Open3D (C++ API)  0.19.0
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O3DVisualizer.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2024 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
15
16namespace open3d {
17
18namespace geometry {
19class Geometry3D;
20class Image;
21} // namespace geometry
22
23namespace t {
24namespace geometry {
25class Geometry;
26} // namespace geometry
27} // namespace t
28
29namespace visualization {
30
31namespace rendering {
32class Open3DScene;
33struct TriangleMeshModel;
34} // namespace rendering
35
36namespace visualizer {
37
38class O3DVisualizer : public gui::Window {
39 using Super = gui::Window;
40
41public:
42 enum class Shader { STANDARD, UNLIT, NORMALS, DEPTH };
43
44 struct DrawObject {
45 std::string name;
46 std::shared_ptr<geometry::Geometry3D> geometry;
47 std::shared_ptr<t::geometry::Geometry> tgeometry;
48 std::shared_ptr<rendering::TriangleMeshModel> model;
50 std::string group;
51 double time = 0.0;
52 bool is_visible = true;
53
54 // internal
55 bool is_color_default = true;
56 };
57
58 struct UIState {
62 bool show_settings = false;
63 bool show_skybox = true;
64 bool show_axes = false;
65 bool show_ground = false;
68 bool is_animating = false;
69 std::set<std::string> enabled_groups;
70
71 Eigen::Vector4f bg_color = {1.0f, 1.0f, 1.0f, 1.0f};
72 int point_size = 3;
73 int line_width = 2;
74
75 bool use_ibl = false;
76 bool use_sun = true;
77 bool sun_follows_camera = true;
78 std::string ibl_path = ""; // "" is default path
80 int sun_intensity = 100000;
81 Eigen::Vector3f sun_dir = {0.577f, -0.577f, -0.577f};
82 Eigen::Vector3f sun_color = {1.0f, 1.0f, 1.0f};
83
84 double current_time = 0.0; // seconds
85 double time_step = 1.0; // seconds
86 double frame_delay = 0.100; // seconds
87 };
88
89 O3DVisualizer(const std::string& title, int width, int height);
90 virtual ~O3DVisualizer();
91
92 void AddAction(const std::string& name,
93 std::function<void(O3DVisualizer&)> callback);
94
95 void SetBackground(const Eigen::Vector4f& bg_color,
96 std::shared_ptr<geometry::Image> bg_image = nullptr);
97
98 void SetShader(Shader shader);
99
101 void AddGeometry(const std::string& name,
102 std::shared_ptr<geometry::Geometry3D> geom,
103 const rendering::MaterialRecord* material = nullptr,
104 const std::string& group = "",
105 double time = 0.0,
106 bool is_visible = true);
107
110 void AddGeometry(const std::string& name,
111 std::shared_ptr<t::geometry::Geometry> tgeom,
112 const rendering::MaterialRecord* material = nullptr,
113 const std::string& group = "",
114 double time = 0.0,
115 bool is_visible = true);
116
118 void AddGeometry(const std::string& name,
119 std::shared_ptr<rendering::TriangleMeshModel> tgeom,
120 const rendering::MaterialRecord* material = nullptr,
121 const std::string& group = "",
122 double time = 0.0,
123 bool is_visible = true);
124
126 void RemoveGeometry(const std::string& name);
127
130 void UpdateGeometry(const std::string& name,
131 std::shared_ptr<t::geometry::Geometry> tgeom,
132 uint32_t update_flags);
133
135 void ShowGeometry(const std::string& name, bool show);
136
138 DrawObject GetGeometry(const std::string& name) const;
140 const std::string& name) const;
141
142 void ModifyGeometryMaterial(const std::string& name,
143 const rendering::MaterialRecord* material);
144
146 void Add3DLabel(const Eigen::Vector3f& pos, const char* text);
147
149 void Clear3DLabels();
150
151 void SetupCamera(float fov,
152 const Eigen::Vector3f& center,
