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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 <iostream>
#include <memory>
#include <thread>
#include "open3d/Open3D.h"
void PrintHelp() {
using namespace open3d;
PrintOpen3DVersion();
// clang-format off
utility::LogInfo("Usage:");
utility::LogInfo(" > Visualizer [mesh|spin|slowspin|pointcloud|rainbow|image|depth|editing|editmesh] [filename]");
utility::LogInfo(" > Visualizer [animation] [filename] [trajectoryfile]");
utility::LogInfo(" > Visualizer [rgbd] [color] [depth] [--rgbd_type]");
// clang-format on
utility::LogInfo("");
}
int main(int argc, char *argv[]) {
using namespace open3d;
utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
if (argc < 3 ||
utility::ProgramOptionExistsAny(argc, argv, {"-h", "--help"})) {
PrintHelp();
return 1;
}
std::string option(argv[1]);
if (option == "mesh") {
auto mesh_ptr = std::make_shared<geometry::TriangleMesh>();
if (io::ReadTriangleMesh(argv[2], *mesh_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
mesh_ptr->ComputeVertexNormals();
visualization::DrawGeometries({mesh_ptr}, "Mesh", 1600, 900);
} else if (option == "editmesh") {
auto mesh_ptr = std::make_shared<geometry::TriangleMesh>();
if (io::ReadTriangleMesh(argv[2], *mesh_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
mesh_ptr->ComputeVertexNormals();
visualization::DrawGeometriesWithVertexSelection(
{mesh_ptr}, "Edit Mesh", 1600, 900);
} else if (option == "spin") {
auto mesh_ptr = std::make_shared<geometry::TriangleMesh>();
if (io::ReadTriangleMesh(argv[2], *mesh_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
mesh_ptr->ComputeVertexNormals();
visualization::DrawGeometriesWithAnimationCallback(
{mesh_ptr},
[&](visualization::Visualizer *vis) {
vis->GetViewControl().Rotate(10, 0);
std::this_thread::sleep_for(std::chrono::milliseconds(30));
return false;
},
"Spin", 1600, 900);
} else if (option == "slowspin") {
auto mesh_ptr = std::make_shared<geometry::TriangleMesh>();
if (io::ReadTriangleMesh(argv[2], *mesh_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
mesh_ptr->ComputeVertexNormals();
visualization::DrawGeometriesWithKeyCallbacks(
{mesh_ptr},
{{GLFW_KEY_SPACE,
[&](visualization::Visualizer *vis) {
vis->GetViewControl().Rotate(10, 0);
std::this_thread::sleep_for(
std::chrono::milliseconds(30));
return false;
}}},
"Press Space key to spin", 1600, 900);
} else if (option == "pointcloud") {
auto cloud_ptr = std::make_shared<geometry::PointCloud>();
if (io::ReadPointCloud(argv[2], *cloud_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
cloud_ptr->NormalizeNormals();
visualization::DrawGeometries({cloud_ptr}, "PointCloud", 1600, 900);
} else if (option == "rainbow") {
auto cloud_ptr = std::make_shared<geometry::PointCloud>();
if (io::ReadPointCloud(argv[2], *cloud_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
cloud_ptr->NormalizeNormals();
cloud_ptr->colors_.resize(cloud_ptr->points_.size());
double color_index = 0.0;
double color_index_step = 0.05;
auto update_colors_func = [&cloud_ptr](double index) {
auto color_map_ptr = visualization::GetGlobalColorMap();
for (auto &c : cloud_ptr->colors_) {
c = color_map_ptr->GetColor(index);
}
};
update_colors_func(1.0);
visualization::DrawGeometriesWithAnimationCallback(
{cloud_ptr},
[&](visualization::Visualizer *vis) {
color_index += color_index_step;
if (color_index > 2.0) color_index -= 2.0;
update_colors_func(fabs(color_index - 1.0));
std::this_thread::sleep_for(std::chrono::milliseconds(100));
return true;
},
"Rainbow", 1600, 900);
} else if (option == "image") {
auto image_ptr = std::make_shared<geometry::Image>();
if (io::ReadImage(argv[2], *image_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
visualization::DrawGeometries({image_ptr}, "Image", image_ptr->width_,
image_ptr->height_);
} else if (option == "rgbd") {
if (argc < 4) {
PrintHelp();
return 1;
}
int rgbd_type =
utility::GetProgramOptionAsInt(argc, argv, "--rgbd_type", 0);
auto color_ptr = std::make_shared<geometry::Image>();
auto depth_ptr = std::make_shared<geometry::Image>();
if (io::ReadImage(argv[2], *color_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
if (io::ReadImage(argv[3], *depth_ptr)) {
utility::LogInfo("Successfully read {}", argv[3]);
} else {
utility::LogWarning("Failed to read {}", argv[3]);
return 1;
}
std::shared_ptr<geometry::RGBDImage> (*CreateRGBDImage)(
const geometry::Image &, const geometry::Image &, bool);
if (rgbd_type == 0)
CreateRGBDImage = &geometry::RGBDImage::CreateFromRedwoodFormat;
else if (rgbd_type == 1)
CreateRGBDImage = &geometry::RGBDImage::CreateFromTUMFormat;
else if (rgbd_type == 2)
CreateRGBDImage = &geometry::RGBDImage::CreateFromSUNFormat;
else if (rgbd_type == 3)
CreateRGBDImage = &geometry::RGBDImage::CreateFromNYUFormat;
else
CreateRGBDImage = &geometry::RGBDImage::CreateFromRedwoodFormat;
auto rgbd_ptr = CreateRGBDImage(*color_ptr, *depth_ptr, false);
visualization::DrawGeometries({rgbd_ptr}, "RGBD", depth_ptr->width_ * 2,
depth_ptr->height_);
} else if (option == "depth") {
auto image_ptr = io::CreateImageFromFile(argv[2]);
camera::PinholeCameraIntrinsic camera;
camera.SetIntrinsics(640, 480, 575.0, 575.0, 319.5, 239.5);
auto pointcloud_ptr =
geometry::PointCloud::CreateFromDepthImage(*image_ptr, camera);
visualization::DrawGeometries(
{pointcloud_ptr},
"geometry::PointCloud from Depth geometry::Image", 1920, 1080);
} else if (option == "editing") {
auto pcd = io::CreatePointCloudFromFile(argv[2]);
visualization::DrawGeometriesWithEditing({pcd}, "Editing", 1920, 1080);
} else if (option == "animation") {
auto mesh_ptr = std::make_shared<geometry::TriangleMesh>();
if (io::ReadTriangleMesh(argv[2], *mesh_ptr)) {
utility::LogInfo("Successfully read {}", argv[2]);
} else {
utility::LogWarning("Failed to read {}", argv[2]);
return 1;
}
mesh_ptr->ComputeVertexNormals();
if (argc == 3) {
visualization::DrawGeometriesWithCustomAnimation(
{mesh_ptr}, "Animation", 1920, 1080);
} else {
visualization::DrawGeometriesWithCustomAnimation(
{mesh_ptr}, "Animation", 1600, 900, 50, 50, argv[3]);
}
}
utility::LogInfo("End of the test.");
return 0;
}
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