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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/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > Open3DViewGeometry [options]");
utility::LogInfo(" Open a window to view geometry.");
utility::LogInfo("");
utility::LogInfo("Basic options:");
utility::LogInfo(" --help, -h : Print help information.");
utility::LogInfo(" --mesh file : Add a triangle mesh from file.");
utility::LogInfo(" --pointcloud file : Add a point cloud from file.");
utility::LogInfo(" --lineset file : Add a line set from file.");
utility::LogInfo(" --voxelgrid file : Add a voxel grid from file.");
utility::LogInfo(" --image file : Add an image from file.");
utility::LogInfo(" --depth file : Add a point cloud converted from a depth image.");
utility::LogInfo(" --depth_camera file : Use with --depth, read a json file that stores");
utility::LogInfo(" the camera parameters.");
utility::LogInfo(" --show_frame : Add a coordinate frame.");
utility::LogInfo(" --verbose n : Set verbose level (0-4).");
utility::LogInfo("");
utility::LogInfo("Animation options:");
utility::LogInfo(" --render_option file : Read a json file of rendering settings.");
utility::LogInfo(" --view_trajectory file : Read a json file of view trajectory.");
utility::LogInfo(" --camera_trajectory file : Read a json file of camera trajectory.");
utility::LogInfo(" --auto_recording [i|d] : Automatically plays the animation, record");
utility::LogInfo(" images (i) or depth images (d). Exits when");
utility::LogInfo(" animation ends.");
utility::LogInfo("");
utility::LogInfo("Window options:");
utility::LogInfo(" --window_name name : Set window name.");
utility::LogInfo(" --height n : Set window height.");
utility::LogInfo(" --width n : Set window width.");
utility::LogInfo(" --top n : Set window top edge.");
utility::LogInfo(" --left n : Set window left edge.");
// clang-format on
}
int main(int argc, char **argv) {
using namespace open3d;
using namespace open3d::utility::filesystem;
int verbose = utility::GetProgramOptionAsInt(argc, argv, "--verbose", 5);
utility::SetVerbosityLevel((utility::VerbosityLevel)verbose);
if (argc <= 1 || utility::ProgramOptionExists(argc, argv, "--help") ||
utility::ProgramOptionExists(argc, argv, "-h")) {
PrintHelp();
return 0;
}
std::vector<std::shared_ptr<geometry::Geometry>> geometry_ptrs;
int width = utility::GetProgramOptionAsInt(argc, argv, "--width", 1920);
int height = utility::GetProgramOptionAsInt(argc, argv, "--height", 1080);
int top = utility::GetProgramOptionAsInt(argc, argv, "--top", 200);
int left = utility::GetProgramOptionAsInt(argc, argv, "--left", 200);
std::string window_name = utility::GetProgramOptionAsString(
argc, argv, "--window_name", "ViewGeometry");
std::string mesh_filename =
utility::GetProgramOptionAsString(argc, argv, "--mesh");
std::string pcd_filename =
utility::GetProgramOptionAsString(argc, argv, "--pointcloud");
std::string lineset_filename =
utility::GetProgramOptionAsString(argc, argv, "--lineset");
std::string voxelgrid_filename =
utility::GetProgramOptionAsString(argc, argv, "--voxelgrid");
std::string image_filename =
utility::GetProgramOptionAsString(argc, argv, "--image");
std::string depth_filename =
utility::GetProgramOptionAsString(argc, argv, "--depth");
std::string depth_parameter_filename =
utility::GetProgramOptionAsString(argc, argv, "--depth_camera");
std::string render_filename =
utility::GetProgramOptionAsString(argc, argv, "--render_option");
std::string view_filename =
utility::GetProgramOptionAsString(argc, argv, "--view_trajectory");
std::string camera_filename = utility::GetProgramOptionAsString(
argc, argv, "--camera_trajectory");
bool show_coordinate_frame =
utility::ProgramOptionExists(argc, argv, "--show_frame");
