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# ----------------------------------------------------------------------------
# - Open3D: www.open3d.org -
# ----------------------------------------------------------------------------
# Copyright (c) 2018-2024 www.open3d.org
# SPDX-License-Identifier: MIT
# ----------------------------------------------------------------------------
import numpy as np
import open3d as o3d
import threading
import time
CLOUD_NAME = "points"
def main():
MultiWinApp().run()
class MultiWinApp:
def __init__(self):
self.is_done = False
self.n_snapshots = 0
self.cloud = None
self.main_vis = None
self.snapshot_pos = None
def run(self):
app = o3d.visualization.gui.Application.instance
app.initialize()
self.main_vis = o3d.visualization.O3DVisualizer(
"Open3D - Multi-Window Demo")
self.main_vis.add_action("Take snapshot in new window",
self.on_snapshot)
self.main_vis.set_on_close(self.on_main_window_closing)
app.add_window(self.main_vis)
self.snapshot_pos = (self.main_vis.os_frame.x, self.main_vis.os_frame.y)
threading.Thread(target=self.update_thread).start()
app.run()
def on_snapshot(self, vis):
self.n_snapshots += 1
self.snapshot_pos = (self.snapshot_pos[0] + 50,
self.snapshot_pos[1] + 50)
title = "Open3D - Multi-Window Demo (Snapshot #" + str(
self.n_snapshots) + ")"
new_vis = o3d.visualization.O3DVisualizer(title)
mat = o3d.visualization.rendering.MaterialRecord()
mat.shader = "defaultUnlit"
new_vis.add_geometry(CLOUD_NAME + " #" + str(self.n_snapshots),
self.cloud, mat)
new_vis.reset_camera_to_default()
bounds = self.cloud.get_axis_aligned_bounding_box()
extent = bounds.get_extent()
new_vis.setup_camera(60, bounds.get_center(),
bounds.get_center() + [0, 0, -3], [0, -1, 0])
o3d.visualization.gui.Application.instance.add_window(new_vis)
new_vis.os_frame = o3d.visualization.gui.Rect(self.snapshot_pos[0],
self.snapshot_pos[1],
new_vis.os_frame.width,
new_vis.os_frame.height)
def on_main_window_closing(self):
self.is_done = True
return True # False would cancel the close
def update_thread(self):
# This is NOT the UI thread, need to call post_to_main_thread() to update
# the scene or any part of the UI.
pcd_data = o3d.data.DemoICPPointClouds()
self.cloud = o3d.io.read_point_cloud(pcd_data.paths[0])
bounds = self.cloud.get_axis_aligned_bounding_box()
extent = bounds.get_extent()
def add_first_cloud():
mat = o3d.visualization.rendering.MaterialRecord()
mat.shader = "defaultUnlit"
self.main_vis.add_geometry(CLOUD_NAME, self.cloud, mat)
self.main_vis.reset_camera_to_default()
self.main_vis.setup_camera(60, bounds.get_center(),
bounds.get_center() + [0, 0, -3],
[0, -1, 0])
o3d.visualization.gui.Application.instance.post_to_main_thread(
self.main_vis, add_first_cloud)
while not self.is_done:
time.sleep(0.1)
# Perturb the cloud with a random walk to simulate an actual read
pts = np.asarray(self.cloud.points)
magnitude = 0.005 * extent
displacement = magnitude * (np.random.random_sample(pts.shape) -
0.5)
new_pts = pts + displacement
self.cloud.points = o3d.utility.Vector3dVector(new_pts)
def update_cloud():
# Note: if the number of points is less than or equal to the
# number of points in the original object that was added,
# using self.scene.update_geometry() will be faster.
# Requires that the point cloud be a t.PointCloud.
self.main_vis.remove_geometry(CLOUD_NAME)
mat = o3d.visualization.rendering.MaterialRecord()
mat.shader = "defaultUnlit"
self.main_vis.add_geometry(CLOUD_NAME, self.cloud, mat)
if self.is_done: # might have changed while sleeping
break
o3d.visualization.gui.Application.instance.post_to_main_thread(
self.main_vis, update_cloud)
if __name__ == "__main__":
main()
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