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|
// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/camera/PinholeCameraIntrinsic.h"
#include "open3d/t/geometry/Geometry.h"
#include "open3d/t/geometry/PointCloud.h"
#include "open3d/visualization/rendering/ColorGrading.h"
#include "open3d/visualization/rendering/Gradient.h"
#include "open3d/visualization/rendering/MaterialRecord.h"
#include "open3d/visualization/rendering/Model.h"
#include "open3d/visualization/rendering/Open3DScene.h"
#include "open3d/visualization/rendering/Renderer.h"
#include "open3d/visualization/rendering/Scene.h"
#include "open3d/visualization/rendering/View.h"
#include "open3d/visualization/rendering/filament/FilamentEngine.h"
#include "open3d/visualization/rendering/filament/FilamentRenderer.h"
#include "pybind/docstring.h"
#include "pybind/visualization/gui/gui.h"
#include "pybind/visualization/visualization.h"
#include "pybind11/functional.h"
namespace open3d {
namespace visualization {
namespace rendering {
class PyOffscreenRenderer {
public:
PyOffscreenRenderer(int width,
int height,
const std::string &resource_path) {
gui::InitializeForPython(resource_path, true);
width_ = width;
height_ = height;
// NOTE: OffscreenRenderer now always uses headless so that a window
// system is never required
EngineInstance::EnableHeadless();
renderer_ = new FilamentRenderer(EngineInstance::GetInstance(), width,
height,
EngineInstance::GetResourceManager());
scene_ = new Open3DScene(*renderer_);
}
~PyOffscreenRenderer() {
delete scene_;
delete renderer_;
// Destroy Filament Engine here so OffscreenRenderer can be reused
EngineInstance::DestroyInstance();
}
Open3DScene *GetScene() { return scene_; }
std::shared_ptr<geometry::Image> RenderToImage() {
return gui::RenderToImageWithoutWindow(scene_, width_, height_);
}
std::shared_ptr<geometry::Image> RenderToDepthImage(
bool z_in_view_space = false) {
return gui::RenderToDepthImageWithoutWindow(scene_, width_, height_,
z_in_view_space);
}
void SetupCamera(const camera::PinholeCameraIntrinsic &intrinsic,
const Eigen::Matrix4d &extrinsic) {
SetupCamera(intrinsic.intrinsic_matrix_, extrinsic, intrinsic.width_,
intrinsic.height_);
}
void SetupCamera(const Eigen::Matrix3d &intrinsic,
const Eigen::Matrix4d &extrinsic,
int intrinsic_width_px,
int intrinsic_height_px) {
Camera::SetupCameraAsPinholeCamera(
*scene_->GetCamera(), intrinsic, extrinsic, intrinsic_width_px,
intrinsic_height_px, scene_->GetBoundingBox());
}
void SetupCamera(float verticalFoV,
const Eigen::Vector3f ¢er,
const Eigen::Vector3f &eye,
const Eigen::Vector3f &up,
float nearClip = -1.0f,
float farClip = -1.0f) {
float aspect = 1.0f;
if (height_ > 0) {
aspect = float(width_) / float(height_);
}
auto *camera = scene_->GetCamera();
auto far_plane = farClip > 0.0
? farClip
: Camera::CalcFarPlane(
*camera, scene_->GetBoundingBox());
camera->SetProjection(
verticalFoV, aspect,
nearClip > 0.0 ? nearClip : Camera::CalcNearPlane(), far_plane,
rendering::Camera::FovType::Vertical);
camera->LookAt(center, eye, up);
}
private:
int width_;
int height_;
FilamentRenderer *renderer_;
// The offscreen renderer owns the scene so that it can clean it up
// in the right order (otherwise we will crash).
Open3DScene *scene_;
};
void pybind_rendering_declarations(py::module &m) {
py::module m_rendering = m.def_submodule("rendering");
py::class_<TextureHandle> texture_handle(m_rendering, "TextureHandle",
"Handle to a texture");
py::class_<Renderer> renderer(
m_rendering, "Renderer",
"Renderer class that manages 3D resources. Get from gui.Window.");
// It would be nice to have this inherit from Renderer, but the problem is
// that Python needs to own this class and Python needs to not own Renderer,
// and pybind does not let us mix the two styles of ownership.
