Open3D (C++ API)  0.18.0
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Visualizer.h
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1// ----------------------------------------------------------------------------
2// - Open3D: www.open3d.org -
3// ----------------------------------------------------------------------------
4// Copyright (c) 2018-2023 www.open3d.org
5// SPDX-License-Identifier: MIT
6// ----------------------------------------------------------------------------
7
8#pragma once
9
10// Avoid warning caused by redefinition of APIENTRY macro
11// defined also in glfw3.h
12#ifdef _WIN32
13#include <windows.h>
14#endif
15
16#include <GL/glew.h>
17#include <GLFW/glfw3.h>
18
19#include <Eigen/Core>
20#include <memory>
21#include <string>
22#include <unordered_map>
23#include <unordered_set>
24
30
31namespace open3d {
32
33namespace geometry {
34class TriangleMesh;
35class Image;
36} // namespace geometry
37
38namespace visualization {
39
40class GLFWContext;
41
46public:
47 struct MouseControl {
48 public:
51 bool is_control_key_down = false;
52 bool is_shift_key_down = false;
53 bool is_alt_key_down = false;
54 bool is_super_key_down = false;
55 double mouse_position_x = 0.0;
56 double mouse_position_y = 0.0;
57 };
58
59public:
60 Visualizer();
61 virtual ~Visualizer();
62 Visualizer(Visualizer &&) = delete;
63 Visualizer(const Visualizer &) = delete;
64 Visualizer &operator=(const Visualizer &) = delete;
65
66public:
77 bool CreateVisualizerWindow(const std::string &window_name = "Open3D",
78 const int width = 640,
79 const int height = 480,
80 const int left = 50,
81 const int top = 50,
82 const bool visible = true);
83
88
95 std::function<bool(Visualizer *)> callback_func);
96
100 void Run();
101
103 void Close();
104
110 bool WaitEvents();
111
117 bool PollEvents();
118
133 virtual bool AddGeometry(
134 std::shared_ptr<const geometry::Geometry> geometry_ptr,
135 bool reset_bounding_box = true);
136
147 virtual bool RemoveGeometry(
148 std::shared_ptr<const geometry::Geometry> geometry_ptr,
149 bool reset_bounding_box = true);
150
154 virtual bool ClearGeometries();
155
162 virtual bool UpdateGeometry(
163 std::shared_ptr<const geometry::Geometry> geometry_ptr = nullptr);
164 virtual bool HasGeometry() const;
165
167 virtual void UpdateRender();
168
170 virtual void SetFullScreen(bool fullscreen);
171 virtual void ToggleFullScreen();
172 virtual bool IsFullScreen();
173
174 virtual void PrintVisualizerHelp();
175 virtual void UpdateWindowTitle();
176 virtual void BuildUtilities();
177
185 std::shared_ptr<geometry::Image> CaptureScreenFloatBuffer(
186 bool do_render = true);
191 void CaptureScreenImage(const std::string &filename = "",
192 bool do_render = true);
196 std::shared_ptr<geometry::Image> CaptureDepthFloatBuffer(
197 bool do_render = true);
203 void CaptureDepthImage(const std::string &filename = "",
204 bool do_render = true,
205 double depth_scale = 1000.0);
212 void CaptureDepthPointCloud(const std::string &filename = "",
213 bool do_render = true,
214 bool convert_to_world_coordinate = false);
215 void CaptureRenderOption(const std::string &filename = "");
216
218 void ResetViewPoint(bool reset_bounding_box = false);
219
220 const std::string &GetWindowName() const { return window_name_; }
221
223 std::string GetViewStatus();
224
226 void SetViewStatus(const std::string &view_status_str);
227
228protected:
230 virtual bool InitOpenGL();
231
233 virtual bool InitViewControl();
234
236 virtual bool InitRenderOption();
237
241 virtual void Render(bool render_screen = false);
242
245
248
250 virtual void WindowRefreshCallback(GLFWwindow *window);
251 virtual void WindowResizeCallback(GLFWwindow *window, int w, int h);
252 virtual void MouseMoveCallback(GLFWwindow *window, double x, double y);
253 virtual void MouseScrollCallback(GLFWwindow *window, double x, double y);
254 virtual void MouseButtonCallback(GLFWwindow *window,
255 int button,
256 int action,
257 int mods);
258 virtual void KeyPressCallback(
259 GLFWwindow *window, int key, int scancode, int action, int mods);
261 virtual void WindowCloseCallback(GLFWwindow *window);
262
263protected:
264 // window
265 GLFWwindow *window_ = NULL;
266 std::string window_name_ = "Open3D";
267
269 std::shared_ptr<GLFWContext> glfw_context_ = nullptr;
270
271 Eigen::Vector2i saved_window_size_ = Eigen::Vector2i::Zero();
272 Eigen::Vector2i saved_window_pos_ = Eigen::Vector2i::Zero();
273 std::function<bool(Visualizer *)> animation_callback_func_ = nullptr;
274 // Auxiliary internal backup of the callback function.
