48 namespace visualization {
52 struct TriangleMeshModel;
55 namespace visualizer {
65 std::shared_ptr<geometry::Geometry3D>
geometry;
67 std::shared_ptr<rendering::TriangleMeshModel>
model;
79 gui::SceneWidget::Controls::ROTATE_CAMERA;
90 Eigen::Vector4f
bg_color = {1.0f, 1.0f, 1.0f, 1.0f};
100 Eigen::Vector3f
sun_dir = {0.577f, -0.577f, -0.577f};
115 std::shared_ptr<geometry::Image> bg_image =
nullptr);
121 std::shared_ptr<geometry::Geometry3D> geom,
123 const std::string& group =
"",
125 bool is_visible =
true);
130 std::shared_ptr<t::geometry::Geometry> tgeom,
132 const std::string& group =
"",
134 bool is_visible =
true);
138 std::shared_ptr<rendering::TriangleMeshModel> tgeom,
140 const std::string& group =
"",
142 bool is_visible =
true);
150 std::shared_ptr<t::geometry::Geometry> tgeom,
159 const std::string&
name)
const;
165 void Add3DLabel(
const Eigen::Vector3f& pos,
const char* text);
171 const Eigen::Vector3f& center,
172 const Eigen::Vector3f& eye,
173 const Eigen::Vector3f& up);
175 const Eigen::Matrix4d& extrinsic);
177 const Eigen::Matrix4d& extrinsic,
178 int intrinsic_width_px,
179 int intrinsic_height_px);
185 void SetIBL(
const std::string& path);
194 void EnableGroup(
const std::string& group,
bool enable);
197 std::vector<O3DVisualizerSelections::SelectionSet>
GetSelectionSets()
const;
235 std::unique_ptr<Impl> impl_;
std::function< void(std::shared_ptr< core::Tensor >)> callback
Definition: FilamentRenderer.cpp:227
ImGuiContext * context
Definition: Window.cpp:95
Contains the pinhole camera intrinsic parameters.
Definition: PinholeCameraIntrinsic.h:51
Definition: Open3DScene.h:57
GroundPlane
Definition: Scene.h:200
Definition: O3DVisualizer.h:57
bool GetIsAnimating() const
Definition: O3DVisualizer.cpp:2360
void SetGroundPlane(rendering::Scene::GroundPlane plane)
Definition: O3DVisualizer.cpp:2298
void ShowGeometry(const std::string &name, bool show)
Show/hide the named geometry.
Definition: O3DVisualizer.cpp:2265
void ModifyGeometryMaterial(const std::string &name, const rendering::MaterialRecord *material)
Definition: O3DVisualizer.cpp:2279
void SetShader(Shader shader)
Definition: O3DVisualizer.cpp:2214
std::vector< O3DVisualizerSelections::SelectionSet > GetSelectionSets() const
Definition: O3DVisualizer.cpp:2323
void SetMouseMode(gui::SceneWidget::Controls mode)
Definition: O3DVisualizer.cpp:2314
void SetupCamera(float fov, const Eigen::Vector3f ¢er, const Eigen::Vector3f &eye, const Eigen::Vector3f &up)
Definition: O3DVisualizer.cpp:2368
void SetAnimationTimeStep(double time_step)
Definition: O3DVisualizer.cpp:2339
TickResult
Definition: O3DVisualizer.h:216
O3DVisualizer(const std::string &title, int width, int height)
Definition: O3DVisualizer.cpp:2095
void ExportCurrentImage(const std::string &path)
Definition: O3DVisualizer.cpp:2410
void Add3DLabel(const Eigen::Vector3f &pos, const char *text)
Adds a label with text text at the 3D position pos.
Definition: O3DVisualizer.cpp:2249
void EnableBasicMode(bool enable)
Definition: O3DVisualizer.cpp:2302
void SetCurrentTime(double t)
Definition: O3DVisualizer.cpp:2358
double GetCurrentTime() const
Definition: O3DVisualizer.cpp:2354
void SetIBLIntensity(float intensity)
Definition: O3DVisualizer.cpp:2290
void SetBackground(const Eigen::Vector4f &bg_color, std::shared_ptr< geometry::Image > bg_image=nullptr)
Definition: O3DVisualizer.cpp:2208
void SetAnimationFrameDelay(double secs)
Definition: O3DVisualizer.cpp:2331
void EnableGroup(const std::string &group, bool enable)
Definition: O3DVisualizer.cpp:2318
double GetAnimationDuration() const
Definition: O3DVisualizer.cpp:2344
void ShowSkybox(bool show)
Definition: O3DVisualizer.cpp:2286
void Layout(const gui::LayoutContext &context)
Definition: O3DVisualizer.cpp:2414
void SetIBL(const std::string &path)
Definition: O3DVisualizer.cpp:2288
Shader
Definition: O3DVisualizer.h:61
void StopRPCInterface()
Definition: O3DVisualizer.cpp:2175
rendering::Open3DScene * GetScene() const
Definition: O3DVisualizer.cpp:2159
void SetOnAnimationTick(std::function< TickResult(O3DVisualizer &, double, double)> cb)
Definition: O3DVisualizer.cpp:2405
void ShowGround(bool show)
Definition: O3DVisualizer.cpp:2296
DrawObject GetGeometry(const std::string &name) const
Returns Visualizer's internal DrawObject for the named geometry.