py::class_<PyOffscreenRenderer, std::shared_ptr<PyOffscreenRenderer>>
offscreen(m_rendering, "OffscreenRenderer",
"Renderer instance that can be used for rendering to an "
"image");
py::class_<Camera, std::shared_ptr<Camera>> cam(m_rendering, "Camera",
"Camera object");
py::enum_<Camera::FovType> fov_type(cam, "FovType", py::arithmetic(),
"Enum class for Camera field of view "
"types.");
fov_type.value("Vertical", Camera::FovType::Vertical)
.value("Horizontal", Camera::FovType::Horizontal)
.export_values();
py::enum_<Camera::Projection> proj_type(cam, "Projection", py::arithmetic(),
"Enum class for Camera projection "
"types.");
proj_type.value("Perspective", Camera::Projection::Perspective)
.value("Ortho", Camera::Projection::Ortho)
.export_values();
py::class_<Gradient, std::shared_ptr<Gradient>> gradient(
m_rendering, "Gradient",
"Manages a gradient for the unlitGradient shader."
"In gradient mode, the array of points specifies points along "
"the gradient, from 0 to 1 (inclusive). These do need to be "
"evenly spaced."
"Simple greyscale:"
" [ ( 0.0, black ),"
" ( 1.0, white ) ]"
"Rainbow (note the gaps around green):"
" [ ( 0.000, blue ),"
" ( 0.125, cornflower blue ),"
" ( 0.250, cyan ),"
" ( 0.500, green ),"
" ( 0.750, yellow ),"
" ( 0.875, orange ),"
" ( 1.000, red ) ]"
"The gradient will generate a largish texture, so it should "
"be fairly smooth, but the boundaries may not be exactly as "
"specified due to quantization imposed by the fixed size of "
"the texture."
" The points *must* be sorted from the smallest value to the "
"largest. The values must be in the range [0, 1].");
py::enum_<Gradient::Mode> gradient_mode(gradient, "Mode", py::arithmetic());
gradient_mode.value("GRADIENT", Gradient::Mode::kGradient)
.value("LUT", Gradient::Mode::kLUT)
.export_values();
py::class_<Gradient::Point> gpt(gradient, "Point");
py::class_<MaterialRecord> mat(
m_rendering, "MaterialRecord",
"Describes the real-world, physically based (PBR) "
"material used to render a geometry");
py::class_<TriangleMeshModel, std::shared_ptr<TriangleMeshModel>> tri_model(
m_rendering, "TriangleMeshModel",
"A list of geometry.TriangleMesh and Material that can describe a "
"complex model with multiple meshes, such as might be stored in an "
"FBX, OBJ, or GLTF file");
py::class_<TriangleMeshModel::MeshInfo> tri_model_info(tri_model,
"MeshInfo", "");
py::class_<ColorGradingParams> color_grading(
m_rendering, "ColorGrading",
"Parameters to control color grading options");
py::enum_<ColorGradingParams::Quality> cgp_quality(
color_grading, "Quality",
"Quality level of color grading operations");
cgp_quality.value("LOW", ColorGradingParams::Quality::kLow)
.value("MEDIUM", ColorGradingParams::Quality::kMedium)
.value("HIGH", ColorGradingParams::Quality::kHigh)
.value("ULTRA", ColorGradingParams::Quality::kUltra);
py::enum_<ColorGradingParams::ToneMapping> cgp_tone(
color_grading, "ToneMapping",
"Specifies the tone-mapping algorithm");
cgp_tone.value("LINEAR", ColorGradingParams::ToneMapping::kLinear)
.value("ACES_LEGACY", ColorGradingParams::ToneMapping::kAcesLegacy)
.value("ACES", ColorGradingParams::ToneMapping::kAces)
.value("FILMIC", ColorGradingParams::ToneMapping::kFilmic)
.value("UCHIMURA", ColorGradingParams::ToneMapping::kUchimura)
.value("REINHARD", ColorGradingParams::ToneMapping::kReinhard)
.value("DISPLAY_RANGE",
ColorGradingParams::ToneMapping::kDisplayRange);
py::class_<View, UnownedPointer<View>> view(m_rendering, "View",
"Low-level view class");
py::enum_<View::ShadowType> shadow_type(
view, "ShadowType", "Available shadow mapping algorithm options");
shadow_type.value("PCF", View::ShadowType::kPCF)
.value("VSM", View::ShadowType::kVSM);
py::class_<Scene, UnownedPointer<Scene>> scene(m_rendering, "Scene",
"Low-level rendering scene");
py::enum_<Scene::GroundPlane> ground_plane(
scene, "GroundPlane", py::arithmetic(),
"Plane on which to show ground plane: XZ, XY, or YZ");
ground_plane.value("XZ", Scene::GroundPlane::XZ)
.value("XY", Scene::GroundPlane::XY)
.value("YZ", Scene::GroundPlane::YZ)
.export_values();
py::class_<Open3DScene, UnownedPointer<Open3DScene>> o3dscene(
m_rendering, "Open3DScene", "High-level scene for rending");
py::enum_<Open3DScene::LightingProfile> lighting(
o3dscene, "LightingProfile", py::arithmetic(),
"Enum for conveniently setting lighting");
lighting.value("HARD_SHADOWS", Open3DScene::LightingProfile::HARD_SHADOWS)