275 // It copies animation_callback_func_ in each PollEvent() or WaitEvent()
276 // so that even if user calls RegisterAnimationCallback() within the
277 // callback function it is still safe.
279 nullptr;
280
281 // control
284 bool is_initialized_ = false;
285 GLuint vao_id_ = 0;
286
287 // render targets for "capture_screen_float_buffer" and
288 // "capture_screen_image" in offscreen render mode
289 GLuint render_fbo_ = 0;
290 GLuint render_rgb_tex_ = 0;
292
293 // view control
294 std::unique_ptr<ViewControl> view_control_ptr_;
295
296 // rendering properties
297 std::unique_ptr<RenderOption> render_option_ptr_;
298
299 // geometry to be rendered
300 std::unordered_set<std::shared_ptr<const geometry::Geometry>>
302
303 // geometry renderers
304 std::unordered_set<std::shared_ptr<glsl::GeometryRenderer>>
306
307 // utilities owned by the Visualizer
308 std::vector<std::shared_ptr<const geometry::Geometry>> utility_ptrs_;
309
310 // utility renderers
311 std::vector<std::shared_ptr<glsl::GeometryRenderer>> utility_renderer_ptrs_;
312 // map's key is the renderer for which the RenderOption applies
313 // (should be something in utility_renderer_ptrs_)
314 std::unordered_map<std::shared_ptr<glsl::GeometryRenderer>, RenderOption>
316
317 // coordinate frame
318 std::shared_ptr<geometry::TriangleMesh> coordinate_frame_mesh_ptr_;
319 std::shared_ptr<glsl::CoordinateFrameRenderer>
321
322#ifdef __APPLE__
323 // MacBook with Retina display does not have a 1:1 mapping from screen
324 // coordinates to pixels. Thus we hack it back.
325 // http://www.glfw.org/faq.html#why-is-my-output-in-the-lower-left-corner-of-the-window
326 double pixel_to_screen_coordinate_ = 1.0;
327#endif //__APPLE__
328};
329
330} // namespace visualization
331} // namespace open3d
Defines rendering options for visualizer.
Definition RenderOption.h:20
View controller for visualizer.
Definition ViewControl.h:23
The main Visualizer class.
Definition Visualizer.h:45
void CaptureRenderOption(const std::string &filename="")
Definition VisualizerRender.cpp:486
bool CreateVisualizerWindow(const std::string &window_name="Open3D", const int width=640, const int height=480, const int left=50, const int top=50, const bool visible=true)
Function to create a window and initialize GLFW.
Definition Visualizer.cpp:85
virtual void BuildUtilities()
Definition Visualizer.cpp:256
std::unique_ptr< RenderOption > render_option_ptr_
Definition Visualizer.h:297
virtual void SetFullScreen(bool fullscreen)
Functions to change between fullscreen and windowed modes.
