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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/geometry/PointCloud.h"
#include "open3d/geometry/TriangleMesh.h"
#include "open3d/io/IJsonConvertibleIO.h"
#include "open3d/utility/FileSystem.h"
#include "open3d/visualization/utility/DrawGeometry.h"
#include "open3d/visualization/utility/SelectionPolygonVolume.h"
#include "open3d/visualization/visualizer/Visualizer.h"
#include "pybind/docstring.h"
#include "pybind/visualization/visualization.h"
namespace open3d {
namespace visualization {
void pybind_visualization_utility(py::module &m) {
py::class_<SelectionPolygonVolume> selection_volume(
m, "SelectionPolygonVolume",
"Select a polygon volume for cropping.");
py::detail::bind_default_constructor<SelectionPolygonVolume>(
selection_volume);
py::detail::bind_copy_functions<SelectionPolygonVolume>(selection_volume);
selection_volume
.def(
"crop_point_cloud",
[](const SelectionPolygonVolume &s,
const geometry::PointCloud &input) {
return s.CropPointCloud(input);
},
"input"_a, "Function to crop point cloud.")
.def(
"crop_triangle_mesh",
[](const SelectionPolygonVolume &s,
const geometry::TriangleMesh &input) {
return s.CropTriangleMesh(input);
},
"input"_a, "Function to crop crop triangle mesh.")
.def(
"crop_in_polygon",
[](const SelectionPolygonVolume &s,
const geometry::PointCloud &input) {
return s.CropInPolygon(input);
},
"input"_a, "Function to crop 3d point clouds.")
.def("__repr__",
[](const SelectionPolygonVolume &s) {
return std::string(
"SelectionPolygonVolume, access "
"its members:\n"
"orthogonal_axis, bounding_polygon, axis_min, "
"axis_max");
})
.def_readwrite("orthogonal_axis",
&SelectionPolygonVolume::orthogonal_axis_,
"string: one of ``{x, y, z}``.")
.def_readwrite("bounding_polygon",
&SelectionPolygonVolume::bounding_polygon_,
"``(n, 3)`` float64 numpy array: Bounding polygon "
"boundary.")
.def_readwrite("axis_min", &SelectionPolygonVolume::axis_min_,
"float: Minimum axis value.")
.def_readwrite("axis_max", &SelectionPolygonVolume::axis_max_,
"float: Maximum axis value.");
docstring::ClassMethodDocInject(m, "SelectionPolygonVolume",
"crop_point_cloud",
{{"input", "The input point cloud."}});
docstring::ClassMethodDocInject(m, "SelectionPolygonVolume",
"crop_triangle_mesh",
{{"input", "The input triangle mesh."}});
docstring::ClassMethodDocInject(m, "SelectionPolygonVolume",
"crop_in_polygon",
{{"input", "The input point cloud xyz."}});
}
// Visualization util functions have similar arguments, sharing arg docstrings
static const std::unordered_map<std::string, std::string>
map_shared_argument_docstrings = {
{"callback_function",
"Call back function to be triggered at a key press event."},
{"filename", "The file path."},
{"geometry_list", "List of geometries to be visualized."},
{"height", "The height of the visualization window."},
{"key_to_callback", "Map of key to call back functions."},
{"left", "The left margin of the visualization window."},
{"optional_view_trajectory_json_file",
"Camera trajectory json file path for custom animation."},
{"top", "The top margin of the visualization window."},
{"width", "The width of the visualization window."},
{"point_show_normal",
"Visualize point normals if set to true."},
{"mesh_show_wireframe",
"Visualize mesh wireframe if set to true."},
{"mesh_show_back_face",
"Visualize also the back face of the mesh triangles."},
{"window_name",
"The displayed title of the visualization window."},
{"lookat", "The lookat vector of the camera."},
{"up", "The up vector of the camera."},
{"front", "The front vector of the camera."},
{"zoom", "The zoom of the camera."}};
void pybind_visualization_utility_methods(py::module &m) {
m.def(
"draw_geometries",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
const std::string &window_name, int width, int height, int left,
int top, bool point_show_normal, bool mesh_show_wireframe,
bool mesh_show_back_face) {
std::string current_dir =
utility::filesystem::GetWorkingDirectory();
DrawGeometries(geometry_ptrs, window_name, width, height, left,
top, point_show_normal, mesh_show_wireframe,
mesh_show_back_face);
utility::filesystem::ChangeWorkingDirectory(current_dir);
},
"Function to draw a list of geometry::Geometry objects",
"geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920,
"height"_a = 1080, "left"_a = 50, "top"_a = 50,
"point_show_normal"_a = false, "mesh_show_wireframe"_a = false,
"mesh_show_back_face"_a = false);
m.def(
"draw_geometries",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
const std::string &window_name, int width, int height, int left,
int top, bool point_show_normal, bool mesh_show_wireframe,
bool mesh_show_back_face, Eigen::Vector3d lookat,
Eigen::Vector3d up, Eigen::Vector3d front, double zoom) {
