Open3D (C++ API)  0.16.0
O3DVisualizer.h
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26
27#pragma once
28
34
35namespace open3d {
36
37namespace geometry {
38class Geometry3D;
39class Image;
40} // namespace geometry
41
42namespace t {
43namespace geometry {
44class Geometry;
45} // namespace geometry
46} // namespace t
47
48namespace visualization {
49
50namespace rendering {
51class Open3DScene;
52struct TriangleMeshModel;
53} // namespace rendering
54
55namespace visualizer {
56
57class O3DVisualizer : public gui::Window {
58 using Super = gui::Window;
59
60public:
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 bool sun_follows_camera = true;
97 std::string ibl_path = ""; // "" is default path
99 int sun_intensity = 100000;
100 Eigen::Vector3f sun_dir = {0.577f, -0.577f, -0.577f};
101 Eigen::Vector3f sun_color = {1.0f, 1.0f, 1.0f};
102
103 double current_time = 0.0; // seconds
104 double time_step = 1.0; // seconds
105 double frame_delay = 0.100; // seconds
106 };
107
108 O3DVisualizer(const std::string& title, int width, int height);
109 virtual ~O3DVisualizer();
110
111 void AddAction(const std::string& name,
112 std::function<void(O3DVisualizer&)> callback);
113
114 void SetBackground(const Eigen::Vector4f& bg_color,
115 std::shared_ptr<geometry::Image> bg_image = nullptr);
116
117 void SetShader(Shader shader);
118
120 void AddGeometry(const std::string& name,
121 std::shared_ptr<geometry::Geometry3D> geom,
122 const rendering::MaterialRecord* material = nullptr,
123 const std::string& group = "",
124 double time = 0.0,
125 bool is_visible = true);
126
129 void AddGeometry(const std::string& name,
130 std::shared_ptr<t::geometry::Geometry> tgeom,
131 const rendering::MaterialRecord* material = nullptr,
132 const std::string& group = "",
133 double time = 0.0,
134 bool is_visible = true);
135
137 void AddGeometry(const std::string& name,
138 std::shared_ptr<rendering::TriangleMeshModel> tgeom,
139 const rendering::MaterialRecord* material = nullptr,
140 const std::string& group = "",
141 double time = 0.0,
142 bool is_visible = true);
143
145 void RemoveGeometry(const std::string& name);
146
149 void UpdateGeometry(const std::string& name,
150 std::shared_ptr<t::geometry::Geometry> tgeom,
151 uint32_t update_flags);
152
154 void ShowGeometry(const std::string& name, bool show);
155
157 DrawObject GetGeometry(const std::string& name) const;
159 const std::string& name) const;
160
161 void ModifyGeometryMaterial(const std::string& name,
162 const rendering::MaterialRecord* material);
163
165 void Add3DLabel(const Eigen::Vector3f& pos, const char* text);
166
168 void Clear3DLabels();
169
170 void SetupCamera(float fov,
171 const Eigen::Vector3f& center,
172 const Eigen::Vector3f& eye,
173 const Eigen::Vector3f& up);
174 void SetupCamera(const camera::PinholeCameraIntrinsic& intrinsic,
175 const Eigen::Matrix4d& extrinsic);
176 void SetupCamera(const Eigen::Matrix3d& intrinsic,
177 const Eigen::Matrix4d& extrinsic,
178 int intrinsic_width_px,
179 int intrinsic_height_px);
180
182
183 void ShowSettings(bool show);
184 void ShowSkybox(bool show);
185 void SetIBL(const std::string& path);
186 void SetIBLIntensity(float intensity);
187 void ShowAxes(bool show);
188 void ShowGround(bool show);
190 void EnableSunFollowsCamera(bool enable);
191 void EnableBasicMode(bool enable);
192 void EnableWireframeMode(bool enable);
193 void SetPointSize(int point_size);
194 void SetLineWidth(int line_width);
195 void EnableGroup(const std::string& group, bool enable);
197
198 std::vector<O3DVisualizerSelections::SelectionSet> GetSelectionSets() const;
199
200 double GetAnimationFrameDelay() const;
201 void SetAnimationFrameDelay(double secs);
202
203 double GetAnimationTimeStep() const;
204 void SetAnimationTimeStep(double time_step);
205
206 double GetAnimationDuration() const;
207 void SetAnimationDuration(double sec);
208
209 double GetCurrentTime() const;
210 void SetCurrentTime(double t);
211
212 bool GetIsAnimating() const;
213 void SetAnimating(bool is_animating);
214
215 void SetOnAnimationFrame(std::function<void(O3DVisualizer&, double)> cb);
216
217 enum class TickResult { NO_CHANGE, REDRAW };
219 std::function<TickResult(O3DVisualizer&, double, double)> cb);
220
221 void ExportCurrentImage(const std::string& path);
222
223 UIState GetUIState() const;
225
227 void StartRPCInterface(const std::string& address, int timeout);
228
229 void StopRPCInterface();
230
231protected:
232 void Layout(const gui::LayoutContext& context);
233
234private:
235 struct Impl;
236 std::unique_ptr<Impl> impl_;
237};
238
239} // namespace visualizer
240} // namespace visualization
241} // namespace open3d
std::function< void(std::shared_ptr< core::Tensor >)> callback
Definition: FilamentRenderer.cpp:201
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:2469
void SetGroundPlane(rendering::Scene::GroundPlane plane)
Definition: O3DVisualizer.cpp:2403
void ShowGeometry(const std::string &name, bool show)
Show/hide the named geometry.