153 const Eigen::Vector3f& eye,
154 const Eigen::Vector3f& up);
155 void SetupCamera(const camera::PinholeCameraIntrinsic& intrinsic,
156 const Eigen::Matrix4d& extrinsic);
157 void SetupCamera(const Eigen::Matrix3d& intrinsic,
158 const Eigen::Matrix4d& extrinsic,
159 int intrinsic_width_px,
160 int intrinsic_height_px);
161
163
164 void ShowSettings(bool show);
165 void ShowSkybox(bool show);
166 void SetIBL(const std::string& path);
167 void SetIBLIntensity(float intensity);
168 void ShowAxes(bool show);
169 void ShowGround(bool show);
171 void EnableSunFollowsCamera(bool enable);
172 void EnableBasicMode(bool enable);
173 void EnableWireframeMode(bool enable);
174 void SetPointSize(int point_size);
175 void SetLineWidth(int line_width);
176 void EnableGroup(const std::string& group, bool enable);
178 void SetPanelOpen(const std::string& name, bool open);
179
180 std::vector<O3DVisualizerSelections::SelectionSet> GetSelectionSets() const;
181
182 double GetAnimationFrameDelay() const;
183 void SetAnimationFrameDelay(double secs);
184
185 double GetAnimationTimeStep() const;
186 void SetAnimationTimeStep(double time_step);
187
188 double GetAnimationDuration() const;
189 void SetAnimationDuration(double sec);
190
191 double GetCurrentTime() const;
192 void SetCurrentTime(double t);
193
194 bool GetIsAnimating() const;
195 void SetAnimating(bool is_animating);
196
197 void SetOnAnimationFrame(std::function<void(O3DVisualizer&, double)> cb);
198
199 enum class TickResult { NO_CHANGE, REDRAW };
201 std::function<TickResult(O3DVisualizer&, double, double)> cb);
202
203 void ExportCurrentImage(const std::string& path);
204
205 UIState GetUIState() const;
207
209 void StartRPCInterface(const std::string& address, int timeout);
210
211 void StopRPCInterface();
212
213protected:
214 void Layout(const gui::LayoutContext& context);
215
216private:
217 struct Impl;
218 std::unique_ptr<Impl> impl_;
219};
220
221} // namespace visualizer
222} // namespace visualization
223} // namespace open3d
std::function< void(std::shared_ptr< core::Tensor >)> callback
Definition FilamentRenderer.cpp:182
double t
Definition SurfaceReconstructionPoisson.cpp:172
ImGuiContext * context
Definition Window.cpp:76
Contains the pinhole camera intrinsic parameters.
Definition PinholeCameraIntrinsic.h:32
Controls
Definition SceneWidget.h:69
@ ROTATE_CAMERA
Definition SceneWidget.h:70
bool GetIsAnimating() const
Definition O3DVisualizer.cpp:2507
void SetGroundPlane(rendering::Scene::GroundPlane plane)
Definition O3DVisualizer.cpp:2437
void ShowGeometry(const std::string &name, bool show)
Show/hide the named geometry.
Definition O3DVisualizer.cpp:2404
void ModifyGeometryMaterial(const std::string &name, const rendering::MaterialRecord *material)
Definition O3DVisualizer.cpp:2418
void SetShader(Shader shader)
Definition O3DVisualizer.cpp:2353
std::vector< O3DVisualizerSelections::SelectionSet > GetSelectionSets() const
Definition O3DVisualizer.cpp:2470
void SetMouseMode(gui::SceneWidget::Controls mode)
Definition O3DVisualizer.cpp:2457
void SetupCamera(float fov, const Eigen::Vector3f &center, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)
Definition O3DVisualizer.cpp:2515
void SetAnimationTimeStep(double time_step)
Definition O3DVisualizer.cpp:2486
TickResult
Definition O3DVisualizer.h:199
void ExportCurrentImage(const std::string &path)
Definition O3DVisualizer.cpp:2557
void Add3DLabel(const Eigen::Vector3f &pos, const char *text)
Adds a label with text text at the 3D position pos.