Definition Visualizer.cpp:468
virtual bool ClearGeometries()
Definition Visualizer.cpp:440
bool is_initialized_
Definition Visualizer.h:284
std::unique_ptr< ViewControl > view_control_ptr_
Definition Visualizer.h:294
GLuint vao_id_
Definition Visualizer.h:285
GLuint render_fbo_
Definition Visualizer.h:289
bool PollEvents()
Definition Visualizer.cpp:308
std::shared_ptr< GLFWContext > glfw_context_
Shared GLFW context.
Definition Visualizer.h:269
void CaptureDepthImage(const std::string &filename="", bool do_render=true, double depth_scale=1000.0)
Definition VisualizerRender.cpp:321
GLuint render_depth_stencil_rbo_
Definition Visualizer.h:291
std::vector< std::shared_ptr< const geometry::Geometry > > utility_ptrs_
Definition Visualizer.h:308
virtual void UpdateRender()
Function to inform render needed to be updated.
Definition Visualizer.cpp:464
std::function< bool(Visualizer *)> animation_callback_func_in_loop_
Definition Visualizer.h:278
Eigen::Vector2i saved_window_pos_
Definition Visualizer.h:272
void CaptureDepthPointCloud(const std::string &filename="", bool do_render=true, bool convert_to_world_coordinate=false)
Function to capture and save local point cloud.
Definition VisualizerRender.cpp:404
virtual bool InitOpenGL()
Function to initialize OpenGL.
Definition VisualizerRender.cpp:23
virtual bool IsFullScreen()
Definition Visualizer.cpp:496
ViewControl & GetViewControl()
Function to retrieve the associated ViewControl.
Definition Visualizer.h:179
Visualizer(const Visualizer &)=delete
void CaptureScreenImage(const std::string &filename="", bool do_render=true)
Function to capture and save a screen image.
Definition VisualizerRender.cpp:203
void Run()
Function to activate the window.
Definition Visualizer.cpp:274
virtual bool UpdateGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr=nullptr)
Function to update geometry.
Definition Visualizer.cpp:450
std::shared_ptr< glsl::CoordinateFrameRenderer > coordinate_frame_mesh_renderer_ptr_
Definition Visualizer.h:320
virtual bool AddGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr, bool reset_bounding_box=true)
Function to add geometry to the scene and create corresponding shaders.
Definition Visualizer.cpp:321
Visualizer(Visualizer &&)=delete
virtual void MouseMoveCallback(GLFWwindow *window, double x, double y)
Definition VisualizerCallback.cpp:25
virtual void Render(bool render_screen=false)
Definition VisualizerRender.cpp:53
virtual void WindowResizeCallback(GLFWwindow *window, int w, int h)
Definition VisualizerCallback.cpp:20
std::unordered_map< std::shared_ptr< glsl::GeometryRenderer >, RenderOption > utility_renderer_opts_
Definition Visualizer.h:315
virtual void WindowCloseCallback(GLFWwindow *window)
Function to notify the window to be closed.
Definition VisualizerCallback.cpp:346
std::shared_ptr< geometry::Image > CaptureDepthFloatBuffer(bool do_render=true)
Definition VisualizerRender.cpp:257
virtual bool InitViewControl()
Function to initialize ViewControl.
Definition Visualizer.cpp:239
bool WaitEvents()
Function to process the event queue and return if the window is closed.
Definition Visualizer.cpp:295
virtual bool InitRenderOption()
Function to initialize RenderOption.
Definition Visualizer.cpp:245
std::string GetViewStatus()
Get the current view status as a json string of ViewTrajectory.
