# ---------------------------------------------------------------------------- # - Open3D: www.open3d.org - # ---------------------------------------------------------------------------- # Copyright (c) 2018-2024 www.open3d.org # SPDX-License-Identifier: MIT # ---------------------------------------------------------------------------- import argparse import os import runpy import sys from pathlib import Path import open3d as o3d import open3d.app as app class _Open3DArgumentParser(argparse.ArgumentParser): def error(self, message): print(f"Error: {message}\n", file=sys.stderr) self.exit(2) def _get_examples_dir(): """Get the path to the examples directory.""" tools_path = os.path.dirname(os.path.abspath(__file__)) examples_path = os.path.join(os.path.dirname(tools_path), "examples") if os.path.exists(examples_path): examples_dir = Path(examples_path) return examples_dir else: examples_path = os.path.join( os.path.dirname(os.path.dirname(tools_path)), "examples", "python") examples_dir = Path(examples_path) return examples_dir def _get_all_examples_dict(): ex_dir = _get_examples_dir() categories = [cat for cat in ex_dir.iterdir() if cat.is_dir()] examples_dict = {} for cat_path in categories: examples = sorted(Path(cat_path).glob("*.py")) if len(examples) > 0: examples_dict[cat_path.stem] = [ ex.stem for ex in examples if ex.stem != "__init__" ] return examples_dict def _get_runnable_examples_dict(): examples_dict = _get_all_examples_dict() categories_to_remove = [ "benchmark", "reconstruction_system", "t_reconstruction_system", ] examples_to_remove = { "io": ["realsense_io"], "visualization": [ "online_processing", "tensorboard_pytorch", "tensorboard_tensorflow", ], } for cat in categories_to_remove: examples_dict.pop(cat) for cat in examples_to_remove.keys(): for ex in examples_to_remove[cat]: examples_dict[cat].remove(ex) return examples_dict def _get_all_examples(): all_examples = [] examples_dict = _get_runnable_examples_dict() for category in examples_dict: for example in examples_dict[category]: all_examples.append(f"{category}/{example}") return all_examples def _get_example_categories(): """Get a set of all available category names.""" examples_dict = _get_runnable_examples_dict() all_categories = [category for category in examples_dict] return all_categories def _get_examples_in_category(category): """Get a set of example names in given category.""" examples_dict = _get_runnable_examples_dict() examples_dir = _get_examples_dir() category_path = os.path.join(examples_dir, category) example_names = { name: Path(category_path) for name in examples_dict[category] } return example_names def _support_choice_with_dot_py(choice): if choice.endswith(".py"): return choice[:-3] return choice def _example_help_categories(): msg = f"\ncategories:\n" for category in sorted(_get_example_categories()): msg += f" {category}\n" msg += ( "\nTo view the example in each category, run one of the following commands:\n" ) for category in sorted(_get_example_categories()): msg += f" open3d example --list {category}\n" return msg def _example(parser, args): if args.category_example is None: if args.list: for category in _get_example_categories(): print("examples in " + category + ": ") for examples_in_category in sorted( _get_examples_in_category(category)): print(f" {category}/{examples_in_category}") print("") else: parser.print_help() return 0 try: category = args.category_example.split("/")[0] example = args.category_example.split("/")[1] except IndexError: category = args.category_example example = "" if category not in _get_example_categories(): print("Error: invalid category provided: " + category, file=sys.stderr) parser.exit(2) if args.list: if example == "": print("examples in " + category + ": ") for examples_in_category in sorted( _get_examples_in_category(category)): print(f" {category}/{examples_in_category}") print("\nTo view all examples, run:") print(" open3d example --list\n") return 0 else: print( "Error: invalid category provided: " + args.category_example, file=sys.stderr, ) parser.exit(2) if args.category_example not in _get_all_examples(): print( "Error: invalid example name provided: " + args.category_example, file=sys.stderr, ) parser.exit(2) examples_dir = _get_examples_dir() examples_in_category = _get_examples_in_category(category) target = str((examples_dir / category / examples_in_category[example] / f"{example}.py").resolve()) # path for examples needs to be modified for implicit relative imports sys.path.append( (examples_dir / category / examples_in_category[example]).resolve()) if args.show: with open(target) as f: print(f.read()) return 0 print(f"Running example {args.category_example} ...") removed_args = sys.argv[1:3] del sys.argv[1:3] runpy.run_path(target, run_name="__main__") sys.argv.insert(1, removed_args[0]) sys.argv.insert(2, removed_args[1]) return 0 def _draw(parser, args): if args.filename is None: parser.print_help() elif not os.path.isfile(args.filename): print(f"Error: