Open3D (C++ API)  0.17.0
Visualizer.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10// Avoid warning caused by redefinition of APIENTRY macro
11// defined also in glfw3.h
12#ifdef _WIN32
13#include <windows.h>
14#endif
15
16#include <GL/glew.h>
17#include <GLFW/glfw3.h>
18
19#include <Eigen/Core>
20#include <memory>
21#include <string>
22#include <unordered_map>
23#include <unordered_set>
24
30
31namespace open3d {
32
33namespace geometry {
34class TriangleMesh;
35class Image;
36} // namespace geometry
37
38namespace visualization {
39
44public:
45 struct MouseControl {
46 public:
49 bool is_control_key_down = false;
50 bool is_shift_key_down = false;
51 bool is_alt_key_down = false;
52 bool is_super_key_down = false;
53 double mouse_position_x = 0.0;
54 double mouse_position_y = 0.0;
55 };
56
57public:
58 Visualizer();
59 virtual ~Visualizer();
60 Visualizer(Visualizer &&) = delete;
61 Visualizer(const Visualizer &) = delete;
62 Visualizer &operator=(const Visualizer &) = delete;
63
64public:
75 bool CreateVisualizerWindow(const std::string &window_name = "Open3D",
76 const int width = 640,
77 const int height = 480,
78 const int left = 50,
79 const int top = 50,
80 const bool visible = true);
81
86
93 std::function<bool(Visualizer *)> callback_func);
94
98 void Run();
99
101 void Close();
102
108 bool WaitEvents();
109
115 bool PollEvents();
116
130 virtual bool AddGeometry(
131 std::shared_ptr<const geometry::Geometry> geometry_ptr,
132 bool reset_bounding_box = true);
133
143 virtual bool RemoveGeometry(
144 std::shared_ptr<const geometry::Geometry> geometry_ptr,
145 bool reset_bounding_box = true);
146
150 virtual bool ClearGeometries();
151
158 virtual bool UpdateGeometry(
159 std::shared_ptr<const geometry::Geometry> geometry_ptr = nullptr);
160 virtual bool HasGeometry() const;
161
163 virtual void UpdateRender();
164
166 virtual void SetFullScreen(bool fullscreen);
167 virtual void ToggleFullScreen();
168 virtual bool IsFullScreen();
169
170 virtual void PrintVisualizerHelp();
171 virtual void UpdateWindowTitle();
172 virtual void BuildUtilities();
173
176 const ViewControl &GetViewControl() const { return *view_control_ptr_; }
182 std::shared_ptr<geometry::Image> CaptureScreenFloatBuffer(
183 bool do_render = true);
188 void CaptureScreenImage(const std::string &filename = "",
189 bool do_render = true);
193 std::shared_ptr<geometry::Image> CaptureDepthFloatBuffer(
194 bool do_render = true);
200 void CaptureDepthImage(const std::string &filename = "",
201 bool do_render = true,
202 double depth_scale = 1000.0);
209 void CaptureDepthPointCloud(const std::string &filename = "",
210 bool do_render = true,
211 bool convert_to_world_coordinate = false);
212 void CaptureRenderOption(const std::string &filename = "");
214 void ResetViewPoint(bool reset_bounding_box = false);
215
216 const std::string &GetWindowName() const { return window_name_; }
217
218protected:
220 virtual bool InitOpenGL();
221
223 virtual bool InitViewControl();
224
226 virtual bool InitRenderOption();
227
231 virtual void Render(bool render_screen = false);
232
234
236
237 // callback functions
238 virtual void WindowRefreshCallback(GLFWwindow *window);
239 virtual void WindowResizeCallback(GLFWwindow *window, int w, int h);
240 virtual void MouseMoveCallback(GLFWwindow *window, double x, double y);
241 virtual void MouseScrollCallback(GLFWwindow *window, double x, double y);
242 virtual void MouseButtonCallback(GLFWwindow *window,
243 int button,
244 int action,
245 int mods);
246 virtual void KeyPressCallback(
247 GLFWwindow *window, int key, int scancode, int action, int mods);
249 virtual void WindowCloseCallback(GLFWwindow *window);
250
251protected:
252 // window
253 GLFWwindow *window_ = NULL;
254 std::string window_name_ = "Open3D";
255 Eigen::Vector2i saved_window_size_ = Eigen::Vector2i::Zero();
256 Eigen::Vector2i saved_window_pos_ = Eigen::Vector2i::Zero();
257 std::function<bool(Visualizer *)> animation_callback_func_ = nullptr;
258 // Auxiliary internal backup of the callback function.
259 // It copies animation_callback_func_ in each PollEvent() or WaitEvent()
260 // so that even if user calls RegisterAnimationCallback() within the
261 // callback function it is still safe.