Definition: O3DVisualizer.cpp:2269
void ShowAxes(bool show)
Definition: O3DVisualizer.cpp:2294
virtual ~O3DVisualizer()
Definition: O3DVisualizer.cpp:2157
void SetAnimationDuration(double sec)
Definition: O3DVisualizer.cpp:2348
void AddGeometry(const std::string &name, std::shared_ptr< geometry::Geometry3D > geom, const rendering::MaterialRecord *material=nullptr, const std::string &group="", double time=0.0, bool is_visible=true)
Adds a legacy geometry to the Visualizer.
Definition: O3DVisualizer.cpp:2216
void EnableSunFollowsCamera(bool enable)
void StartRPCInterface(const std::string &address, int timeout)
Starts the RPC interface. See io/rpc/ZMQReceiver for the parameters.
Definition: O3DVisualizer.cpp:2163
void SetLineWidth(int line_width)
Definition: O3DVisualizer.cpp:2310
void AddAction(const std::string &name, std::function< void(O3DVisualizer &)> callback)
Definition: O3DVisualizer.cpp:2182
UIState GetUIState() const
Definition: O3DVisualizer.cpp:2392
rendering::MaterialRecord GetGeometryMaterial(const std::string &name) const
Definition: O3DVisualizer.cpp:2274
void AddGeometry(const std::string &name, std::shared_ptr< rendering::TriangleMeshModel > tgeom, const rendering::MaterialRecord *material=nullptr, const std::string &group="", double time=0.0, bool is_visible=true)
Adds a triangle mesh model to the Visualizer.
void UpdateGeometry(const std::string &name, std::shared_ptr< t::geometry::Geometry > tgeom, uint32_t update_flags)
Definition: O3DVisualizer.cpp:2255
void SetPointSize(int point_size)
Definition: O3DVisualizer.cpp:2306
void ShowSettings(bool show)
Definition: O3DVisualizer.cpp:2284
double GetAnimationFrameDelay() const
Definition: O3DVisualizer.cpp:2327
void SetAnimating(bool is_animating)
Definition: O3DVisualizer.cpp:2364
void SetOnAnimationFrame(std::function< void(O3DVisualizer &, double)> cb)
Definition: O3DVisualizer.cpp:2396
void Clear3DLabels()
Clears all 3D labels created with Add3DLabel
Definition: O3DVisualizer.cpp:2253
double GetAnimationTimeStep() const
Definition: O3DVisualizer.cpp:2335
void ResetCameraToDefault()
Definition: O3DVisualizer.cpp:2388
void RemoveGeometry(const std::string &name)
Removes the named geometry from the Visualizer.
Definition: O3DVisualizer.cpp:2261
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:567
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle image_handle timestamp_usec white_balance image_handle k4a_device_configuration_t config device_handle char size_t serial_number_size bool int32_t int32_t int32_t int32_t k4a_color_control_mode_t default_mode mode
Definition: K4aPlugin.cpp:697
Definition: PinholeCameraIntrinsic.cpp:35
Definition: MaterialRecord.h:41
Definition: O3DVisualizer.h:63
bool is_color_default
Definition: O3DVisualizer.h:74
std::string name
Definition: O3DVisualizer.h:64
std::shared_ptr< t::geometry::Geometry > tgeometry
Definition: O3DVisualizer.h:66
rendering::MaterialRecord material
Definition: O3DVisualizer.h:68
double time
Definition: O3DVisualizer.h:70
std::shared_ptr< geometry::Geometry3D > geometry
Definition: O3DVisualizer.h:65
std::shared_ptr< rendering::TriangleMeshModel > model
Definition: O3DVisualizer.h:67
std::string group
Definition: O3DVisualizer.h:69
bool is_visible
Definition: O3DVisualizer.h:71
Definition: O3DVisualizer.h:77
double frame_delay
Definition: O3DVisualizer.h:105
bool show_settings
Definition: O3DVisualizer.h:81
Eigen::Vector3f sun_color
Definition: O3DVisualizer.h:101
gui::SceneWidget::Controls mouse_mode
Definition: O3DVisualizer.h:78
bool show_skybox
Definition: O3DVisualizer.h:82
bool is_animating
Definition: O3DVisualizer.h:87
bool show_ground
Definition: O3DVisualizer.h:84
bool use_sun
Definition: O3DVisualizer.h:95
std::set< std::string > enabled_groups
Definition: O3DVisualizer.h:88
bool use_ibl
Definition: O3DVisualizer.h:94
Eigen::Vector3f sun_dir
Definition: O3DVisualizer.h:100
int point_size
Definition: O3DVisualizer.h:91
bool show_axes
Definition: O3DVisualizer.h:83
int sun_intensity
Definition: O3DVisualizer.h:99
double time_step
Definition: O3DVisualizer.h:104
Eigen::Vector4f bg_color
Definition: O3DVisualizer.h:90
int ibl_intensity
Definition: O3DVisualizer.h:98
Shader scene_shader
Definition: O3DVisualizer.h:80
rendering::Scene::GroundPlane ground_plane
Definition: O3DVisualizer.h:85
int line_width
Definition: O3DVisualizer.h:92
bool sun_follows_camera
Definition: O3DVisualizer.h:96
double current_time
Definition: O3DVisualizer.h:103
std::string ibl_path
Definition: O3DVisualizer.h:97