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// ----------------------------------------------------------------------------
// - 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.
// ----------------------------------------------------------------------------
#include "open3d/visualization/visualizer/O3DVisualizer.h"
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include "open3d/geometry/Geometry3D.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/visualization/gui/Dialog.h"
#include "open3d/visualization/gui/Window.h"
#include "open3d/visualization/rendering/Model.h"
#include "open3d/visualization/rendering/Open3DScene.h"
#include "pybind/visualization/visualization.h"
namespace open3d {
namespace visualization {
using namespace visualizer;
void pybind_o3dvisualizer(py::module& m) {
py::class_<O3DVisualizerSelections::SelectedIndex> selected_index(
m, "SelectedIndex",
"Information about a point or vertex that was selected");
selected_index
.def("__repr__",
[](const O3DVisualizerSelections::SelectedIndex& idx) {
std::stringstream s;
s << "{ index: " << idx.index << ", order: " << idx.order
<< ", point: (" << idx.point.x() << ", " << idx.point.y()
<< ", " << idx.point.z() << ") }";
return s.str();
})
.def_readonly("index",
&O3DVisualizerSelections::SelectedIndex::index,
"The index of this point in the point/vertex "
"array")
.def_readonly("order",
&O3DVisualizerSelections::SelectedIndex::order,
"A monotonically increasing value that can be "
"used to determine in what order the points "
"were selected")
.def_readonly("point",
&O3DVisualizerSelections::SelectedIndex::point,
"The (x, y, z) value of this point");
py::class_<O3DVisualizer, UnownedPointer<O3DVisualizer>, gui::Window>
o3dvis(m, "O3DVisualizer", "Visualization object used by draw()");
py::enum_<O3DVisualizer::Shader> dv_shader(o3dvis, "Shader",
"Scene-level rendering options");
dv_shader
.value("STANDARD", O3DVisualizer::Shader::STANDARD,
"Pixel colors from standard lighting model")
.value("UNLIT", O3DVisualizer::Shader::UNLIT,
"Normals will be ignored (useful for point clouds)")
.value("NORMALS", O3DVisualizer::Shader::NORMALS,
"Pixel colors correspond to surface normal")
.value("DEPTH", O3DVisualizer::Shader::DEPTH,
"Pixel colors correspond to depth buffer value")
.export_values();
py::enum_<O3DVisualizer::TickResult> tick_result(
o3dvis, "TickResult", "Return value from animation tick callback");
tick_result
.value("NO_CHANGE", O3DVisualizer::TickResult::NO_CHANGE,
"Signals that no change happened and no redraw is required")
.value("REDRAW", O3DVisualizer::TickResult::REDRAW,
"Signals that a redraw is required");
py::class_<O3DVisualizer::DrawObject> drawobj(
o3dvis, "DrawObject",
"Information about an object that is drawn. Do not modify this, it "
"can lead to unexpected results.");
drawobj.def_readonly("name", &O3DVisualizer::DrawObject::name,
"The name of the object")
.def_property_readonly(
"geometry",
[](const O3DVisualizer::DrawObject& o) {
if (o.geometry) {
return py::cast(o.geometry);
} else {
return py::cast(o.tgeometry);
}
},
"The geometry. Modifying this will not "
"result in any visible change. Use "
"remove_geometry() and then add_geometry()"
"to change the geometry")
.def_readonly("group", &O3DVisualizer::DrawObject::group,
"The group that the object belongs to")
.def_readonly("time", &O3DVisualizer::DrawObject::time,
"The object's timestamp")
.def_readonly("is_visible", &O3DVisualizer::DrawObject::is_visible,
"True if the object is checked in the list. "
"If the object's group is unchecked or an "
"animation is playing, the object's "
"visibility may not correspond with this "
"value");
o3dvis.def(py::init<const std::string, int, int>(), "title"_a = "Open3D",
"width"_a = 1024, "height"_a = 768,
"Creates a O3DVisualizer object")
// selected functions inherited from Window
.def_property("os_frame", &O3DVisualizer::GetOSFrame,
&O3DVisualizer::SetOSFrame,
"Window rect in OS coords, not device pixels")
.def_property("title", &O3DVisualizer::GetTitle,
&O3DVisualizer::SetTitle,
"Returns the title of the window")
.def("size_to_fit", &O3DVisualizer::SizeToFit,
"Sets the width and height of window to its preferred size")
.def_property("size", &O3DVisualizer::GetSize,
&O3DVisualizer::SetSize,
"The size of the window in device pixels, including "
"menubar (except on macOS)")
.def_property_readonly(
"content_rect", &O3DVisualizer::GetContentRect,
"Returns the frame in device pixels, relative "
" to the window, which is available for widgets "
"(read-only)")
.def_property_readonly(
"scaling", &O3DVisualizer::GetScaling,
"Returns the scaling factor between OS pixels "
"and device pixels (read-only)")
.def_property_readonly("is_visible", &O3DVisualizer::IsVisible,
"True if window is visible (read-only)")
.def_property_readonly(
"uid", &O3DVisualizer::GetWebRTCUID,
"Window's unique ID when WebRTCWindowSystem is use."