263 nullptr;
264
265 // control
268 bool is_initialized_ = false;
269 GLuint vao_id_ = 0;
270
271 // render targets for "capture_screen_float_buffer" and
272 // "capture_screen_image" in offscreen render mode
273 GLuint render_fbo_ = 0;
274 GLuint render_rgb_tex_ = 0;
276
277 // view control
278 std::unique_ptr<ViewControl> view_control_ptr_;
279
280 // rendering properties
281 std::unique_ptr<RenderOption> render_option_ptr_;
282
283 // geometry to be rendered
284 std::unordered_set<std::shared_ptr<const geometry::Geometry>>
286
287 // geometry renderers
288 std::unordered_set<std::shared_ptr<glsl::GeometryRenderer>>
290
291 // utilities owned by the Visualizer
292 std::vector<std::shared_ptr<const geometry::Geometry>> utility_ptrs_;
293
294 // utility renderers
295 std::vector<std::shared_ptr<glsl::GeometryRenderer>> utility_renderer_ptrs_;
296 // map's key is the renderer for which the RenderOption applies
297 // (should be something in utility_renderer_ptrs_)
298 std::unordered_map<std::shared_ptr<glsl::GeometryRenderer>, RenderOption>
300
301 // coordinate frame
302 std::shared_ptr<geometry::TriangleMesh> coordinate_frame_mesh_ptr_;
303 std::shared_ptr<glsl::CoordinateFrameRenderer>
305
306#ifdef __APPLE__
307 // MacBook with Retina display does not have a 1:1 mapping from screen
308 // coordinates to pixels. Thus we hack it back.
309 // http://www.glfw.org/faq.html#why-is-my-output-in-the-lower-left-corner-of-the-window
310 double pixel_to_screen_coordinate_ = 1.0;
311#endif //__APPLE__
312};
313
314} // namespace visualization
315} // namespace open3d
Defines rendering options for visualizer.
Definition: RenderOption.h:20
View controller for visualizer.
Definition: ViewControl.h:23
The main Visualizer class.
Definition: Visualizer.h:43
void CaptureRenderOption(const std::string &filename="")
Definition: VisualizerRender.cpp:480
bool CreateVisualizerWindow(const std::string &window_name="Open3D", const int width=640, const int height=480, const int left=50, const int top=50, const bool visible=true)
Function to create a window and initialize GLFW.
Definition: Visualizer.cpp:71
virtual void BuildUtilities()
Definition: Visualizer.cpp:231
std::unique_ptr< RenderOption > render_option_ptr_
Definition: Visualizer.h:281
virtual void SetFullScreen(bool fullscreen)
Functions to change between fullscreen and windowed modes.
Definition: Visualizer.cpp:443
virtual bool ClearGeometries()
Definition: Visualizer.cpp:415
bool is_initialized_
Definition: Visualizer.h:268
std::unique_ptr< ViewControl > view_control_ptr_
Definition: Visualizer.h:278
GLuint vao_id_
Definition: Visualizer.h:269
GLuint render_fbo_
Definition: Visualizer.h:273
bool PollEvents()
Definition: Visualizer.cpp:283
void CaptureDepthImage(const std::string &filename="", bool do_render=true, double depth_scale=1000.0)
Definition: VisualizerRender.cpp:315
GLuint render_depth_stencil_rbo_
Definition: Visualizer.h:275
std::vector< std::shared_ptr< const geometry::Geometry > > utility_ptrs_
Definition: Visualizer.h:292
virtual void UpdateRender()
Function to inform render needed to be updated.
Definition: Visualizer.cpp:439
std::function< bool(Visualizer *)> animation_callback_func_in_loop_
Definition: Visualizer.h:262
Eigen::Vector2i saved_window_pos_
Definition: Visualizer.h:256
void CaptureDepthPointCloud(const std::string &filename="", bool do_render=true, bool convert_to_world_coordinate=false)
Function to capture and save local point cloud.
Definition: VisualizerRender.cpp:398
virtual bool InitOpenGL()
Function to initialize OpenGL.
Definition: VisualizerRender.cpp:23
virtual bool IsFullScreen()
Definition: Visualizer.cpp:471
ViewControl & GetViewControl()
Function to retrieve the associated ViewControl.
Definition: Visualizer.h:175
Visualizer(const Visualizer &)=delete
void CaptureScreenImage(const std::string &filename="", bool do_render=true)
Function to capture and save a screen image.
Definition: VisualizerRender.cpp:197
void Run()
Function to activate the window.
Definition: Visualizer.cpp:249
virtual bool UpdateGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr=nullptr)
Function to update geometry.
Definition: Visualizer.cpp:425
std::shared_ptr< glsl::CoordinateFrameRenderer > coordinate_frame_mesh_renderer_ptr_
Definition: Visualizer.h:304
virtual bool AddGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr, bool reset_bounding_box=true)
Function to add geometry to the scene and create corresponding shaders.