Definition: O3DVisualizer.cpp:2370
void ModifyGeometryMaterial(const std::string &name, const rendering::MaterialRecord *material)
Definition: O3DVisualizer.cpp:2384
void SetShader(Shader shader)
Definition: O3DVisualizer.cpp:2319
std::vector< O3DVisualizerSelections::SelectionSet > GetSelectionSets() const
Definition: O3DVisualizer.cpp:2432
void SetMouseMode(gui::SceneWidget::Controls mode)
Definition: O3DVisualizer.cpp:2423
void SetupCamera(float fov, const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)
Definition: O3DVisualizer.cpp:2477
void SetAnimationTimeStep(double time_step)
Definition: O3DVisualizer.cpp:2448
TickResult
Definition: O3DVisualizer.h:217
O3DVisualizer(const std::string &title, int width, int height)
Definition: O3DVisualizer.cpp:2200
void ExportCurrentImage(const std::string &path)
Definition: O3DVisualizer.cpp:2519
void Add3DLabel(const Eigen::Vector3f &pos, const char *text)
Adds a label with text text at the 3D position pos.
Definition: O3DVisualizer.cpp:2354
void EnableBasicMode(bool enable)
Definition: O3DVisualizer.cpp:2407
void SetCurrentTime(double t)
Definition: O3DVisualizer.cpp:2467
double GetCurrentTime() const
Definition: O3DVisualizer.cpp:2463
void SetIBLIntensity(float intensity)
Definition: O3DVisualizer.cpp:2395
void SetBackground(const Eigen::Vector4f &bg_color, std::shared_ptr< geometry::Image > bg_image=nullptr)
Definition: O3DVisualizer.cpp:2313
void SetAnimationFrameDelay(double secs)
Definition: O3DVisualizer.cpp:2440
void EnableGroup(const std::string &group, bool enable)
Definition: O3DVisualizer.cpp:2427
double GetAnimationDuration() const
Definition: O3DVisualizer.cpp:2453
void ShowSkybox(bool show)
Definition: O3DVisualizer.cpp:2391
void Layout(const gui::LayoutContext &context)
Definition: O3DVisualizer.cpp:2523
void SetIBL(const std::string &path)
Definition: O3DVisualizer.cpp:2393
void StopRPCInterface()
Definition: O3DVisualizer.cpp:2280
rendering::Open3DScene * GetScene() const
Definition: O3DVisualizer.cpp:2264
void SetOnAnimationTick(std::function< TickResult(O3DVisualizer &, double, double)> cb)
Definition: O3DVisualizer.cpp:2514
void ShowGround(bool show)
Definition: O3DVisualizer.cpp:2401
DrawObject GetGeometry(const std::string &name) const
Returns Visualizer's internal DrawObject for the named geometry.
Definition: O3DVisualizer.cpp:2374
void ShowAxes(bool show)
Definition: O3DVisualizer.cpp:2399
virtual ~O3DVisualizer()
Definition: O3DVisualizer.cpp:2262
void EnableWireframeMode(bool enable)
Definition: O3DVisualizer.cpp:2411
void SetAnimationDuration(double sec)
Definition: O3DVisualizer.cpp:2457
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:2321
void StartRPCInterface(const std::string &address, int timeout)
Starts the RPC interface. See io/rpc/ZMQReceiver for the parameters.
Definition: O3DVisualizer.cpp:2268
void SetLineWidth(int line_width)
Definition: O3DVisualizer.cpp:2419
void AddAction(const std::string &name, std::function< void(O3DVisualizer &)> callback)
Definition: O3DVisualizer.cpp:2287
UIState GetUIState() const
Definition: O3DVisualizer.cpp:2501
rendering::MaterialRecord GetGeometryMaterial(const std::string &name) const
Definition: O3DVisualizer.cpp:2379
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:2360
void SetPointSize(int point_size)
Definition: O3DVisualizer.cpp:2415
void ShowSettings(bool show)
Definition: O3DVisualizer.cpp:2389
double GetAnimationFrameDelay() const
Definition: O3DVisualizer.cpp:2436
void SetAnimating(bool is_animating)
Definition: O3DVisualizer.cpp:2473
void SetOnAnimationFrame(std::function< void(O3DVisualizer &, double)> cb)
Definition: O3DVisualizer.cpp:2505
void Clear3DLabels()
Clears all 3D labels created with Add3DLabel
Definition: O3DVisualizer.cpp:2358
double GetAnimationTimeStep() const
Definition: O3DVisualizer.cpp:2444
void ResetCameraToDefault()
Definition: O3DVisualizer.cpp:2497
void RemoveGeometry(const std::string &name)
Removes the named geometry from the Visualizer.
Definition: O3DVisualizer.cpp:2366
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:567
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:697
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:105
bool show_settings
Definition: O3DVisualizer.h:81
Eigen::Vector3f sun_color
Definition: O3DVisualizer.h:101
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:100
double time_step
Definition: O3DVisualizer.h:104
Eigen::Vector4f bg_color
Definition: O3DVisualizer.h:90
Shader scene_shader
Definition: O3DVisualizer.h:80
rendering::Scene::GroundPlane ground_plane
Definition: O3DVisualizer.h:85
bool sun_follows_camera
Definition: O3DVisualizer.h:96
double current_time
Definition: O3DVisualizer.h:103
std::string ibl_path
Definition: O3DVisualizer.h:97