332 lines
13 KiB
C
332 lines
13 KiB
C
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// ----------------------------------------------------------------------------
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// - Open3D: www.open3d.org -
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// ----------------------------------------------------------------------------
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// Copyright (c) 2018-2023 www.open3d.org
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// SPDX-License-Identifier: MIT
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// ----------------------------------------------------------------------------
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#pragma once
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// Avoid warning caused by redefinition of APIENTRY macro
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// defined also in glfw3.h
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#ifdef _WIN32
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#include <windows.h>
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#endif
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#include <GL/glew.h>
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#include <GLFW/glfw3.h>
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#include <Eigen/Core>
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#include <memory>
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#include <string>
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#include <unordered_map>
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#include <unordered_set>
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#include "open3d/geometry/Geometry.h"
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#include "open3d/visualization/shader/GeometryRenderer.h"
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#include "open3d/visualization/utility/ColorMap.h"
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#include "open3d/visualization/visualizer/RenderOption.h"
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#include "open3d/visualization/visualizer/ViewControl.h"
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namespace open3d {
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namespace geometry {
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class TriangleMesh;
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class Image;
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} // namespace geometry
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namespace visualization {
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class GLFWContext;
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/// \class Visualizer
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///
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/// \brief The main Visualizer class.
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class Visualizer {
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public:
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struct MouseControl {
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public:
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bool is_mouse_left_button_down = false;
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bool is_mouse_middle_button_down = false;
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bool is_control_key_down = false;
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bool is_shift_key_down = false;
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bool is_alt_key_down = false;
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bool is_super_key_down = false;
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double mouse_position_x = 0.0;
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double mouse_position_y = 0.0;
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};
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public:
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Visualizer();
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virtual ~Visualizer();
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Visualizer(Visualizer &&) = delete;
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Visualizer(const Visualizer &) = delete;
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Visualizer &operator=(const Visualizer &) = delete;
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public:
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/// \brief Function to create a window and initialize GLFW.
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///
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/// This function MUST be called from the main thread.
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///
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/// \param window_name Window title name.
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/// \param width Width of the window.
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/// \param height Height of window.
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/// \param left Left margin of the window to the screen.
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/// \param top Top margin of the window to the screen.
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/// \param visible Whether the window is visible.
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bool CreateVisualizerWindow(const std::string &window_name = "Open3D",
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const int width = 640,
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const int height = 480,
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const int left = 50,
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const int top = 50,
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const bool visible = true);
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/// \brief Function to destroy a window.
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///
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/// This function MUST be called from the main thread.
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void DestroyVisualizerWindow();
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/// \brief Function to register a callback function for animation.
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///
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/// The callback function returns if UpdateGeometry() needs to be run.
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///
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/// \param callback_func The call back function.
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void RegisterAnimationCallback(
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std::function<bool(Visualizer *)> callback_func);
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/// \brief Function to activate the window.
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///
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/// This function will block the current thread until the window is closed.
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void Run();
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/// Function to to notify the window to be closed
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void Close();
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/// \brief Function to process the event queue and return if the window is
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/// closed.
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///
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/// Use this function if you want to manage the while loop yourself. This
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/// function will block the thread.
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bool WaitEvents();
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/// Function to process the event queue and return if the window is closed.
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///
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/// Use this function if you want to manage the while loop yourself. This
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/// function will NOT block the thread. Thus it is suitable for computation
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/// heavy task behind the scene.
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bool PollEvents();
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/// \brief Function to add geometry to the scene and create corresponding
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/// shaders.
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///
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/// 1. After calling this function, the Visualizer owns the geometry object.
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/// 2. This function MUST be called after CreateVisualizerWindow().
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/// 3. This function returns FALSE when the geometry is of an unsupported
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/// type.
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/// 4. If an added geometry is changed, the behavior of Visualizer is
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/// undefined. Programmers are responsible for calling Geometry() to
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/// notify the Visualizer that the geometry has been changed and the
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/// Visualizer should be updated accordingly.