Definition: Visualizer.cpp:296
Visualizer(Visualizer &&)=delete
virtual void MouseMoveCallback(GLFWwindow *window, double x, double y)
Definition: VisualizerCallback.cpp:25
virtual void Render(bool render_screen=false)
Definition: VisualizerRender.cpp:53
virtual void WindowResizeCallback(GLFWwindow *window, int w, int h)
Definition: VisualizerCallback.cpp:20
std::unordered_map< std::shared_ptr< glsl::GeometryRenderer >, RenderOption > utility_renderer_opts_
Definition: Visualizer.h:299
virtual void WindowCloseCallback(GLFWwindow *window)
Function to notify the window to be closed.
Definition: VisualizerCallback.cpp:346
std::shared_ptr< geometry::Image > CaptureDepthFloatBuffer(bool do_render=true)
Definition: VisualizerRender.cpp:251
virtual bool InitViewControl()
Function to initialize ViewControl.
Definition: Visualizer.cpp:214
bool WaitEvents()
Function to process the event queue and return if the window is closed.
Definition: Visualizer.cpp:270
const ViewControl & GetViewControl() const
Definition: Visualizer.h:176
virtual bool InitRenderOption()
Function to initialize RenderOption.
Definition: Visualizer.cpp:220
std::unordered_set< std::shared_ptr< const geometry::Geometry > > geometry_ptrs_
Definition: Visualizer.h:285
std::string window_name_
Definition: Visualizer.h:254
virtual void MouseButtonCallback(GLFWwindow *window, int button, int action, int mods)
Definition: VisualizerCallback.cpp:68
RenderOption & GetRenderOption()
Function to retrieve the associated RenderOption.
Definition: Visualizer.h:178
Visualizer & operator=(const Visualizer &)=delete
void CopyViewStatusFromClipboard()
Definition: VisualizerRender.cpp:143
virtual ~Visualizer()
Definition: Visualizer.cpp:64
void DestroyVisualizerWindow()
Function to destroy a window.
Definition: Visualizer.cpp:203
std::vector< std::shared_ptr< glsl::GeometryRenderer > > utility_renderer_ptrs_
Definition: Visualizer.h:295
virtual bool RemoveGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr, bool reset_bounding_box=true)
Function to remove geometry from the scene.
Definition: Visualizer.cpp:391
virtual void MouseScrollCallback(GLFWwindow *window, double x, double y)
Definition: VisualizerCallback.cpp:63
const std::string & GetWindowName() const
Definition: Visualizer.h:216
GLuint render_rgb_tex_
Definition: Visualizer.h:274
virtual void UpdateWindowTitle()
Definition: Visualizer.cpp:225
void RegisterAnimationCallback(std::function< bool(Visualizer *)> callback_func)
Function to register a callback function for animation.
Definition: Visualizer.cpp:209
std::function< bool(Visualizer *)> animation_callback_func_
Definition: Visualizer.h:257
virtual void WindowRefreshCallback(GLFWwindow *window)
Definition: VisualizerCallback.cpp:13
Eigen::Vector2i saved_window_size_
Definition: Visualizer.h:255
virtual void ToggleFullScreen()
Definition: Visualizer.cpp:463
MouseControl mouse_control_
Definition: Visualizer.h:266
GLFWwindow * window_
Definition: Visualizer.h:253
virtual void PrintVisualizerHelp()
Definition: Visualizer.cpp:475
void Close()
Function to to notify the window to be closed.
Definition: Visualizer.cpp:265
std::shared_ptr< geometry::TriangleMesh > coordinate_frame_mesh_ptr_
Definition: Visualizer.h:302
std::shared_ptr< geometry::Image > CaptureScreenFloatBuffer(bool do_render=true)
Function to capture screen and store RGB in a float buffer.
Definition: VisualizerRender.cpp:160
virtual bool HasGeometry() const
Definition: Visualizer.cpp:441
bool is_redraw_required_
Definition: Visualizer.h:267
Visualizer()
Definition: Visualizer.cpp:62
virtual void KeyPressCallback(GLFWwindow *window, int key, int scancode, int action, int mods)
Definition: VisualizerCallback.cpp:102
std::unordered_set< std::shared_ptr< glsl::GeometryRenderer > > geometry_renderer_ptrs_
Definition: Visualizer.h:289
void CopyViewStatusToClipboard()
Definition: VisualizerRender.cpp:129
void ResetViewPoint(bool reset_bounding_box=false)
Function to reset view point.
Definition: VisualizerRender.cpp:110
int width
Definition: FilePCD.cpp:52
int height
Definition: FilePCD.cpp:53
Definition: PinholeCameraIntrinsic.cpp:16
double mouse_position_x
Definition: Visualizer.h:53
bool is_control_key_down
Definition: Visualizer.h:49
bool is_mouse_left_button_down
Definition: Visualizer.h:47
double mouse_position_y
Definition: Visualizer.h:54
bool is_mouse_middle_button_down
Definition: Visualizer.h:48
bool is_super_key_down
Definition: Visualizer.h:52
bool is_shift_key_down
Definition: Visualizer.h:50
bool is_alt_key_down
Definition: Visualizer.h:51