Definition VisualizerRender.cpp:141
std::unordered_set< std::shared_ptr< const geometry::Geometry > > geometry_ptrs_
Definition Visualizer.h:301
std::string window_name_
Definition Visualizer.h:266
virtual void MouseButtonCallback(GLFWwindow *window, int button, int action, int mods)
Definition VisualizerCallback.cpp:68
RenderOption & GetRenderOption()
Function to retrieve the associated RenderOption.
Definition Visualizer.h:181
Visualizer & operator=(const Visualizer &)=delete
void SetViewStatus(const std::string &view_status_str)
Set the current view status from a json string of ViewTrajectory.
Definition VisualizerRender.cpp:155
void CopyViewStatusFromClipboard()
Apply the view point from clipboard.
Definition VisualizerRender.cpp:133
virtual ~Visualizer()
Definition Visualizer.cpp:77
void DestroyVisualizerWindow()
Function to destroy a window.
Definition Visualizer.cpp:220
std::vector< std::shared_ptr< glsl::GeometryRenderer > > utility_renderer_ptrs_
Definition Visualizer.h:311
virtual bool RemoveGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr, bool reset_bounding_box=true)
Function to remove geometry from the scene.
Definition Visualizer.cpp:416
virtual void MouseScrollCallback(GLFWwindow *window, double x, double y)
Definition VisualizerCallback.cpp:63
const std::string & GetWindowName() const
Definition Visualizer.h:220
GLuint render_rgb_tex_
Definition Visualizer.h:290
virtual void UpdateWindowTitle()
Definition Visualizer.cpp:250
void RegisterAnimationCallback(std::function< bool(Visualizer *)> callback_func)
Function to register a callback function for animation.
Definition Visualizer.cpp:234
std::function< bool(Visualizer *)> animation_callback_func_
Definition Visualizer.h:273
virtual void WindowRefreshCallback(GLFWwindow *window)
Callback functions.
Definition VisualizerCallback.cpp:13
Eigen::Vector2i saved_window_size_
Definition Visualizer.h:271
virtual void ToggleFullScreen()
Definition Visualizer.cpp:488
MouseControl mouse_control_
Definition Visualizer.h:282
GLFWwindow * window_
Definition Visualizer.h:265
virtual void PrintVisualizerHelp()
Definition Visualizer.cpp:500
void Close()
Function to to notify the window to be closed.
Definition Visualizer.cpp:290
std::shared_ptr< geometry::TriangleMesh > coordinate_frame_mesh_ptr_
Definition Visualizer.h:318
std::shared_ptr< geometry::Image > CaptureScreenFloatBuffer(bool do_render=true)
Function to capture screen and store RGB in a float buffer.
Definition VisualizerRender.cpp:166
virtual bool HasGeometry() const
Definition Visualizer.cpp:466
bool is_redraw_required_
Definition Visualizer.h:283
Visualizer()
Definition Visualizer.cpp:75
virtual void KeyPressCallback(GLFWwindow *window, int key, int scancode, int action, int mods)
Definition VisualizerCallback.cpp:102
std::unordered_set< std::shared_ptr< glsl::GeometryRenderer > > geometry_renderer_ptrs_
Definition Visualizer.h:305
void CopyViewStatusToClipboard()
Copy the current view status to clipboard.
Definition VisualizerRender.cpp:129
void ResetViewPoint(bool reset_bounding_box=false)
Function to reset view point.
Definition VisualizerRender.cpp:110
int width
Definition FilePCD.cpp:52
int height
Definition FilePCD.cpp:53
Definition PinholeCameraIntrinsic.cpp:16
double mouse_position_x
Definition Visualizer.h:55
bool is_control_key_down
Definition Visualizer.h:51
bool is_mouse_left_button_down
Definition Visualizer.h:49
double mouse_position_y
Definition Visualizer.h:56
bool is_mouse_middle_button_down
Definition Visualizer.h:50
bool is_super_key_down
Definition Visualizer.h:54
bool is_shift_key_down
Definition Visualizer.h:52
bool is_alt_key_down
Definition Visualizer.h:53