.value("DARK_SHADOWS", Open3DScene::LightingProfile::DARK_SHADOWS)
.value("MED_SHADOWS", Open3DScene::LightingProfile::MED_SHADOWS)
.value("SOFT_SHADOWS", Open3DScene::LightingProfile::SOFT_SHADOWS)
.value("NO_SHADOWS", Open3DScene::LightingProfile::NO_SHADOWS)
.export_values();
}
void pybind_rendering_definitions(py::module &m) {
auto m_rendering = static_cast<py::module>(m.attr("rendering"));
auto renderer =
static_cast<py::class_<Renderer>>(m_rendering.attr("Renderer"));
renderer.def("set_clear_color", &Renderer::SetClearColor,
"Sets the background color for the renderer, [r, g, b, a]. "
"Applies to everything being rendered, so it essentially acts "
"as the background color of the window")
.def("add_texture",
(TextureHandle(Renderer::*)(
const std::shared_ptr<geometry::Image>, bool)) &
Renderer::AddTexture,
"image"_a, "is_sRGB"_a = false,
"Adds a texture. The first parameter is the image, the second "
"parameter is optional and is True if the image is in the "
"sRGB colorspace and False otherwise")
.def("update_texture",
(bool (Renderer::*)(TextureHandle,
const std::shared_ptr<geometry::Image>,
bool)) &
Renderer::UpdateTexture,
"texture"_a, "image"_a, "is_sRGB"_a = false,
"Updates the contents of the texture to be the new image, or "
"returns False and does nothing if the image is a different "
"size. It is more efficient to call update_texture() rather "
"than removing and adding a new texture, especially when "
"changes happen frequently, such as when implementing video. "
"add_texture(geometry.Image, bool). The first parameter is "
"the image, the second parameter is optional and is True "
"if the image is in the sRGB colorspace and False otherwise")
.def("remove_texture", &Renderer::RemoveTexture, "texture"_a,
"Deletes the texture. This does not remove the texture from "
"any existing materials or GUI widgets, and must be done "
"prior to this call.");
auto offscreen =
static_cast<py::class_<PyOffscreenRenderer,
std::shared_ptr<PyOffscreenRenderer>>>(
m_rendering.attr("OffscreenRenderer"));
offscreen
.def(py::init([](int w, int h, const std::string &resource_path) {
return std::make_shared<PyOffscreenRenderer>(
w, h, resource_path);
}),
"width"_a, "height"_a, "resource_path"_a = "",
"Takes width, height and optionally a resource_path. "
" If unspecified, resource_path will use the resource path "
"from "
"the installed Open3D library.")
.def_property_readonly(
"scene", &PyOffscreenRenderer::GetScene,
"Returns the Open3DScene for this renderer. This scene is "
"destroyed when the renderer is destroyed and should not "
"be accessed after that point.")
.def("setup_camera",
py::overload_cast<float, const Eigen::Vector3f &,
const Eigen::Vector3f &,
const Eigen::Vector3f &, float, float>(
&PyOffscreenRenderer::SetupCamera),
"vertical_field_of_view"_a, "center"_a, "eye"_a, "up"_a,
"near_clip"_a = -1.0f, "far_clip"_a = -1.0f,
"Sets camera view using bounding box of current geometry if "
"the near_clip and far_clip parameters are not set")
.def("setup_camera",
py::overload_cast<const camera::PinholeCameraIntrinsic &,
const Eigen::Matrix4d &>(
&PyOffscreenRenderer::SetupCamera),
"intrinsics"_a, "extrinsic_matrix"_a,
"Sets the camera view using bounding box of current geometry")
.def("setup_camera",
py::overload_cast<const Eigen::Matrix3d &,
const Eigen::Matrix4d &, int, int>(
&PyOffscreenRenderer::SetupCamera),
"intrinsic_matrix"_a, "extrinsic_matrix"_a,
"intrinsic_width_px"_a, "intrinsic_height_px"_a,
"Sets the camera view using bounding box of current geometry")
.def("render_to_image", &PyOffscreenRenderer::RenderToImage,
"Renders scene to an image, blocking until the image is "
"returned")
.def("render_to_depth_image",
&PyOffscreenRenderer::RenderToDepthImage,
"z_in_view_space"_a = false,
"Renders scene depth buffer to a float image, blocking until "
"the image is returned. Pixels range from 0 (near plane) to "
"1 (far plane). If z_in_view_space is set to True then pixels "
"are pre-transformed into view space (i.e., distance from "
"camera).");
// ---- Camera ----
auto cam = static_cast<py::class_<Camera, std::shared_ptr<Camera>>>(
m_rendering.attr("Camera"));
cam.def("set_projection",
(void (Camera::*)(double, double, double, double,
Camera::FovType)) &
Camera::SetProjection,
"field_of_view"_a, "aspect_ratio"_a, "near_plane"_a, "far_plane"_a,
"field_of_view_type"_a, "Sets a perspective projection.")