std::string current_dir =
utility::filesystem::GetWorkingDirectory();
DrawGeometries(geometry_ptrs, window_name, width, height, left,
top, point_show_normal, mesh_show_wireframe,
mesh_show_back_face, &lookat, &up, &front,
&zoom);
utility::filesystem::ChangeWorkingDirectory(current_dir);
},
"Function to draw a list of geometry::Geometry objects",
"geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920,
"height"_a = 1080, "left"_a = 50, "top"_a = 50,
"point_show_normal"_a = false, "mesh_show_wireframe"_a = false,
"mesh_show_back_face"_a = false, "lookat"_a, "up"_a, "front"_a,
"zoom"_a);
docstring::FunctionDocInject(m, "draw_geometries",
map_shared_argument_docstrings);
m.def(
"draw_geometries_with_custom_animation",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
const std::string &window_name, int width, int height, int left,
int top, const std::string &json_filename) {
std::string current_dir =
utility::filesystem::GetWorkingDirectory();
DrawGeometriesWithCustomAnimation(geometry_ptrs, window_name,
width, height, left, top,
json_filename);
utility::filesystem::ChangeWorkingDirectory(current_dir);
},
"Function to draw a list of geometry::Geometry objects with a GUI "
"that "
"supports animation",
"geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920,
"height"_a = 1080, "left"_a = 50, "top"_a = 50,
"optional_view_trajectory_json_file"_a = "");
docstring::FunctionDocInject(m, "draw_geometries_with_custom_animation",
map_shared_argument_docstrings);
m.def(
"draw_geometries_with_animation_callback",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
std::function<bool(Visualizer *)> callback_func,
const std::string &window_name, int width, int height, int left,
int top) {
std::string current_dir =
utility::filesystem::GetWorkingDirectory();
DrawGeometriesWithAnimationCallback(geometry_ptrs,
callback_func, window_name,
width, height, left, top);
utility::filesystem::ChangeWorkingDirectory(current_dir);
},
"Function to draw a list of geometry::Geometry objects with a "
"customized "
"animation callback function",
"geometry_list"_a, "callback_function"_a,
"window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080,
"left"_a = 50, "top"_a = 50, py::return_value_policy::reference);
docstring::FunctionDocInject(m, "draw_geometries_with_animation_callback",
map_shared_argument_docstrings);
m.def(
"draw_geometries_with_key_callbacks",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
const std::map<int, std::function<bool(Visualizer *)>>
&key_to_callback,
const std::string &window_name, int width, int height, int left,
int top) {
std::string current_dir =
utility::filesystem::GetWorkingDirectory();
DrawGeometriesWithKeyCallbacks(geometry_ptrs, key_to_callback,
window_name, width, height, left,
top);
utility::filesystem::ChangeWorkingDirectory(current_dir);
},
"Function to draw a list of geometry::Geometry objects with a "
"customized "
"key-callback mapping",
"geometry_list"_a, "key_to_callback"_a, "window_name"_a = "Open3D",
"width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50);
docstring::FunctionDocInject(m, "draw_geometries_with_key_callbacks",
map_shared_argument_docstrings);
m.def(
"draw_geometries_with_editing",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
const std::string &window_name, int width, int height, int left,
int top) {
DrawGeometriesWithEditing(geometry_ptrs, window_name, width,
height, left, top);
},
"Function to draw a list of geometry::Geometry providing user "
"interaction",
"geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920,
"height"_a = 1080, "left"_a = 50, "top"_a = 50);
docstring::FunctionDocInject(m, "draw_geometries_with_editing",
map_shared_argument_docstrings);
m.def(
"draw_geometries_with_vertex_selection",
[](const std::vector<std::shared_ptr<const geometry::Geometry>>
&geometry_ptrs,
const std::string &window_name, int width, int height, int left,
int top) {
DrawGeometriesWithVertexSelection(geometry_ptrs, window_name,
width, height, left, top);
},
"Function to draw a list of geometry::Geometry providing ability "
"for user to select points",
"geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920,
"height"_a = 1080, "left"_a = 50, "top"_a = 50);
docstring::FunctionDocInject(m, "draw_geometries_with_vertex_selection",
map_shared_argument_docstrings);
m.def(
"read_selection_polygon_volume",
[](const std::string &filename) {
SelectionPolygonVolume vol;
io::ReadIJsonConvertible(filename, vol);
return vol;
},
"Function to read SelectionPolygonVolume from file", "filename"_a);
docstring::FunctionDocInject(m, "read_selection_polygon_volume",
map_shared_argument_docstrings);
}
} // namespace visualization
} // namespace open3d
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