &context)
Definition: O3DVisualizer.cpp:2192
void SetIBL(const std::string &path)
Definition: O3DVisualizer.cpp:2070
void StopRPCInterface()
Definition: O3DVisualizer.cpp:1957
rendering::Open3DScene * GetScene() const
Definition: O3DVisualizer.cpp:1941
void SetOnAnimationTick(std::function< TickResult(O3DVisualizer &, double, double)> cb)
Definition: O3DVisualizer.cpp:2183
void ShowGround(bool show)
Definition: O3DVisualizer.cpp:2078
DrawObject GetGeometry(const std::string &name) const
Returns Visualizer's internal DrawObject for the named geometry.
Definition: O3DVisualizer.cpp:2051
void ShowAxes(bool show)
Definition: O3DVisualizer.cpp:2076
virtual ~O3DVisualizer()
Definition: O3DVisualizer.cpp:1939
void SetAnimationDuration(double sec)
Definition: O3DVisualizer.cpp:2126
void AddGeometry(const std::string &name, std::shared_ptr< geometry::Geometry3D > geom, const rendering::MaterialRecord *material=nullptr, const std::string &group="", double time=0.0, bool is_visible=true)
Adds a legacy geometry to the Visualizer.
Definition: O3DVisualizer.cpp:1998
void StartRPCInterface(const std::string &address, int timeout)
Starts the RPC interface. See io/rpc/ZMQReceiver for the parameters.
Definition: O3DVisualizer.cpp:1945
void SetLineWidth(int line_width)
Definition: O3DVisualizer.cpp:2088
void AddAction(const std::string &name, std::function< void(O3DVisualizer &)> callback)
Definition: O3DVisualizer.cpp:1964
UIState GetUIState() const
Definition: O3DVisualizer.cpp:2170
rendering::MaterialRecord GetGeometryMaterial(const std::string &name) const
Definition: O3DVisualizer.cpp:2056
void AddGeometry(const std::string &name, std::shared_ptr< rendering::TriangleMeshModel > tgeom, const rendering::MaterialRecord *material=nullptr, const std::string &group="", double time=0.0, bool is_visible=true)
Adds a triangle mesh model to the Visualizer.
void UpdateGeometry(const std::string &name, std::shared_ptr< t::geometry::Geometry > tgeom, uint32_t update_flags)
Definition: O3DVisualizer.cpp:2037
void SetPointSize(int point_size)
Definition: O3DVisualizer.cpp:2084
void ShowSettings(bool show)
Definition: O3DVisualizer.cpp:2066
double GetAnimationFrameDelay() const
Definition: O3DVisualizer.cpp:2105
void SetAnimating(bool is_animating)
Definition: O3DVisualizer.cpp:2142
void SetOnAnimationFrame(std::function< void(O3DVisualizer &, double)> cb)
Definition: O3DVisualizer.cpp:2174
void Clear3DLabels()
Clears all 3D labels created with Add3DLabel
Definition: O3DVisualizer.cpp:2035
double GetAnimationTimeStep() const
Definition: O3DVisualizer.cpp:2113
void ResetCameraToDefault()
Definition: O3DVisualizer.cpp:2166
void RemoveGeometry(const std::string &name)
Removes the named geometry from the Visualizer.
Definition: O3DVisualizer.cpp:2043
int width
Definition: FilePCD.cpp:71
std::string name
Definition: FilePCD.cpp:58
int height
Definition: FilePCD.cpp:72
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:557
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle image_handle timestamp_usec white_balance image_handle k4a_device_configuration_t config device_handle char size_t serial_number_size bool int32_t int32_t int32_t int32_t k4a_color_control_mode_t default_mode mode
Definition: K4aPlugin.cpp:687
Definition: PinholeCameraIntrinsic.cpp:35
std::string name
Definition: O3DVisualizer.h:64
std::shared_ptr< t::geometry::Geometry > tgeometry
Definition: O3DVisualizer.h:66
rendering::MaterialRecord material
Definition: O3DVisualizer.h:68
std::shared_ptr< geometry::Geometry3D > geometry
Definition: O3DVisualizer.h:65
std::shared_ptr< rendering::TriangleMeshModel > model
Definition: O3DVisualizer.h:67
std::string group
Definition: O3DVisualizer.h:69
double frame_delay
Definition: O3DVisualizer.h:104
bool show_settings
Definition: O3DVisualizer.h:81
Eigen::Vector3f sun_color
Definition: O3DVisualizer.h:100
gui::SceneWidget::Controls mouse_mode
Definition: O3DVisualizer.h:78
std::set< std::string > enabled_groups
Definition: O3DVisualizer.h:88
Eigen::Vector3f sun_dir
Definition: O3DVisualizer.h:99
double time_step
Definition: O3DVisualizer.h:103
Eigen::Vector4f bg_color
Definition: O3DVisualizer.h:90
Shader scene_shader
Definition: O3DVisualizer.h:80
rendering::Scene::GroundPlane ground_plane
Definition: O3DVisualizer.h:85
double current_time
Definition: O3DVisualizer.h:102
std::string ibl_path
Definition: O3DVisualizer.h:96