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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include "open3d/visualization/visualizer/Visualizer.h"
#include "open3d/geometry/Image.h"
#include "open3d/visualization/visualizer/VisualizerWithEditing.h"
#include "open3d/visualization/visualizer/VisualizerWithKeyCallback.h"
#include "open3d/visualization/visualizer/VisualizerWithVertexSelection.h"
#include "pybind/docstring.h"
#include "pybind/visualization/visualization.h"
#include "pybind/visualization/visualization_trampoline.h"
namespace open3d {
namespace visualization {
// Functions have similar arguments, thus the arg docstrings may be shared
static const std::unordered_map<std::string, std::string>
map_visualizer_docstrings = {
{"callback_func", "The call back function."},
{"depth_scale",
"Scale depth value when capturing the depth image."},
{"do_render", "Set to ``True`` to do render."},
{"filename", "Path to file."},
{"geometry", "The ``Geometry`` object."},
{"height", "Height of window."},
{"left", "Left margin of the window to the screen."},
{"top", "Top margin of the window to the screen."},
{"visible", "Whether the window is visible."},
{"width", "Width of the window."},
{"window_name", "Window title name."},
{"convert_to_world_coordinate",
"Set to ``True`` to convert to world coordinates"},
{"reset_bounding_box",
"Set to ``False`` to keep current viewpoint"}};
void pybind_visualizer_declarations(py::module &m) {
py::class_<Visualizer, PyVisualizer<>, std::shared_ptr<Visualizer>>
visualizer(m, "Visualizer", "The main Visualizer class.");
py::class_<VisualizerWithKeyCallback,
PyVisualizer<VisualizerWithKeyCallback>,
std::shared_ptr<VisualizerWithKeyCallback>>
visualizer_key(m, "VisualizerWithKeyCallback", visualizer,
"Visualizer with custom key callback capabilities.");
py::class_<VisualizerWithEditing, PyVisualizer<VisualizerWithEditing>,
std::shared_ptr<VisualizerWithEditing>>
visualizer_edit(m, "VisualizerWithEditing", visualizer,
"Visualizer with editing capabilities.");
py::class_<VisualizerWithVertexSelection,
PyVisualizer<VisualizerWithVertexSelection>,
std::shared_ptr<VisualizerWithVertexSelection>>
visualizer_vselect(
m, "VisualizerWithVertexSelection", visualizer,
"Visualizer with vertex selection capabilities.");
py::class_<VisualizerWithVertexSelection::PickedPoint>
visualizer_vselect_pickedpoint(m, "PickedPoint");
}
void pybind_visualizer_definitions(py::module &m) {
auto visualizer = static_cast<py::class_<Visualizer, PyVisualizer<>,
std::shared_ptr<Visualizer>>>(
m.attr("Visualizer"));
py::detail::bind_default_constructor<Visualizer>(visualizer);
visualizer
.def("__repr__",
[](const Visualizer &vis) {
return std::string("Visualizer with name ") +
vis.GetWindowName();
})
.def("create_window", &Visualizer::CreateVisualizerWindow,
"Function to create a window and initialize GLFW",
"window_name"_a = "Open3D", "width"_a = 1920,
"height"_a = 1080, "left"_a = 50, "top"_a = 50,
"visible"_a = true)
.def("destroy_window", &Visualizer::DestroyVisualizerWindow,
"Function to destroy a window. This function MUST be called "
"from the main thread.")
.def("register_animation_callback",
&Visualizer::RegisterAnimationCallback,
"Function to register a callback function for animation. The "
"callback function returns if UpdateGeometry() needs to be "
"run.",
"callback_func"_a)
.def("run", &Visualizer::Run,
"Function to activate the window. This function will block "
"the current thread until the window is closed.")
