Open3D (C++ API)  0.15.1
VisualizerWithVertexSelection.h
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26 
27 #pragma once
28 
29 #include <unordered_map>
30 
32 
33 namespace open3d {
34 
35 namespace geometry {
36 class PointCloud;
37 }
38 
39 namespace visualization {
40 class SelectionPolygon;
41 class PointCloudPicker;
42 
44 public:
45  enum class SelectionMode { None = 0, Point = 1, Rectangle = 2, Moving = 3 };
46 
47 public:
51  delete;
53  const VisualizerWithVertexSelection &) = delete;
54 
55 public:
56  bool AddGeometry(std::shared_ptr<const geometry::Geometry> geometry_ptr,
57  bool reset_bounding_box = true) override;
58  bool UpdateGeometry(std::shared_ptr<const geometry::Geometry> geometry_ptr =
59  nullptr) override;
60  void PrintVisualizerHelp() override;
61  void UpdateWindowTitle() override;
62  void BuildUtilities() override;
63  void SetPointSize(double size);
64  std::vector<int> PickPoints(double x, double y, double w, double h);
65 
66  struct PickedPoint {
67  int index;
68  Eigen::Vector3d coord;
69  };
70  std::vector<PickedPoint> GetPickedPoints() const;
71  void ClearPickedPoints();
72 
73  void RegisterSelectionChangedCallback(std::function<void()> f);
76  void RegisterSelectionMovingCallback(std::function<void()> f);
77  void RegisterSelectionMovedCallback(std::function<void()> f);
78 
79 protected:
80  bool InitViewControl() override;
81  bool InitRenderOption() override;
82  void WindowResizeCallback(GLFWwindow *window, int w, int h) override;
83  void MouseMoveCallback(GLFWwindow *window, double x, double y) override;
84  void MouseScrollCallback(GLFWwindow *window, double x, double y) override;
85  void MouseButtonCallback(GLFWwindow *window,
86  int button,
87  int action,
88  int mods) override;
89  void KeyPressCallback(GLFWwindow *window,
90  int key,
91  int scancode,
92  int action,
93  int mods) override;
95  void InvalidatePicking();
96  void AddPickedPoints(const std::vector<int> indices);
97  void RemovePickedPoints(const std::vector<int> indices);
98  float GetDepth(int winX, int winY);
99  Eigen::Vector3d CalcDragDelta(double winX, double winY);
101  void DragSelectedPoints(const Eigen::Vector3d &delta, DragType type);
102  const std::vector<Eigen::Vector3d> *GetGeometryPoints(
103  std::shared_ptr<const geometry::Geometry> geometry);
104 
105 protected:
106  std::shared_ptr<SelectionPolygon> selection_polygon_ptr_;
107  std::shared_ptr<glsl::SelectionPolygonRenderer>
110  Eigen::Vector2d mouse_down_pos_;
111  std::vector<int> points_in_rect_;
112  float drag_depth_ = 0.0f;
113 
114  std::shared_ptr<PointCloudPicker> pointcloud_picker_ptr_;
115  std::shared_ptr<glsl::PointCloudPickerRenderer>
117 
118  std::shared_ptr<const geometry::Geometry> geometry_ptr_;
119  std::shared_ptr<glsl::GeometryRenderer> geometry_renderer_ptr_;
120 
122 
123  std::shared_ptr<geometry::PointCloud> ui_points_geometry_ptr_;
124  std::shared_ptr<glsl::GeometryRenderer> ui_points_renderer_ptr_;
125 
126  std::unordered_map<int, Eigen::Vector3d> selected_points_;
127  std::unordered_map<int, Eigen::Vector3d> selected_points_before_drag_;
128  std::shared_ptr<geometry::PointCloud> ui_selected_points_geometry_ptr_;
129  std::shared_ptr<glsl::GeometryRenderer> ui_selected_points_renderer_ptr_;
130 
131  std::function<void()> on_selection_changed_;
132  std::function<void()> on_selection_moving_;
133  std::function<void()> on_selection_moved_;
134 };
135 
136 } // namespace visualization
137 } // namespace open3d
Defines rendering options for visualizer.
Definition: RenderOption.h:39
The main Visualizer class.
Definition: Visualizer.h:62
Definition: VisualizerWithVertexSelection.h:43
bool InitRenderOption() override
Function to initialize RenderOption.
Definition: VisualizerWithVertexSelection.cpp:441
void BuildUtilities() override
Definition: VisualizerWithVertexSelection.cpp:276
void DragSelectedPoints(const Eigen::Vector3d &delta, DragType type)
Definition: VisualizerWithVertexSelection.cpp:749
std::function< void()> on_selection_moving_
Definition: VisualizerWithVertexSelection.h:132
std::shared_ptr< glsl::SelectionPolygonRenderer > selection_polygon_renderer_ptr_
Definition: VisualizerWithVertexSelection.h:108
void AddPickedPoints(const std::vector< int > indices)
Definition: VisualizerWithVertexSelection.cpp:708
std::shared_ptr< SelectionPolygon > selection_polygon_ptr_
Definition: VisualizerWithVertexSelection.h:106
std::unordered_map< int, Eigen::Vector3d > selected_points_before_drag_
Definition: VisualizerWithVertexSelection.h:127
std::function< void()> on_selection_changed_
Definition: VisualizerWithVertexSelection.h:131
std::shared_ptr< glsl::GeometryRenderer > ui_points_renderer_ptr_
Definition: VisualizerWithVertexSelection.h:124
Eigen::Vector3d CalcDragDelta(double winX, double winY)
Definition: VisualizerWithVertexSelection.cpp:807
void WindowResizeCallback(GLFWwindow *window, int w, int h) override
Definition: VisualizerWithVertexSelection.cpp:462
void InvalidateSelectionPolygon()
Definition: VisualizerWithVertexSelection.cpp:681
void SetPointSize(double size)
Definition: VisualizerWithVertexSelection.cpp:821
std::shared_ptr< geometry::PointCloud > ui_points_geometry_ptr_
Definition: VisualizerWithVertexSelection.h:123
bool InitViewControl() override
Function to initialize ViewControl.