could not find file: {args.filename}", file=sys.stderr) parser.exit(2) removed_arg = sys.argv[1] sys.argv.pop(1) app.main() sys.argv.insert(1, removed_arg) return 0 def _draw_webrtc(parser, args): if args.filename is None: parser.print_help() elif not os.path.isfile(args.filename): print(f"Error: could not find file: {args.filename}", file=sys.stderr) parser.exit(2) if args.bind_all: os.environ["WEBRTC_IP"] = "0.0.0.0" filetype = o3d.io.read_file_geometry_type(args.filename) if (filetype & o3d.io.CONTAINS_TRIANGLES): geometry = o3d.io.read_triangle_model(args.filename) else: geometry = o3d.t.io.read_point_cloud(args.filename) if 'normals' not in geometry.point and 'colors' not in geometry.point: geometry.estimate_normals() geometry.normalize_normals() o3d.visualization.webrtc_server.enable_webrtc() o3d.visualization.draw(geometry) def main(): print(f"***************************************************\n" f"* Open3D: A Modern Library for 3D Data Processing *\n" f"* *\n" f"* Version {o3d.__version__: <22} *\n" f"* Docs https://www.open3d.org/docs *\n" f"* Code https://github.com/isl-org/Open3D *\n" f"***************************************************") main_parser = _Open3DArgumentParser( description="Open3D commad-line tools", add_help=False, formatter_class=argparse.RawTextHelpFormatter, ) main_parser.add_argument( "-V", "--version", action="version", version="Open3D " + o3d.__version__, help="Show program's version number and exit.", ) main_parser.add_argument("-h", "--help", action="help", help="Show this help message and exit.") subparsers = main_parser.add_subparsers( title="command", dest="command", help="Select one of these commands.\n ") example_help = ( "View or run an Open3D example. Example usage: \n" " open3d example --list # List examples\n" " open3d example --list geometry # List examples in geometry\n" " open3d example geometry/point_cloud_convex_hull # Run an example\n" " open3d example --show geometry/point_cloud_convex_hull # Show source code of an example\n\n" ) parser_example = subparsers.add_parser( "example", add_help=False, description=example_help + _example_help_categories(), help=example_help, formatter_class=argparse.RawTextHelpFormatter, ) parser_example.add_argument( "category_example", nargs="?", help= "Category/example_name of an example (supports .py extension too)\n", type=_support_choice_with_dot_py, ) parser_example.add_argument("example_args", nargs="*", help="Arguments for the example to be run\n") parser_example.add_argument( "-l", "--list", required=False, dest="list", action="store_true", help="List all categories or examples available\n" "usage:\n" " open3d example --list \n" " open3d example --list [category]\n" "e.g.:\n" " open3d example --list geometry\n ", ) parser_example.add_argument( "-s", "--show", required=False, dest="show", action="store_true", help="Show example source code instead of running it\n" "usage:\n" " open3d example --show [category]/[example_name]\n" "e.g.:\n" " open3d example --show geometry/triangle_mesh_deformation\n", ) parser_example.add_argument("-h", "--help", action="help", help="Show this help message and exit.") parser_example.set_defaults(func=_example) draw_help = ( "Load and visualize a 3D model. Example usage:\n" " open3d draw # Start a blank Open3D viewer\n" " open3d draw path/to/model_file # Visualize a 3D model file\n\n" ) parser_draw = subparsers.add_parser( "draw", description=draw_help, help=draw_help, add_help=False, formatter_class=argparse.RawTextHelpFormatter, ) parser_draw.add_argument("filename", nargs="?", help="Name of the mesh or point cloud file.") parser_draw.add_argument("-h", "--help", action="help", help="Show this help message and exit.") parser_draw.set_defaults(func=_draw) draw_web_help = ( "Load and visualize a 3D model in a browser with WebRTC. Optionally, you can\n" "customize the serving IP address and port with WEBRTC_IP and WEBRTC_PORT\n" "environment variables. Example usage:\n" " open3d draw_web path/to/model_file # Visualize at http://localhost:8888\n" " open3d draw_web --bind_all path/to/model_file # Serve to the entire local network\n" " # at http://hostname.domainname:8888\n" ) parser_draw_web = subparsers.add_parser( "draw_web", description=draw_web_help, help=draw_web_help, add_help=False, formatter_class=argparse.RawTextHelpFormatter, ) parser_draw_web.add_argument("filename", nargs="?", help="Name of the mesh or point cloud file.") parser_draw_web.add_argument( "--bind_all", required=False, action="store_true", dest="bind_all", help="Listen for connections on all interfaces in the local network.\n" "Note: There is no encryption.", ) parser_draw_web.add_argument("-h", "--help", action="help", help="Show this help message and exit.") parser_draw_web.set_defaults(func=_draw_webrtc) args = main_parser.parse_args() if args.command in subparsers.choices.keys(): return args.func(subparsers.choices[args.command], args) else: main_parser.print_help() return 0 if __name__ == "__main__": sys.exit(main())