.def("set_projection",
(void (Camera::*)(Camera::Projection, double, double, double,
double, double, double)) &
Camera::SetProjection,
"projection_type"_a, "left"_a, "right"_a, "bottom"_a, "top"_a,
"near"_a, "far"_a,
"Sets the camera projection via a viewing frustum. ")
.def("set_projection",
(void (Camera::*)(const Eigen::Matrix3d &, double, double,
double, double)) &
Camera::SetProjection,
"intrinsics"_a, "near_plane"_a, "far_plane"_a, "image_width"_a,
"image_height"_a,
"Sets the camera projection via intrinsics matrix.")
.def("look_at", &Camera::LookAt, "center"_a, "eye"_a, "up"_a,
"Sets the position and orientation of the camera: ")
.def("unproject", &Camera::Unproject, "x"_a, "y"_a, "z"_a,
"view_width"_a, "view_height"_a,
"Takes the (x, y, z) location in the view, where x, y are the "
"number of pixels from the upper left of the view, and z is "
"the depth value. Returns the world coordinate (x', y', z').")
.def("copy_from", &Camera::CopyFrom, "camera"_a,
"Copies the settings from the camera passed as the argument "
"into this camera")
.def("get_near", &Camera::GetNear,
"Returns the distance from the camera to the near plane")
.def("get_far", &Camera::GetFar,
"Returns the distance from the camera to the far plane")
.def("get_field_of_view", &Camera::GetFieldOfView,
"Returns the field of view of camera, in degrees. Only valid "
"if it was passed to set_projection().")
.def("get_field_of_view_type", &Camera::GetFieldOfViewType,
"Returns the field of view type. Only valid if it was passed "
"to set_projection().")
.def(
"get_projection_matrix",
[](const Camera &cam) -> Eigen::Matrix4f {
// GetProjectionMatrix() returns Eigen::Transform which
// doesn't have a conversion to a Python object
return cam.GetProjectionMatrix().matrix();
},
"Returns the projection matrix of the camera")
.def(
"get_view_matrix",
[](const Camera &cam) -> Eigen::Matrix4f {
return cam.GetViewMatrix().matrix();
},
"Returns the view matrix of the camera")
.def(
"get_model_matrix",
[](const Camera &cam) -> Eigen::Matrix4f {
return cam.GetModelMatrix().matrix();
},
"Returns the model matrix of the camera");
// ---- Gradient ----
auto gradient =
static_cast<py::class_<Gradient, std::shared_ptr<Gradient>>>(
m_rendering.attr("Gradient"));
auto gpt = static_cast<py::class_<Gradient::Point>>(gradient.attr("Point"));
gpt.def(py::init<float, const Eigen::Vector4f>())
.def("__repr__",
[](const Gradient::Point &p) {
std::stringstream s;
s << "Gradient.Point[" << p.value << ", (" << p.color[0]
<< ", " << p.color[1] << ", " << p.color[2] << ", "
<< p.color[3] << ")]";
return s.str();
})
.def_readwrite("value", &Gradient::Point::value,
"Must be within 0.0 and 1.0")
.def_readwrite("color", &Gradient::Point::color,
"[R, G, B, A]. Color values must be in [0.0, 1.0]");
gradient.def(py::init<>())
.def(py::init<std::vector<Gradient::Point>>())
.def_property("points", &Gradient::GetPoints, &Gradient::SetPoints)
.def_property("mode", &Gradient::GetMode, &Gradient::SetMode);
// ---- Material ----
auto mat = static_cast<py::class_<MaterialRecord>>(
m_rendering.attr("MaterialRecord"));
mat.def(py::init<>())
.def_readwrite("has_alpha", &MaterialRecord::has_alpha)
.def_readwrite("base_color", &MaterialRecord::base_color)
.def_readwrite("base_metallic", &MaterialRecord::base_metallic)
.def_readwrite("base_roughness", &MaterialRecord::base_roughness)
.def_readwrite("base_reflectance",
&MaterialRecord::base_reflectance)
.def_readwrite("base_clearcoat", &MaterialRecord::base_clearcoat)
.def_readwrite("base_clearcoat_roughness",
&MaterialRecord::base_clearcoat_roughness)
.def_readwrite("base_anisotropy", &MaterialRecord::base_anisotropy)
.def_readwrite("emissive_color", &MaterialRecord::emissive_color)
.def_readwrite("thickness", &MaterialRecord::thickness)
