# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # The MIT License (MIT) # # Copyright (c) 2018-2021 www.open3d.org # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in # all copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING # FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS # IN THE SOFTWARE. # ---------------------------------------------------------------------------- import numpy as np import open3d as o3d import open3d.visualization.gui as gui import open3d.visualization.rendering as rendering # This example displays a point cloud and if you Ctrl-click on a point # (Cmd-click on macOS) it will show the coordinates of the point. # This example illustrates: # - custom mouse handling on SceneWidget # - getting a the depth value of a point (OpenGL depth) # - converting from a window point + OpenGL depth to world coordinate class ExampleApp: def __init__(self, cloud): # We will create a SceneWidget that fills the entire window, and then # a label in the lower left on top of the SceneWidget to display the # coordinate. app = gui.Application.instance self.window = app.create_window("Open3D - GetCoord Example", 1024, 768) # Since we want the label on top of the scene, we cannot use a layout, # so we need to manually layout the window's children. self.window.set_on_layout(self._on_layout) self.widget3d = gui.SceneWidget() self.window.add_child(self.widget3d) self.info = gui.Label("") self.info.visible = False self.window.add_child(self.info) self.widget3d.scene = rendering.Open3DScene(self.window.renderer) mat = rendering.MaterialRecord() mat.shader = "defaultUnlit" # Point size is in native pixels, but "pixel" means different things to # different platforms (macOS, in particular), so multiply by Window scale # factor. mat.point_size = 3 * self.window.scaling self.widget3d.scene.add_geometry("Point Cloud", cloud, mat) bounds = self.widget3d.scene.bounding_box center = bounds.get_center() self.widget3d.setup_camera(60, bounds, center) self.widget3d.look_at(center, center - [0, 0, 3], [0, -1, 0]) self.widget3d.set_on_mouse(self._on_mouse_widget3d) def _on_layout(self, layout_context): r = self.window.content_rect self.widget3d.frame = r pref = self.info.calc_preferred_size(layout_context, gui.Widget.Constraints()) self.info.frame = gui.Rect(r.x, r.get_bottom() - pref.height, pref.width, pref.height) def _on_mouse_widget3d(self, event): # We could override BUTTON_DOWN without a modifier, but that would # interfere with manipulating the scene. if event.type == gui.MouseEvent.Type.BUTTON_DOWN and event.is_modifier_down( gui.KeyModifier.CTRL): def depth_callback(depth_image): # Coordinates are expressed in absolute coordinates of the # window, but to dereference the image correctly we need them # relative to the origin of the widget. Note that even if the # scene widget is the only thing in the window, if a menubar # exists it also takes up space in the window (except on macOS). x = event.x - self.widget3d.frame.x y = event.y - self.widget3d.frame.y # Note that np.asarray() reverses the axes. depth = np.asarray(depth_image)[y, x] if depth == 1.0: # clicked on nothing (i.e. the far plane) text = "" else: world = self.widget3d.scene.camera.unproject( event.x, event.y, depth, self.widget3d.frame.width, self.widget3d.frame.height) text = "({:.3f}, {:.3f}, {:.3f})".format( world[0], world[1], world[2]) # This is not called on the main thread, so we need to # post to the main thread to safely access UI items. def update_label(): self.info.text = text self.info.visible = (text != "") # We are sizing the info label to be exactly the right size, # so since the text likely changed width, we need to # re-layout to set the new frame. self.window.set_needs_layout() gui.Application.instance.post_to_main_thread( self.window, update_label) self.widget3d.scene.scene.render_to_depth_image(depth_callback) return gui.Widget.EventCallbackResult.HANDLED return gui.Widget.EventCallbackResult.IGNORED def main(): app = gui.Application.instance app.initialize() # This example will also work with a triangle mesh, or any 3D object. # If you use a triangle mesh you will probably want to set the material # shader to "defaultLit" instead of "defaultUnlit". pcd_data = o3d.data.DemoICPPointClouds() cloud = o3d.io.read_point_cloud(pcd_data.paths[0]) ex = ExampleApp(cloud) app.run() if __name__ == "__main__": main()