.def("close", &Visualizer::Close,
"Function to notify the window to be closed")
.def("reset_view_point", &Visualizer::ResetViewPoint,
"Function to reset view point", "reset_bounding_box"_a = false)
.def("update_geometry", &Visualizer::UpdateGeometry,
"Function to update geometry. This function must be called "
"when geometry has been changed. Otherwise the behavior of "
"Visualizer is undefined.",
"geometry"_a)
.def("update_renderer", &Visualizer::UpdateRender,
"Function to inform render needed to be updated")
.def("set_full_screen", &Visualizer::SetFullScreen,
"Function to change between fullscreen and windowed",
"fullscreen"_a)
.def("toggle_full_screen", &Visualizer::ToggleFullScreen,
"Function to toggle between fullscreen and windowed")
.def("is_full_screen", &Visualizer::IsFullScreen,
"Function to query whether in fullscreen mode")
.def("poll_events", &Visualizer::PollEvents,
"Function to poll events")
.def("add_geometry", &Visualizer::AddGeometry,
"Function to add geometry to the scene and create "
"corresponding shaders",
"geometry"_a, "reset_bounding_box"_a = true)
.def("remove_geometry", &Visualizer::RemoveGeometry,
"Function to remove geometry", "geometry"_a,
"reset_bounding_box"_a = true)
.def("clear_geometries", &Visualizer::ClearGeometries,
"Function to clear geometries from the visualizer")
.def("get_view_control", &Visualizer::GetViewControl,
"Function to retrieve the associated ``ViewControl``",
py::return_value_policy::reference_internal)
.def("get_render_option", &Visualizer::GetRenderOption,
"Function to retrieve the associated ``RenderOption``",
py::return_value_policy::reference_internal)
.def("capture_screen_float_buffer",
&Visualizer::CaptureScreenFloatBuffer,
"Function to capture screen and store RGB in a float buffer",
"do_render"_a = false)
.def(
"capture_screen_image",
[](Visualizer &self, const fs::path &filename,
bool do_render) {
return self.CaptureScreenImage(filename.string(),
do_render);
},
"Function to capture and save a screen image", "filename"_a,
"do_render"_a = false)
.def("capture_depth_float_buffer",
&Visualizer::CaptureDepthFloatBuffer,
"Function to capture depth in a float buffer",
"do_render"_a = false)
.def(
"capture_depth_image",
[](Visualizer &self, const fs::path &filename,
bool do_render, double depth_scale) {
self.CaptureDepthImage(filename.string(), do_render,
depth_scale);
},
"Function to capture and save a depth image", "filename"_a,
"do_render"_a = false, "depth_scale"_a = 1000.0)
.def(
"capture_depth_point_cloud",
[](Visualizer &self, const fs::path &filename,
bool do_render, bool convert_to_world_coordinate) {
self.CaptureDepthPointCloud(
filename.string(), do_render,
convert_to_world_coordinate);
},
"Function to capture and save local point cloud",
"filename"_a, "do_render"_a = false,
"convert_to_world_coordinate"_a = false)
.def("get_window_name", &Visualizer::GetWindowName)
.def("get_view_status", &Visualizer::GetViewStatus,
"Get the current view status as a json string of "
"ViewTrajectory.")
.def("set_view_status", &Visualizer::SetViewStatus,
"Set the current view status from a json string of "
"ViewTrajectory.",
"view_status_str"_a);
auto visualizer_key =
static_cast<py::class_<VisualizerWithKeyCallback,
PyVisualizer<VisualizerWithKeyCallback>,
std::shared_ptr<VisualizerWithKeyCallback>>>(
m.attr("VisualizerWithKeyCallback"));
py::detail::bind_default_constructor<VisualizerWithKeyCallback>(
visualizer_key);
visualizer_key
.def("__repr__",
[](const VisualizerWithKeyCallback &vis) {
return std::string(
"VisualizerWithKeyCallback with name ") +
vis.GetWindowName();
})
.def("register_key_callback",
&VisualizerWithKeyCallback::RegisterKeyCallback,
"Function to register a callback function for a key press "
"event",
"key"_a, "callback_func"_a)
.def("register_key_action_callback",
&VisualizerWithKeyCallback::RegisterKeyActionCallback,
"Function to register a callback function for a key action "
"event. The callback function takes `Visualizer`, `action` "
"and `mods` as input and returns a boolean indicating if "
"`UpdateGeometry()` needs to be run. The `action` can be one "
"of `GLFW_RELEASE` (0), `GLFW_PRESS` (1) or `GLFW_REPEAT` "
"(2), see `GLFW input interface "
"<https://www.glfw.org/docs/latest/group__input.html>`__. The "
"`mods` specifies the modifier key, see `GLFW modifier key "
"<https://www.glfw.org/docs/latest/group__mods.html>`__",
"key"_a, "callback_func"_a)
.def("register_mouse_move_callback",
&VisualizerWithKeyCallback::RegisterMouseMoveCallback,
"Function to register a callback function for a mouse move "
"event. The callback function takes Visualizer, x and y mouse "
"position inside the window as input and returns a boolean "
"indicating if UpdateGeometry() needs to be run. `GLFW mouse "
"position <https://www.glfw.org/docs/latest/"
"input_guide.html#input_mouse>`__ for more details.",
"callback_func"_a)
.def("register_mouse_scroll_callback",
&VisualizerWithKeyCallback::RegisterMouseScrollCallback,
"Function to register a callback function for a mouse scroll "
"event. The callback function takes Visualizer, x and y mouse "
"scroll offset as input and returns a boolean "
"indicating if UpdateGeometry() needs to be run. `GLFW mouse "