.def_readwrite("transmission", &MaterialRecord::transmission)
.def_readwrite("absorption_color",
&MaterialRecord::absorption_color)
.def_readwrite("absorption_distance",
&MaterialRecord::absorption_distance)
.def_readwrite("point_size", &MaterialRecord::point_size)
.def_readwrite("line_width", &MaterialRecord::line_width,
"Requires 'shader' to be 'unlitLine'")
.def_readwrite("albedo_img", &MaterialRecord::albedo_img)
.def_readwrite("normal_img", &MaterialRecord::normal_img)
.def_readwrite("ao_img", &MaterialRecord::ao_img)
.def_readwrite("metallic_img", &MaterialRecord::metallic_img)
.def_readwrite("roughness_img", &MaterialRecord::roughness_img)
.def_readwrite("reflectance_img", &MaterialRecord::reflectance_img)
.def_readwrite("clearcoat_img", &MaterialRecord::clearcoat_img)
.def_readwrite("clearcoat_roughness_img",
&MaterialRecord::clearcoat_roughness_img)
.def_readwrite("anisotropy_img", &MaterialRecord::anisotropy_img)
.def_readwrite("ao_rough_metal_img",
&MaterialRecord::ao_rough_metal_img)
.def_readwrite("generic_params", &MaterialRecord::generic_params)
.def_readwrite("generic_imgs", &MaterialRecord::generic_imgs)
.def_readwrite("gradient", &MaterialRecord::gradient)
.def_readwrite("scalar_min", &MaterialRecord::scalar_min)
.def_readwrite("scalar_max", &MaterialRecord::scalar_max)
.def_readwrite("sRGB_color", &MaterialRecord::sRGB_color)
.def_readwrite("aspect_ratio", &MaterialRecord::aspect_ratio)
.def_readwrite("ground_plane_axis",
&MaterialRecord::ground_plane_axis)
.def_readwrite("shader", &MaterialRecord::shader);
// ---- TriangleMeshModel ----
auto tri_model = static_cast<
py::class_<TriangleMeshModel, std::shared_ptr<TriangleMeshModel>>>(
m_rendering.attr("TriangleMeshModel"));
auto tri_model_info = static_cast<py::class_<TriangleMeshModel::MeshInfo>>(
tri_model.attr("MeshInfo"));
tri_model_info
.def(py::init([](std::shared_ptr<geometry::TriangleMesh> mesh,
const std::string &name,
unsigned int material_idx) {
return TriangleMeshModel::MeshInfo{mesh, name, material_idx};
}))
.def_readwrite("mesh", &TriangleMeshModel::MeshInfo::mesh)
.def_readwrite("mesh_name", &TriangleMeshModel::MeshInfo::mesh_name)
.def_readwrite("material_idx",
&TriangleMeshModel::MeshInfo::material_idx);
tri_model.def(py::init<>())
.def_readwrite("meshes", &TriangleMeshModel::meshes_)
.def_readwrite("materials", &TriangleMeshModel::materials_);
// ---- ColorGradingParams ---
auto color_grading = static_cast<py::class_<ColorGradingParams>>(
m_rendering.attr("ColorGrading"));
color_grading
.def(py::init([](ColorGradingParams::Quality q,
ColorGradingParams::ToneMapping algorithm) {
return ColorGradingParams(q, algorithm);
}))
.def_property("quality", &ColorGradingParams::GetQuality,
&ColorGradingParams::SetQuality,
"Quality of color grading operations. High quality "
"is more accurate but slower")
.def_property("tone_mapping", &ColorGradingParams::GetToneMapping,
&ColorGradingParams::SetToneMapping,
"The tone mapping algorithm to apply. Must be one of "
"Linear, AcesLegacy, Aces, Filmic, Uchimura, "
"Rienhard, Display Range(for debug)")
.def_property("temperature", &ColorGradingParams::GetTemperature,
&ColorGradingParams::SetTemperature,
"White balance color temperature")
.def_property(
"tint", &ColorGradingParams::GetTint,
&ColorGradingParams::SetTint,
"Tint on the green/magenta axis. Ranges from -1.0 to 1.0.");
// ---- View ----
auto view = static_cast<py::class_<View, UnownedPointer<View>>>(
m_rendering.attr("View"));
view.def("set_color_grading", &View::SetColorGrading,
"Sets the parameters to be used for the color grading algorithms")
.def("set_post_processing", &View::SetPostProcessing,
"True to enable, False to disable post processing. Post "
"processing effects include: color grading, ambient occlusion "
"(and other screen space effects), and anti-aliasing.")