"Returns 'window_undefined' otherwise.")
.def("post_redraw", &O3DVisualizer::PostRedraw,
"Tells the window to redraw")
.def("show", &O3DVisualizer::Show, "Shows or hides the window")
.def("close", &O3DVisualizer::Close,
"Closes the window and destroys it, unless an on_close "
"callback cancels the close.")
.def(
"show_dialog",
[](O3DVisualizer& w, UnownedPointer<gui::Dialog> dlg) {
w.ShowDialog(TakeOwnership<gui::Dialog>(dlg));
},
"Displays the dialog")
.def("close_dialog", &O3DVisualizer::CloseDialog,
"Closes the current dialog")
.def("show_message_box", &O3DVisualizer::ShowMessageBox,
"Displays a simple dialog with a title and message and okay "
"button")
.def("set_on_close", &O3DVisualizer::SetOnClose,
"Sets a callback that will be called when the window is "
"closed. The callback is given no arguments and should return "
"True to continue closing the window or False to cancel the "
"close")
.def("show_menu", &O3DVisualizer::ShowMenu,
"show_menu(show): shows or hides the menu in the window, "
"except on macOS since the menubar is not in the window "
"and all applications must have a menubar.")
// from O3DVisualizer
.def("add_action", &O3DVisualizer::AddAction,
"Adds a button to the custom actions section of the UI "
"and a corresponding menu item in the \"Actions\" menu. "
"add_action(name, callback). The callback will be given "
"one parameter, the O3DVisualizer instance, and does not "
"return any value.")
.def("add_geometry",
py::overload_cast<const std::string&,
std::shared_ptr<geometry::Geometry3D>,
const rendering::MaterialRecord*,
const std::string&, double, bool>(
&O3DVisualizer::AddGeometry),
"name"_a, "geometry"_a, "material"_a = nullptr, "group"_a = "",
"time"_a = 0.0, "is_visible"_a = true,
"Adds a geometry: add_geometry(name, geometry, material=None, "
"group='', time=0.0, is_visible=True). 'name' must be unique.")
.def("add_geometry",
py::overload_cast<const std::string&,
std::shared_ptr<t::geometry::Geometry>,
const rendering::MaterialRecord*,
const std::string&, double, bool>(
&O3DVisualizer::AddGeometry),
"name"_a, "geometry"_a, "material"_a = nullptr, "group"_a = "",
"time"_a = 0.0, "is_visible"_a = true,
"Adds a Tensor-based add_geometry: geometry(name, geometry, "
"material=None, "
"group='', time=0.0, is_visible=True). 'name' must be unique.")
.def("add_geometry",
py::overload_cast<
const std::string&,
std::shared_ptr<rendering::TriangleMeshModel>,
const rendering::MaterialRecord*, const std::string&,
double, bool>(&O3DVisualizer::AddGeometry),
"name"_a, "model"_a, "material"_a = nullptr, "group"_a = "",
"time"_a = 0.0, "is_visible"_a = true,
"Adds a TriangleMeshModel: add_geometry(name, model, "
"material=None, "
"group='', time=0.0, is_visible=True). 'name' must be unique. "
"'material' is ignored.")
.def(
"add_geometry",
[](py::object dv, const py::dict& d) {
rendering::MaterialRecord* material = nullptr;
std::string group = "";
double time = 0;
bool is_visible = true;
std::string name = py::cast<std::string>(d["name"]);
if (d.contains("material")) {
material = py::cast<rendering::MaterialRecord*>(
d["material"]);
}
if (d.contains("group")) {
group = py::cast<std::string>(d["group"]);
}
if (d.contains("time")) {
time = py::cast<double>(d["time"]);
}
if (d.contains("is_visible")) {
is_visible = py::cast<bool>(d["is_visible"]);
}
py::object g = d["geometry"];
// Instead of trying to figure out how to cast 'g' as
// the appropriate shared_ptr, if we can call the
// function using pybind and let it figure out how to do
// everything.
dv.attr("add_geometry")(name, g, material, group, time,
is_visible);
},
"Adds a geometry from a dictionary. The dictionary has the "
"following elements:\n"
"name: unique name of the object (required)\n"
"geometry: the geometry or t.geometry object (required)\n"
"material: a visualization.rendering.Material object "
"(optional)\n"
"group: a string declaring the group it is a member of "
"(optional)\n"
"time: a time value\n")
.def("remove_geometry", &O3DVisualizer::RemoveGeometry,
"remove_geometry(name): removes the geometry with the "
"name.")
