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// ----------------------------------------------------------------------------
// - Open3D: www.open3d.org -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
#include <cstdlib>
#include "open3d/Open3D.h"
#include "open3d/utility/FileSystem.h"
using namespace open3d;
// Create and add a window to gui::Application, but do not run it yet.
void AddDrawWindow(
const std::vector<std::shared_ptr<geometry::Geometry3D>> &geometries,
const std::string &window_name = "Open3D",
int width = 1024,
int height = 768,
const std::vector<visualization::DrawAction> &actions = {}) {
std::vector<visualization::DrawObject> objects;
objects.reserve(geometries.size());
for (size_t i = 0; i < geometries.size(); ++i) {
std::stringstream name;
name << "Object " << (i + 1);
objects.emplace_back(name.str(), geometries[i]);
}
auto &o3d_app = visualization::gui::Application::GetInstance();
o3d_app.Initialize();
auto draw = std::make_shared<visualization::visualizer::O3DVisualizer>(
window_name, width, height);
for (auto &o : objects) {
if (o.geometry) {
draw->AddGeometry(o.name, o.geometry);
} else {
draw->AddGeometry(o.name, o.tgeometry);
}
draw->ShowGeometry(o.name, o.is_visible);
}
for (auto &act : actions) {
draw->AddAction(act.name, act.callback);
}
draw->ResetCameraToDefault();
visualization::gui::Application::GetInstance().AddWindow(draw);
draw.reset(); // so we don't hold onto the pointer after Run() cleans up
}
// Create a window with an empty box and a custom action button for adding a
// new visualization vindow.
void EmptyBox() {
const double pc_rad = 1.0;
const double r = 0.4;
auto big_bbox = std::make_shared<geometry::AxisAlignedBoundingBox>(
Eigen::Vector3d{-pc_rad, -3, -pc_rad},
Eigen::Vector3d{6.0 + r, 1.0 + r, pc_rad});
auto new_window_action =
[](visualization::visualizer::O3DVisualizer &o3dvis) {
utility::LogInfo("new_window_action called");
auto mesh = std::make_shared<geometry::TriangleMesh>();
data::KnotMesh knot_data;
io::ReadTriangleMesh(knot_data.GetPath(), *mesh);
mesh->ComputeVertexNormals();
AddDrawWindow({mesh}, "Open3D pcd", 640, 480);
};
AddDrawWindow({big_bbox}, "Open3D EmptyBox", 800, 480,
{{"Load example mesh", new_window_action}});
}
// Create a window with various geometry objects.
void BoxWithObjects() {
const double pc_rad = 1.0;
const double r = 0.4;
auto sphere_unlit = geometry::TriangleMesh::CreateSphere(r);
sphere_unlit->Translate({0.0, 1.0, 0.0});
auto sphere_colored_unlit = geometry::TriangleMesh::CreateSphere(r);
sphere_colored_unlit->PaintUniformColor({1.0, 0.0, 0.0});
sphere_colored_unlit->Translate({2.0, 1.0, 0.0});
auto sphere_lit = geometry::TriangleMesh::CreateSphere(r);
sphere_lit->ComputeVertexNormals();
sphere_lit->Translate({4, 1, 0});
auto sphere_colored_lit = geometry::TriangleMesh::CreateSphere(r);
sphere_colored_lit->ComputeVertexNormals();
sphere_colored_lit->PaintUniformColor({0.0, 1.0, 0.0});
sphere_colored_lit->Translate({6, 1, 0});
auto big_bbox = std::make_shared<geometry::AxisAlignedBoundingBox>(
Eigen::Vector3d{-pc_rad, -3, -pc_rad},
Eigen::Vector3d{6.0 + r, 1.0 + r, pc_rad});
auto bbox = sphere_unlit->GetAxisAlignedBoundingBox();
auto sphere_bbox = std::make_shared<geometry::AxisAlignedBoundingBox>(
bbox.min_bound_, bbox.max_bound_);
sphere_bbox->color_ = {1.0, 0.5, 0.0};
auto lines = geometry::LineSet::CreateFromAxisAlignedBoundingBox(
sphere_lit->GetAxisAlignedBoundingBox());
auto lines_colored = geometry::LineSet::CreateFromAxisAlignedBoundingBox(
sphere_colored_lit->GetAxisAlignedBoundingBox());
lines_colored->PaintUniformColor({0.0, 0.0, 1.0});
AddDrawWindow(
{sphere_unlit, sphere_colored_unlit, sphere_lit, sphere_colored_lit,
big_bbox, sphere_bbox, lines, lines_colored},
"Open3D BoxWithObjects", 640, 480);
}
int main(int argc, char **argv) {
visualization::webrtc_server::WebRTCWindowSystem::GetInstance()
->EnableWebRTC();
// Uncomment this line to see more WebRTC loggings
// utility::SetVerbosityLevel(utility::VerbosityLevel::Debug);
EmptyBox();
BoxWithObjects();
visualization::gui::Application::GetInstance().Run();
}
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