.def("set_ambient_occlusion", &View::SetAmbientOcclusion,
"enabled"_a, "ssct_enabled"_a = false,
"True to enable, False to disable ambient occlusion. "
"Optionally, screen-space cone tracing may be enabled with "
"ssct_enabled=True.")
.def("set_antialiasing", &View::SetAntiAliasing, "enabled"_a,
"temporal"_a = false,
"True to enable, False to disable anti-aliasing. Note that "
"this only impacts anti-aliasing post-processing. MSAA is "
"controlled separately by `set_sample_count`. Temporal "
"anti-aliasing may be optionally enabled with temporal=True.")
.def("set_sample_count", &View::SetSampleCount,
"Sets the sample count for MSAA. Set to 1 to disable MSAA. "
"Typical values are 2, 4 or 8. The maximum possible value "
"depends on the underlying GPU and OpenGL driver.")
.def("set_shadowing", &View::SetShadowing, "enabled"_a,
py::arg_v(
"type", View::ShadowType::kPCF,
"open3d.visualization.rendering.View.ShadowType.PCF"),
"True to enable, false to enable all shadow mapping when "
"rendering this View. When enabling shadow mapping you may "
"also specify one of two shadow mapping algorithms: PCF "
"(default) or VSM. Note: shadowing is enabled by default with "
"PCF shadow mapping.")
.def("get_camera", &View::GetCamera,
"Returns the Camera associated with this View.");
// ---- Scene ----
auto scene = static_cast<py::class_<Scene, UnownedPointer<Scene>>>(
m_rendering.attr("Scene"));
scene.def("add_camera", &Scene::AddCamera, "name"_a, "camera"_a,
"Adds a camera to the scene")
.def("remove_camera", &Scene::RemoveCamera, "name"_a,
"Removes the camera with the given name")
.def("set_active_camera", &Scene::SetActiveCamera, "name"_a,
"Sets the camera with the given name as the active camera for "
"the scene")
.def("add_geometry",
(bool (Scene::*)(
const std::string &, const geometry::Geometry3D &,
const MaterialRecord &, const std::string &, size_t)) &
Scene::AddGeometry,
"name"_a, "geometry"_a, "material"_a,
"downsampled_name"_a = "", "downsample_threshold"_a = SIZE_MAX,
"Adds a Geometry with a material to the scene")
.def("add_geometry",
(bool (Scene::*)(
const std::string &, const t::geometry::Geometry &,
const MaterialRecord &, const std::string &, size_t)) &
Scene::AddGeometry,
"name"_a, "geometry"_a, "material"_a,
"downsampled_name"_a = "", "downsample_threshold"_a = SIZE_MAX,
"Adds a Geometry with a material to the scene")
.def("has_geometry", &Scene::HasGeometry, "name"_a,
"Returns True if a geometry with the provided name exists in "
"the scene.")
.def("update_geometry", &Scene::UpdateGeometry, "name"_a,
"point_cloud"_a, "update_flag"_a,
"Updates the flagged arrays from the tgeometry.PointCloud. "
"The flags should be ORed from Scene.UPDATE_POINTS_FLAG, "
"Scene.UPDATE_NORMALS_FLAG, Scene.UPDATE_COLORS_FLAG, and "
"Scene.UPDATE_UV0_FLAG")
.def("remove_geometry", &Scene::RemoveGeometry, "name"_a,
"Removes the named geometry from the scene.")
.def("show_geometry", &Scene::ShowGeometry, "name"_a, "show"_a,
"Show or hide the named geometry.")