visualization::VisualizerWithCustomAnimation visualizer;
if (!visualizer.CreateVisualizerWindow(window_name, width, height, left,
top)) {
utility::LogWarning("Failed creating OpenGL window.");
return 0;
}
if (!mesh_filename.empty()) {
auto mesh_ptr = io::CreateMeshFromFile(mesh_filename);
mesh_ptr->ComputeVertexNormals();
if (!visualizer.AddGeometry(mesh_ptr)) {
utility::LogWarning("Failed adding triangle mesh.");
return 1;
}
}
if (!pcd_filename.empty()) {
auto pointcloud_ptr = io::CreatePointCloudFromFile(pcd_filename);
if (!visualizer.AddGeometry(pointcloud_ptr)) {
utility::LogWarning("Failed adding point cloud.");
return 1;
}
if (pointcloud_ptr->points_.size() > 5000000) {
visualizer.GetRenderOption().point_size_ = 1.0;
}
}
if (!lineset_filename.empty()) {
auto lineset_ptr = io::CreateLineSetFromFile(lineset_filename);
if (!visualizer.AddGeometry(lineset_ptr)) {
utility::LogWarning("Failed adding line set.");
return 1;
}
}
if (!voxelgrid_filename.empty()) {
auto voxelgrid_ptr = io::CreateVoxelGridFromFile(voxelgrid_filename);
if (!visualizer.AddGeometry(voxelgrid_ptr)) {
utility::LogWarning("Failed adding voxel grid.");
return 1;
}
}
if (!image_filename.empty()) {
auto image_ptr = io::CreateImageFromFile(image_filename);
if (!visualizer.AddGeometry(image_ptr)) {
utility::LogWarning("Failed adding image.");
return 1;
}
}
if (!depth_filename.empty()) {
camera::PinholeCameraParameters parameters;
if (depth_parameter_filename.empty() ||
!io::ReadIJsonConvertible(depth_parameter_filename, parameters)) {
utility::LogWarning(
"Failed to read intrinsic parameters for depth image.");
utility::LogWarning("Using default value for Primesense camera.");
parameters.intrinsic_.SetIntrinsics(640, 480, 525.0, 525.0, 319.5,
239.5);
}
auto image_ptr = io::CreateImageFromFile(depth_filename);
auto pointcloud_ptr = geometry::PointCloud::CreateFromDepthImage(
*image_ptr, parameters.intrinsic_, parameters.extrinsic_);
if (pointcloud_ptr == nullptr) {
utility::LogWarning("Failed creating from depth image.");
return 1;
}
if (!visualizer.AddGeometry(pointcloud_ptr)) {
utility::LogWarning("Failed adding depth image.");
return 1;
}
}
if (!visualizer.HasGeometry()) {
utility::LogWarning("No geometry to render!");
visualizer.DestroyVisualizerWindow();
return 1;
}
if (!render_filename.empty()) {
if (!io::ReadIJsonConvertible(render_filename,
visualizer.GetRenderOption())) {
utility::LogWarning("Failed loading rendering settings.");
return 1;
}
}
if (!view_filename.empty()) {
auto &view_control = (visualization::ViewControlWithCustomAnimation &)
visualizer.GetViewControl();
if (!view_control.LoadTrajectoryFromJsonFile(view_filename)) {
utility::LogWarning("Failed loading view trajectory.");
return 1;
}
} else if (!camera_filename.empty()) {
camera::PinholeCameraTrajectory camera_trajectory;
if (!io::ReadIJsonConvertible(camera_filename, camera_trajectory)) {
utility::LogWarning("Failed loading camera trajectory.");
return 1;
} else {
auto &view_control =
(visualization::ViewControlWithCustomAnimation &)
visualizer.GetViewControl();
if (!view_control.LoadTrajectoryFromCameraTrajectory(
camera_trajectory)) {
utility::LogWarning(
"Failed converting camera trajectory to view "
"trajectory.");
return 1;
}
}
}
visualizer.GetRenderOption().show_coordinate_frame_ = show_coordinate_frame;
if (utility::ProgramOptionExists(argc, argv, "--auto_recording")) {
std::string mode = utility::GetProgramOptionAsString(
argc, argv, "--auto_recording");
if (mode == "i") {
visualizer.Play(true, false, true);
} else if (mode == "d") {
visualizer.Play(true, true, true);
} else {
visualizer.Play(true, false, true);
}
visualizer.Run();
} else {
visualizer.Run();
}
visualizer.DestroyVisualizerWindow();
return 0;
}
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