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///
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/// \param geometry_ptr The Geometry object.
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/// \param reset_bounding_box Reset viewpoint to view all geometries.
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virtual bool AddGeometry(
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std::shared_ptr<const geometry::Geometry> geometry_ptr,
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bool reset_bounding_box = true);
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/// \brief Function to remove geometry from the scene.
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///
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/// 1. After calling this function, the Visualizer releases the pointer of
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/// the geometry object.
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/// 2. This function MUST be called after CreateVisualizerWindow().
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/// 3. This function returns FALSE if the geometry to be removed is not
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/// added by AddGeometry
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///
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/// \param geometry_ptr The Geometry object.
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/// \param reset_bounding_box Reset viewpoint to view all geometries.
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virtual bool RemoveGeometry(
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std::shared_ptr<const geometry::Geometry> geometry_ptr,
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bool reset_bounding_box = true);
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/// Function to remove all geometries from the scene.
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/// After calling this function, the Visualizer releases the pointer of
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/// all geometry objects.
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virtual bool ClearGeometries();
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/// \brief Function to update geometry.
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///
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/// This function must be called when geometry has been changed. Otherwise
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/// the behavior of Visualizer is undefined.
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/// If called without an argument, updates all geometries, otherwise only
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/// updates the geometry specified.
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virtual bool UpdateGeometry(
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std::shared_ptr<const geometry::Geometry> geometry_ptr = nullptr);
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virtual bool HasGeometry() const;
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/// Function to inform render needed to be updated.
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virtual void UpdateRender();
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/// Functions to change between fullscreen and windowed modes
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virtual void SetFullScreen(bool fullscreen);
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virtual void ToggleFullScreen();
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virtual bool IsFullScreen();
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virtual void PrintVisualizerHelp();
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virtual void UpdateWindowTitle();
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virtual void BuildUtilities();
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/// Function to retrieve the associated ViewControl
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ViewControl &GetViewControl() { return *view_control_ptr_; }
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/// Function to retrieve the associated RenderOption.
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RenderOption &GetRenderOption() { return *render_option_ptr_; }
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/// \brief Function to capture screen and store RGB in a float buffer.
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///
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/// \param do_render Set to `true` to do render.
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std::shared_ptr<geometry::Image> CaptureScreenFloatBuffer(
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bool do_render = true);
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/// \brief Function to capture and save a screen image.
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///
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/// \param filename Path to file.
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/// \param do_render Set to `true` to do render.
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void CaptureScreenImage(const std::string &filename = "",
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bool do_render = true);
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/// Function to capture depth in a float buffer.
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///
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/// \param do_render Set to `true` to do render.
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std::shared_ptr<geometry::Image> CaptureDepthFloatBuffer(
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bool do_render = true);
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/// Function to capture and save a depth image.
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///
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/// \param filename Path to file.
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/// \param do_render Set to `true` to do render.
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/// \param depth_scale Scale depth value when capturing the depth image.
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void CaptureDepthImage(const std::string &filename = "",
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bool do_render = true,
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double depth_scale = 1000.0);
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/// \brief Function to capture and save local point cloud.
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///
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/// \param filename Path to file.
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/// \param do_render Set to `true` to do render.
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/// \param convert_to_world_coordinate Set to `true` to convert to world
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/// coordinates.
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void CaptureDepthPointCloud(const std::string &filename = "",
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bool do_render = true,
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bool convert_to_world_coordinate = false);
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void CaptureRenderOption(const std::string &filename = "");
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/// Function to reset view point.
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void ResetViewPoint(bool reset_bounding_box = false);
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const std::string &GetWindowName() const { return window_name_; }
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/// Get the current view status as a json string of ViewTrajectory.
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std::string GetViewStatus();
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/// Set the current view status from a json string of ViewTrajectory.