.def("geometry_is_visible", &Scene::GeometryIsVisible, "name"_a,
"Returns false if the geometry is hidden, True otherwise. "
"Note: this is different from whether or not the geometry is "
"in view.")
.def("geometry_shadows", &Scene::GeometryShadows, "name"_a,
"cast_shadows"_a, "receive_shadows"_a,
"Controls whether an object casts and/or receives shadows: "
"geometry_shadows(name, cast_shadows, receieve_shadows)")
.def("set_geometry_culling", &Scene::SetGeometryCulling, "name"_a,
"enable"_a,
"Enable/disable view frustum culling on the named object. "
"Culling is enabled by default.")
.def("set_geometry_priority", &Scene::SetGeometryPriority, "name"_a,
"priority"_a,
"Set sorting priority for named object. Objects with higher "
"priority will be rendering on top of overlapping geometry "
"with lower priority.")
.def("enable_indirect_light", &Scene::EnableIndirectLight,
"enable"_a, "Enables or disables indirect lighting")
.def("set_indirect_light", &Scene::SetIndirectLight, "name"_a,
"Loads the indirect light. The name parameter is the name of "
"the file to load")
.def("set_indirect_light_intensity",
&Scene::SetIndirectLightIntensity, "intensity"_a,
"Sets the brightness of the indirect light")
.def("enable_sun_light", &Scene::EnableSunLight, "enable"_a)
.def("set_sun_light", &Scene::SetSunLight, "direction"_a, "color"_a,
"intensity"_a,
"Sets the parameters of the sun light direction, "
"color, intensity")
.def("add_point_light", &Scene::AddPointLight, "name"_a, "color"_a,
"position"_a, "intensity"_a, "falloff"_a, "cast_shadows"_a,
"Adds a point light to the scene.")
.def("add_spot_light", &Scene::AddSpotLight, "name"_a, "color"_a,
"position"_a, "direction"_a, "intensity"_a, "falloff"_a,
"inner_cone_angle"_a, "outer_cone_angle"_a, "cast_shadows"_a,
"Adds a spot light to the scene.")
.def("add_directional_light", &Scene::AddDirectionalLight, "name"_a,
"color"_a, "direction"_a, "intensity"_a, "cast_shadows"_a,
"Adds a directional light to the scene")
.def("remove_light", &Scene::RemoveLight, "name"_a,
"Removes the named light from the scene.")
.def("update_light_color", &Scene::UpdateLightColor, "name"_a,
"color"_a,
"Changes a point, spot, or directional light's color")
.def("update_light_position", &Scene::UpdateLightPosition, "name"_a,
"position"_a, "Changes a point or spot light's position.")
.def("update_light_direction", &Scene::UpdateLightDirection,
"name"_a, "direction"_a,
"Changes a spot or directional light's direction.")
.def("update_light_intensity", &Scene::UpdateLightIntensity,
"name"_a, "intensity"_a,
"Changes a point, spot or directional light's intensity.")
.def("update_light_falloff", &Scene::UpdateLightFalloff, "name"_a,
"falloff"_a, "Changes a point or spot light's falloff.")
.def("update_light_cone_angles", &Scene::UpdateLightConeAngles,
"name"_a, "inner_cone_angle"_a, "outer_cone_angle"_a,
"Changes a spot light's inner and outer cone angles.")
.def("enable_light_shadow", &Scene::EnableLightShadow, "name"_a,
"can_cast_shadows"_a,
"Changes whether a point, spot, or directional light can "
"cast shadows.")
.def("render_to_image", &Scene::RenderToImage,
"Renders the scene to an image. This can only be used in a "
"GUI app. To render without a window, use "
"``Application.render_to_image``.")