"scrolling <https://www.glfw.org/docs/latest/"
"input_guide.html#scrolling>`__ for more details.",
"callback_func"_a)
.def("register_mouse_button_callback",
&VisualizerWithKeyCallback::RegisterMouseButtonCallback,
"Function to register a callback function for a mouse button "
"event. The callback function takes `Visualizer`, `button`, "
"`action` and `mods` as input and returns a boolean "
"indicating `UpdateGeometry()` needs to be run. The `action` "
"can be one of GLFW_RELEASE (0), GLFW_PRESS (1) or "
"GLFW_REPEAT (2), see `GLFW input interface "
"<https://www.glfw.org/docs/latest/group__input.html>`__. "
"The `mods` specifies the modifier key, see `GLFW modifier "
"key <https://www.glfw.org/docs/latest/group__mods.html>`__.",
"callback_func"_a);
auto visualizer_edit =
static_cast<py::class_<VisualizerWithEditing,
PyVisualizer<VisualizerWithEditing>,
std::shared_ptr<VisualizerWithEditing>>>(
m.attr("VisualizerWithEditing"));
py::detail::bind_default_constructor<VisualizerWithEditing>(
visualizer_edit);
visualizer_edit
.def(py::init<double, bool, const std::string &>(), "voxel_size"_a,
"use_dialog"_a, "directory"_a)
.def("__repr__",
[](const VisualizerWithEditing &vis) {
return std::string("VisualizerWithEditing with name ") +
vis.GetWindowName();
})
.def("get_picked_points", &VisualizerWithEditing::GetPickedPoints,
"Function to get picked points")
.def("get_cropped_geometry",
&VisualizerWithEditing::GetCroppedGeometry,
"Function to get cropped geometry");
auto visualizer_vselect = static_cast<
py::class_<VisualizerWithVertexSelection,
PyVisualizer<VisualizerWithVertexSelection>,
std::shared_ptr<VisualizerWithVertexSelection>>>(
m.attr("VisualizerWithVertexSelection"));
py::detail::bind_default_constructor<VisualizerWithVertexSelection>(
visualizer_vselect);
visualizer_vselect.def(py::init<>())
.def("__repr__",
[](const VisualizerWithVertexSelection &vis) {
return std::string(
"VisualizerWithVertexSelection with "
"name ") +
vis.GetWindowName();
})
.def("pick_points", &VisualizerWithVertexSelection::PickPoints,
"Function to pick points", "x"_a, "y"_a, "w"_a, "h"_a)
.def("get_picked_points",
&VisualizerWithVertexSelection::GetPickedPoints,
"Function to get picked points")
.def("clear_picked_points",
&VisualizerWithVertexSelection::ClearPickedPoints,
"Function to clear picked points")
.def("add_picked_points",
&VisualizerWithVertexSelection::AddPickedPoints,
"Function to add picked points", "indices"_a)
.def("remove_picked_points",
&VisualizerWithVertexSelection::RemovePickedPoints,
"Function to remove picked points", "indices"_a)
.def("register_selection_changed_callback",
&VisualizerWithVertexSelection::
RegisterSelectionChangedCallback,
"Registers a function to be called when selection changes",
"f"_a)
.def("register_selection_moving_callback",
&VisualizerWithVertexSelection::
RegisterSelectionMovingCallback,
"Registers a function to be called while selection moves. "
"Geometry's vertex values can be changed, but do not change"
"the number of vertices.",
"f"_a)
.def("register_selection_moved_callback",
&VisualizerWithVertexSelection::RegisterSelectionMovedCallback,
"Registers a function to be called after selection moves",
"f"_a);
auto visualizer_vselect_pickedpoint =
static_cast<py::class_<VisualizerWithVertexSelection::PickedPoint>>(
m.attr("PickedPoint"));
visualizer_vselect_pickedpoint.def(py::init<>())
.def_readwrite("index",
&VisualizerWithVertexSelection::PickedPoint::index)
.def_readwrite("coord",
&VisualizerWithVertexSelection::PickedPoint::coord);
docstring::ClassMethodDocInject(m, "Visualizer", "add_geometry",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "remove_geometry",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer",
"capture_depth_float_buffer",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "capture_depth_image",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer",
"capture_depth_point_cloud",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer",
"capture_screen_float_buffer",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "capture_screen_image",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "close",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "create_window",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "destroy_window",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "get_render_option",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "get_view_control",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "get_window_name",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "poll_events",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer",
"register_animation_callback",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "reset_view_point",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "run",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "update_geometry",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "update_renderer",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "set_full_screen",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "toggle_full_screen",
map_visualizer_docstrings);
docstring::ClassMethodDocInject(m, "Visualizer", "is_full_screen",
map_visualizer_docstrings);
}
} // namespace visualization
} // namespace open3d
|