.def("update_geometry", &O3DVisualizer::UpdateGeometry,
"update_geometry(name, tpoint_cloud, update_flags): updates "
"the attributes of the named geometry specified by "
"update_flags with tpoint_cloud. Note: Currently this "
"function only works with T Geometry Point Clouds.")
.def("show_geometry", &O3DVisualizer::ShowGeometry,
"Checks or unchecks the named geometry in the list. Note that "
"even if show_geometry(name, True) is called, the object may "
"not actually be visible if its group is unchecked, or if an "
"animation is in progress.")
.def("get_geometry", &O3DVisualizer::GetGeometry,
"get_geometry(name): Returns the DrawObject corresponding to "
"the name. This should be treated as read-only. Modify "
"visibility with show_geometry(), and other values by "
"removing the object and re-adding it with the new values")
.def("get_geometry_material", &O3DVisualizer::GetGeometryMaterial,
"get_geometry_material(name): Returns the MaterialRecord "
"corresponding to the name. The returned material is a copy, "
"therefore modifying it directly will not change the "
"visualization.")
.def("modify_geometry_material",
&O3DVisualizer::ModifyGeometryMaterial,
"modify_geometry_material(name,material): Updates the named "
"geometry to use the new provided material.")
.def("add_3d_label", &O3DVisualizer::Add3DLabel,
"add_3d_label([x,y,z], text): displays text anchored at the "
"3D coordinate specified")
.def("clear_3d_labels", &O3DVisualizer::Clear3DLabels,
"Clears all 3D text")
.def("setup_camera",
py::overload_cast<float, const Eigen::Vector3f&,
const Eigen::Vector3f&,
const Eigen::Vector3f&>(
&O3DVisualizer::SetupCamera),
"setup_camera(field_of_view, center, eye, up): sets the "
"camera view so that the camera is located at 'eye', pointing "
"towards 'center', and oriented so that the up vector is 'up'")
.def("setup_camera",
py::overload_cast<const camera::PinholeCameraIntrinsic&,
const Eigen::Matrix4d&>(
&O3DVisualizer::SetupCamera),
"setup_camera(intrinsic, extrinsic_matrix): sets the camera "
"view")
.def("setup_camera",
py::overload_cast<const Eigen::Matrix3d&,
const Eigen::Matrix4d&, int, int>(
&O3DVisualizer::SetupCamera),
"setup_camera(intrinsic_matrix, extrinsic_matrix, "
"intrinsic_width_px, intrinsic_height_px): sets the camera "
"view")
.def("reset_camera_to_default",
&O3DVisualizer::ResetCameraToDefault,
"Sets camera to default position")
.def("get_selection_sets", &O3DVisualizer::GetSelectionSets,
"Returns the selection sets, as [{'obj_name', "
"[SelectedIndex]}]")
.def("set_on_animation_frame", &O3DVisualizer::SetOnAnimationFrame,
"set_on_animation(callback): Sets a callback that will be "
"called every frame of the animation. The callback will be "
"called as callback(o3dvis, current_time).")
.def("set_on_animation_tick", &O3DVisualizer::SetOnAnimationTick,
"set_on_animation(callback): Sets a callback that will be "
"called every frame of the animation. The callback will be "
"called as callback(o3dvis, time_since_last_tick, "
"total_elapsed_since_animation_started). Note that this "
"is a low-level callback. If you need to change the current "
"timestamp being shown you will need to update the "
"o3dvis.current_time property in the callback. The callback "
"must return either O3DVisualizer.TickResult.IGNORE if no "
"redraw is required or O3DVisualizer.TickResult.REDRAW "
"if a redraw is required.")
.def("export_current_image", &O3DVisualizer::ExportCurrentImage,
"export_image(path). Exports a PNG image of what is "
"currently displayed to the given path.")