Definition O3DVisualizer.cpp:2388
void EnableBasicMode(bool enable)
Definition O3DVisualizer.cpp:2441
void SetCurrentTime(double t)
Definition O3DVisualizer.cpp:2505
double GetCurrentTime() const
Definition O3DVisualizer.cpp:2501
void SetIBLIntensity(float intensity)
Definition O3DVisualizer.cpp:2429
void SetBackground(const Eigen::Vector4f &bg_color, std::shared_ptr< geometry::Image > bg_image=nullptr)
Definition O3DVisualizer.cpp:2347
void SetAnimationFrameDelay(double secs)
Definition O3DVisualizer.cpp:2478
void EnableGroup(const std::string &group, bool enable)
Definition O3DVisualizer.cpp:2465
double GetAnimationDuration() const
Definition O3DVisualizer.cpp:2491
void ShowSkybox(bool show)
Definition O3DVisualizer.cpp:2425
void Layout(const gui::LayoutContext &context)
Definition O3DVisualizer.cpp:2561
void SetIBL(const std::string &path)
Definition O3DVisualizer.cpp:2427
void StopRPCInterface()
Definition O3DVisualizer.cpp:2314
rendering::Open3DScene * GetScene() const
Definition O3DVisualizer.cpp:2298
void SetOnAnimationTick(std::function< TickResult(O3DVisualizer &, double, double)> cb)
Definition O3DVisualizer.cpp:2552
void ShowGround(bool show)
Definition O3DVisualizer.cpp:2435
DrawObject GetGeometry(const std::string &name) const
Returns Visualizer's internal DrawObject for the named geometry.
Definition O3DVisualizer.cpp:2408
void ShowAxes(bool show)
Definition O3DVisualizer.cpp:2433
virtual ~O3DVisualizer()
Definition O3DVisualizer.cpp:2296
void EnableWireframeMode(bool enable)
Definition O3DVisualizer.cpp:2445
void SetAnimationDuration(double sec)
Definition O3DVisualizer.cpp:2495
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:2355
void StartRPCInterface(const std::string &address, int timeout)
Starts the RPC interface. See io/rpc/ZMQReceiver for the parameters.
Definition O3DVisualizer.cpp:2302
void SetLineWidth(int line_width)
Definition O3DVisualizer.cpp:2453
void AddAction(const std::string &name, std::function< void(O3DVisualizer &)> callback)
Definition O3DVisualizer.cpp:2321
UIState GetUIState() const
Definition O3DVisualizer.cpp:2539
rendering::MaterialRecord GetGeometryMaterial(const std::string &name) const
Definition O3DVisualizer.cpp:2413
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:2394
void SetPointSize(int point_size)
Definition O3DVisualizer.cpp:2449
void ShowSettings(bool show)
Definition O3DVisualizer.cpp:2423
double GetAnimationFrameDelay() const
Definition O3DVisualizer.cpp:2474
void SetAnimating(bool is_animating)
Definition O3DVisualizer.cpp:2511
void SetPanelOpen(const std::string &name, bool open)
Definition O3DVisualizer.cpp:2461
void SetOnAnimationFrame(std::function< void(O3DVisualizer &, double)> cb)
Definition O3DVisualizer.cpp:2543
void Clear3DLabels()
Clears all 3D labels created with Add3DLabel
Definition O3DVisualizer.cpp:2392
double GetAnimationTimeStep() const
Definition O3DVisualizer.cpp:2482
void ResetCameraToDefault()
Definition O3DVisualizer.cpp:2535
void RemoveGeometry(const std::string &name)
Removes the named geometry from the Visualizer.
Definition O3DVisualizer.cpp:2400
int width
Definition FilePCD.cpp:52
std::string name
Definition FilePCD.cpp:39
int height
Definition FilePCD.cpp:53
Definition PinholeCameraIntrinsic.cpp:16
std::string name
Definition O3DVisualizer.h:45
std::shared_ptr< t::geometry::Geometry > tgeometry
Definition O3DVisualizer.h:47
rendering::MaterialRecord material
Definition O3DVisualizer.h:49
std::shared_ptr< geometry::Geometry3D > geometry
Definition O3DVisualizer.h:46
std::shared_ptr< rendering::TriangleMeshModel > model
Definition O3DVisualizer.h:48
std::string group
Definition O3DVisualizer.h:50
double frame_delay
Definition O3DVisualizer.h:86
Eigen::Vector3f sun_color
Definition O3DVisualizer.h:82
gui::SceneWidget::Controls mouse_mode
Definition O3DVisualizer.h:59
std::set< std::string > enabled_groups
Definition O3DVisualizer.h:69
Eigen::Vector3f sun_dir
Definition O3DVisualizer.h:81
Eigen::Vector4f bg_color
Definition O3DVisualizer.h:71
Shader scene_shader
Definition O3DVisualizer.h:61
rendering::Scene::GroundPlane ground_plane
Definition O3DVisualizer.h:66
bool sun_follows_camera
Definition O3DVisualizer.h:77
double current_time
Definition O3DVisualizer.h:84
std::string ibl_path
Definition O3DVisualizer.h:78