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void SetViewStatus(const std::string &view_status_str);
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protected:
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/// Function to initialize OpenGL
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virtual bool InitOpenGL();
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/// Function to initialize ViewControl
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virtual bool InitViewControl();
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/// Function to initialize RenderOption
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virtual bool InitRenderOption();
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/// Function to do the main rendering
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/// The function first sets view point, then draw geometry (pointclouds and
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/// meshes individually).
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virtual void Render(bool render_screen = false);
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/// Copy the current view status to clipboard.
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void CopyViewStatusToClipboard();
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/// Apply the view point from clipboard.
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void CopyViewStatusFromClipboard();
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/// Callback functions
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virtual void WindowRefreshCallback(GLFWwindow *window);
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virtual void WindowResizeCallback(GLFWwindow *window, int w, int h);
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virtual void MouseMoveCallback(GLFWwindow *window, double x, double y);
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virtual void MouseScrollCallback(GLFWwindow *window, double x, double y);
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virtual void MouseButtonCallback(GLFWwindow *window,
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int button,
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int action,
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int mods);
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virtual void KeyPressCallback(
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GLFWwindow *window, int key, int scancode, int action, int mods);
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/// \brief Function to notify the window to be closed.
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virtual void WindowCloseCallback(GLFWwindow *window);
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protected:
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// window
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GLFWwindow *window_ = NULL;
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std::string window_name_ = "Open3D";
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/// \brief Shared GLFW context.
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std::shared_ptr<GLFWContext> glfw_context_ = nullptr;
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Eigen::Vector2i saved_window_size_ = Eigen::Vector2i::Zero();
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Eigen::Vector2i saved_window_pos_ = Eigen::Vector2i::Zero();
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std::function<bool(Visualizer *)> animation_callback_func_ = nullptr;
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// Auxiliary internal backup of the callback function.
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// It copies animation_callback_func_ in each PollEvent() or WaitEvent()
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// so that even if user calls RegisterAnimationCallback() within the
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// callback function it is still safe.
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std::function<bool(Visualizer *)> animation_callback_func_in_loop_ =
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nullptr;
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// control
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MouseControl mouse_control_;
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bool is_redraw_required_ = true;
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bool is_initialized_ = false;
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GLuint vao_id_ = 0;
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// render targets for "capture_screen_float_buffer" and
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// "capture_screen_image" in offscreen render mode
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GLuint render_fbo_ = 0;
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GLuint render_rgb_tex_ = 0;
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GLuint render_depth_stencil_rbo_ = 0;
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// view control
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std::unique_ptr<ViewControl> view_control_ptr_;
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// rendering properties
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std::unique_ptr<RenderOption> render_option_ptr_;
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// geometry to be rendered
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std::unordered_set<std::shared_ptr<const geometry::Geometry>>
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geometry_ptrs_;
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// geometry renderers
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std::unordered_set<std::shared_ptr<glsl::GeometryRenderer>>
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geometry_renderer_ptrs_;
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// utilities owned by the Visualizer
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std::vector<std::shared_ptr<const geometry::Geometry>> utility_ptrs_;
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// utility renderers
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std::vector<std::shared_ptr<glsl::GeometryRenderer>> utility_renderer_ptrs_;
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// map's key is the renderer for which the RenderOption applies
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// (should be something in utility_renderer_ptrs_)
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std::unordered_map<std::shared_ptr<glsl::GeometryRenderer>, RenderOption>
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utility_renderer_opts_;
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// coordinate frame
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std::shared_ptr<geometry::TriangleMesh> coordinate_frame_mesh_ptr_;
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std::shared_ptr<glsl::CoordinateFrameRenderer>
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coordinate_frame_mesh_renderer_ptr_;
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#ifdef __APPLE__
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// MacBook with Retina display does not have a 1:1 mapping from screen
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// coordinates to pixels. Thus we hack it back.
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// http://www.glfw.org/faq.html#why-is-my-output-in-the-lower-left-corner-of-the-window
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double pixel_to_screen_coordinate_ = 1.0;
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#endif //__APPLE__
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};
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} // namespace visualization
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} // namespace open3d
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