.def("start_rpc_interface", &O3DVisualizer::StartRPCInterface,
"address"_a, "timeout"_a,
"Starts the RPC interface.\n"
"address: str with the address to listen on.\n"
"timeout: int timeout in milliseconds for sending the reply.")
.def("stop_rpc_interface", &O3DVisualizer::StopRPCInterface,
"Stops the RPC interface.")
.def("set_background", &O3DVisualizer::SetBackground,
"set_background(color, image=None): Sets the background color "
"and, optionally, the background image. Passing None for the "
"background image will clear any image already there.")
.def("set_ibl", &O3DVisualizer::SetIBL,
"set_ibl(ibl_name): Sets the IBL and its matching skybox. If "
"ibl_name_ibl.ktx is found in the default resource directory "
"then it is used. Otherwise, ibl_name is assumed to be a path "
"to the ibl KTX file.")
.def("set_ibl_intensity", &O3DVisualizer::SetIBLIntensity,
"set_ibl_intensity(intensity): Sets the intensity of the "
"current IBL")
.def("enable_raw_mode", &O3DVisualizer::EnableBasicMode,
"enable_raw_mode(enable): Enables/disables raw mode for "
"simplified lighting environment.")
.def("show_skybox", &O3DVisualizer::ShowSkybox,
"Show/Hide the skybox")
.def_property(
"show_settings",
[](const O3DVisualizer& dv) {
return dv.GetUIState().show_settings;
},
&O3DVisualizer::ShowSettings,
"Gets/sets if settings panel is visible")
.def_property(
"mouse_mode",
[](const O3DVisualizer& dv) {
return dv.GetUIState().mouse_mode;
},
&O3DVisualizer::SetMouseMode,
"Gets/sets the control mode being used for the mouse")
.def_property(
"scene_shader",
[](const O3DVisualizer& dv) {
return dv.GetUIState().scene_shader;
},
&O3DVisualizer::SetShader,
"Gets/sets the shading model for the scene")
.def_property(
"show_axes",
[](const O3DVisualizer& dv) {
return dv.GetUIState().show_axes;
},
&O3DVisualizer::ShowAxes, "Gets/sets if axes are visible")
.def_property(
"show_ground",
[](const O3DVisualizer& dv) {
return dv.GetUIState().show_ground;
},
&O3DVisualizer::ShowGround,
"Gets/sets if ground plane is visible")
.def_property(
"ground_plane",
[](const O3DVisualizer& dv) {
return dv.GetUIState().ground_plane;
},
&O3DVisualizer::SetGroundPlane,
"Sets the plane for ground plane, XZ, XY, or YZ")
.def_property(
"point_size",
[](const O3DVisualizer& dv) {
return dv.GetUIState().point_size;
},
&O3DVisualizer::SetPointSize,
"Gets/sets size of points (in units of pixels)")
.def_property(
"line_width",
[](const O3DVisualizer& dv) {
return dv.GetUIState().line_width;
},
&O3DVisualizer::SetLineWidth,
"Gets/sets width of lines (in units of pixels)")
.def_property_readonly("scene", &O3DVisualizer::GetScene,
"Returns the rendering.Open3DScene object "
"for low-level manipulation")
.def_property(
"current_time",
// MSVC doesn't like this for some reason
//&O3DVisualizer::GetCurrentTime,
[](const O3DVisualizer& dv) -> double {
return dv.GetCurrentTime();
},
&O3DVisualizer::SetCurrentTime,
"Gets/sets the current time. If setting, only the "
"objects belonging to the current time-step will "
"be displayed")
.def_property("animation_time_step",
&O3DVisualizer::GetAnimationTimeStep,
&O3DVisualizer::SetAnimationTimeStep,
"Gets/sets the time step for animations. Default is "
"1.0 sec")
.def_property("animation_frame_delay",
&O3DVisualizer::GetAnimationFrameDelay,
&O3DVisualizer::SetAnimationFrameDelay,
"Gets/sets the length of time a frame is visible.")
.def_property("animation_duration",
&O3DVisualizer::GetAnimationDuration,
&O3DVisualizer::SetAnimationDuration,
"Gets/sets the duration (in seconds) of the "
"animation. This is automatically computed to be the "
"difference between the minimum and maximum time "
"values, but this is useful if no time values have "
"been specified (that is, all objects are at the "
"default t=0)")
.def_property("is_animating", &O3DVisualizer::GetIsAnimating,
&O3DVisualizer::SetAnimating,
"Gets/sets the status of the animation. Changing "
"value will start or stop the animating.");
}
} // namespace visualization
} // namespace open3d
|