.def("render_to_depth_image", &Scene::RenderToDepthImage,
"Renders the scene to a depth image. This can only be used in "
"GUI app. To render without a window, use "
"``Application.render_to_depth_image``. Pixels range from "
"0.0 (near plane) to 1.0 (far plane)");
scene.attr("UPDATE_POINTS_FLAG") = py::int_(Scene::kUpdatePointsFlag);
scene.attr("UPDATE_NORMALS_FLAG") = py::int_(Scene::kUpdateNormalsFlag);
scene.attr("UPDATE_COLORS_FLAG") = py::int_(Scene::kUpdateColorsFlag);
scene.attr("UPDATE_UV0_FLAG") = py::int_(Scene::kUpdateUv0Flag);
// ---- Open3DScene ----
auto o3dscene =
static_cast<py::class_<Open3DScene, UnownedPointer<Open3DScene>>>(
m_rendering.attr("Open3DScene"));
o3dscene.def(py::init<Renderer &>())
.def("show_skybox", &Open3DScene::ShowSkybox, "enable"_a,
"Toggles display of the skybox")
.def("show_axes", &Open3DScene::ShowAxes, "enable"_a,
"Toggles display of xyz axes")
.def("show_ground_plane", &Open3DScene::ShowGroundPlane, "enable"_a,
"plane"_a, "Toggles display of ground plane")
.def("set_lighting", &Open3DScene::SetLighting, "profile"_a,
"sun_dir"_a,
"Sets a simple lighting model. The default value is "
"set_lighting(Open3DScene.LightingProfile.MED_SHADOWS, "
"(0.577, -0.577, -0.577))")
.def(
"set_background_color",
[](Open3DScene &scene, const Eigen::Vector4f &color) {
utility::LogWarning(
"visualization.rendering.Open3DScene.set_"
"background_color()\nhas been deprecated. "
"Please use set_background() instead.");
scene.SetBackground(color, nullptr);
},
"This function has been deprecated. Please use "
"set_background() instead.")
.def("set_background", &Open3DScene::SetBackground, "color"_a,
"image"_a = nullptr,
"set_background([r, g, b, a], image=None). Sets the "
"background color and (optionally) image of the scene. ")
.def("clear_geometry", &Open3DScene::ClearGeometry)
.def("add_geometry",
py::overload_cast<const std::string &,
const geometry::Geometry3D *,
const MaterialRecord &, bool>(
&Open3DScene::AddGeometry),
"name"_a, "geometry"_a, "material"_a,
"add_downsampled_copy_for_fast_rendering"_a = true,
"Adds a geometry with the specified name. Default visible is "
"true.")
.def("add_geometry",
py::overload_cast<const std::string &,
const t::geometry::Geometry *,
const MaterialRecord &, bool>(
&Open3DScene::AddGeometry),
"name"_a, "geometry"_a, "material"_a,
"add_downsampled_copy_for_fast_rendering"_a = true,
"Adds a geometry with the specified name. Default visible is "
"true.")
.def("add_model", &Open3DScene::AddModel, "name"_a, "model"_a,
"Adds TriangleMeshModel to the scene.")
.def("has_geometry", &Open3DScene::HasGeometry, "name"_a,
"Returns True if the geometry has been added to the scene, "
"False otherwise")
.def("remove_geometry", &Open3DScene::RemoveGeometry, "name"_a,
"Removes the geometry with the given name")
.def("geometry_is_visible", &Open3DScene::GeometryIsVisible,
"name"_a, "Returns True if the geometry name is visible")
.def("set_geometry_transform", &Open3DScene::SetGeometryTransform,
"name"_a, "transform"_a,
"sets the pose of the geometry name to transform")
.def("get_geometry_transform", &Open3DScene::GetGeometryTransform,
"name"_a, "Returns the pose of the geometry name in the scene")
.def("modify_geometry_material",
&Open3DScene::ModifyGeometryMaterial, "name"_a, "material"_a,
"Modifies the material of the specified geometry")
.def("show_geometry", &Open3DScene::ShowGeometry, "name"_a,
"show"_a, "Shows or hides the geometry with the given name")
.def("update_material", &Open3DScene::UpdateMaterial, "material"_a,
"Applies the passed material to all the geometries")
.def(
"set_view_size",
[](Open3DScene *scene, int width, int height) {
scene->GetView()->SetViewport(0, 0, width, height);
},
"width"_a, "height"_a,
"Sets the view size. This should not be used except for "
"rendering to an image")
.def_property_readonly("scene", &Open3DScene::GetScene,
"The low-level rendering scene object "
"(read-only)")
.def_property_readonly("camera", &Open3DScene::GetCamera,
"The camera object (read-only)")
.def_property_readonly("bounding_box", &Open3DScene::GetBoundingBox,
"The bounding box of all the items in the "
"scene, visible and invisible")
.def_property_readonly(
"view", &Open3DScene::GetView,
"The low level view associated with the scene")
.def_property_readonly("background_color",
&Open3DScene::GetBackgroundColor,
"The background color (read-only)")
.def_property("downsample_threshold",
&Open3DScene::GetDownsampleThreshold,
&Open3DScene::SetDownsampleThreshold,
"Minimum number of points before downsampled point "
"clouds are created and used when rendering speed "
"is important");
}
} // namespace rendering
} // namespace visualization
} // namespace open3d
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