Definition: VisualizerWithVertexSelection.cpp:434
const std::vector< Eigen::Vector3d > * GetGeometryPoints(std::shared_ptr< const geometry::Geometry > geometry)
Definition: VisualizerWithVertexSelection.cpp:769
std::vector< int > PickPoints(double x, double y, double w, double h)
Definition: VisualizerWithVertexSelection.cpp:351
std::vector< PickedPoint > GetPickedPoints() const
Definition: VisualizerWithVertexSelection.cpp:425
std::function< void()> on_selection_moved_
Definition: VisualizerWithVertexSelection.h:133
bool AddGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr, bool reset_bounding_box=true) override
Function to add geometry to the scene and create corresponding shaders.
Definition: VisualizerWithVertexSelection.cpp:98
std::shared_ptr< glsl::PointCloudPickerRenderer > pointcloud_picker_renderer_ptr_
Definition: VisualizerWithVertexSelection.h:116
SelectionMode selection_mode_
Definition: VisualizerWithVertexSelection.h:109
bool UpdateGeometry(std::shared_ptr< const geometry::Geometry > geometry_ptr=nullptr) override
Function to update geometry.
Definition: VisualizerWithVertexSelection.cpp:173
void PrintVisualizerHelp() override
Definition: VisualizerWithVertexSelection.cpp:248
std::shared_ptr< const geometry::Geometry > geometry_ptr_
Definition: VisualizerWithVertexSelection.h:118
float GetDepth(int winX, int winY)
Definition: VisualizerWithVertexSelection.cpp:311
void MouseScrollCallback(GLFWwindow *window, double x, double y) override
Definition: VisualizerWithVertexSelection.cpp:587
RenderOption pick_point_opts_
Definition: VisualizerWithVertexSelection.h:121
void ClearPickedPoints()
Definition: VisualizerWithVertexSelection.cpp:697
VisualizerWithVertexSelection(const VisualizerWithVertexSelection &)=delete
DragType
Definition: VisualizerWithVertexSelection.h:100
@ DRAG_END
Definition: VisualizerWithVertexSelection.h:100
@ DRAG_MOVING
Definition: VisualizerWithVertexSelection.h:100
void RegisterSelectionChangedCallback(std::function< void()> f)
Definition: VisualizerWithVertexSelection.cpp:447
void MouseButtonCallback(GLFWwindow *window, int button, int action, int mods) override
Definition: VisualizerWithVertexSelection.cpp:593
SelectionMode
Definition: VisualizerWithVertexSelection.h:45
VisualizerWithVertexSelection & operator=(const VisualizerWithVertexSelection &)=delete
std::shared_ptr< geometry::PointCloud > ui_selected_points_geometry_ptr_
Definition: VisualizerWithVertexSelection.h:128
void MouseMoveCallback(GLFWwindow *window, double x, double y) override
Definition: VisualizerWithVertexSelection.cpp:550
void UpdateWindowTitle() override
Definition: VisualizerWithVertexSelection.cpp:268
void InvalidatePicking()
Definition: VisualizerWithVertexSelection.cpp:690
~VisualizerWithVertexSelection() override
Definition: VisualizerWithVertexSelection.h:49
std::shared_ptr< PointCloudPicker > pointcloud_picker_ptr_
Definition: VisualizerWithVertexSelection.h:114
void RegisterSelectionMovingCallback(std::function< void()> f)
Definition: VisualizerWithVertexSelection.cpp:452
void RemovePickedPoints(const std::vector< int > indices)
Definition: VisualizerWithVertexSelection.cpp:731
VisualizerWithVertexSelection()
Definition: VisualizerWithVertexSelection.h:48
std::vector< int > points_in_rect_
Definition: VisualizerWithVertexSelection.h:111
std::shared_ptr< glsl::GeometryRenderer > ui_selected_points_renderer_ptr_
Definition: VisualizerWithVertexSelection.h:129
std::unordered_map< int, Eigen::Vector3d > selected_points_
Definition: VisualizerWithVertexSelection.h:126
float drag_depth_
Definition: VisualizerWithVertexSelection.h:112
void RegisterSelectionMovedCallback(std::function< void()> f)
Definition: VisualizerWithVertexSelection.cpp:457
std::shared_ptr< glsl::GeometryRenderer > geometry_renderer_ptr_
Definition: VisualizerWithVertexSelection.h:119
void KeyPressCallback(GLFWwindow *window, int key, int scancode, int action, int mods) override
Definition: VisualizerWithVertexSelection.cpp:469
Eigen::Vector2d mouse_down_pos_
Definition: VisualizerWithVertexSelection.h:110
int size
Definition: FilePCD.cpp:59
char type
Definition: FilePCD.cpp:60
const char const char value recording_handle imu_sample void
Definition: K4aPlugin.cpp:269
Definition: PinholeCameraIntrinsic.cpp:35
Definition: VisualizerWithVertexSelection.h:66
Eigen::Vector3d coord
Definition: VisualizerWithVertexSelection.h:68
int index
Definition: VisualizerWithVertexSelection.h:67