Customized visualization

The usage of Open3D convenient visualization functions draw_geometries and draw_geometries_with_custom_animation is straightforward. Everything can be done with the GUI. Press h inside the visualizer window to see helper information. For more details, see Visualization.

This tutorial focuses on more advanced functionalities to customize the behavior of the visualizer window. Please refer to examples/python/visualization/customized_visualization.py to try the following examples.

Mimic draw_geometries() with Visualizer class

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def custom_draw_geometry(pcd):
    # The following code achieves the same effect as:
    # o3d.visualization.draw_geometries([pcd])
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.run()
    vis.destroy_window()

This function produces exactly the same functionality as the convenience function draw_geometries.

../../_images/custom.png

Class Visualizer has a couple of variables such as a ViewControl and a RenderOption. The following function reads a predefined RenderOption stored in a json file.

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def custom_draw_geometry_load_option(pcd):
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    vis.get_render_option().load_from_json("../../test_data/renderoption.json")
    vis.run()
    vis.destroy_window()

Outputs:

../../_images/normal.png

Change field of view

To change field of view of the camera, it is first necessary to get an instance of the visualizer control. To modify the field of view, use change_field_of_view.

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def custom_draw_geometry_with_custom_fov(pcd, fov_step):
    vis = o3d.visualization.Visualizer()
    vis.create_window()
    vis.add_geometry(pcd)
    ctr = vis.get_view_control()
    print("Field of view (before changing) %.2f" % ctr.get_field_of_view())
    ctr.change_field_of_view(step=fov_step)
    print("Field of view (after changing) %.2f" % ctr.get_field_of_view())
    vis.run()
    vis.destroy_window()

The field of view (FoV) can be set to a degree in the range [5,90]. Note that change_field_of_view adds the specified FoV to the current FoV. By default, the visualizer has an FoV of 60 degrees. Calling the following code

custom_draw_geometry_with_custom_fov(pcd, 90.0)

will add the specified 90 degrees to the default 60 degrees. As it exceeds the maximum allowable FoV, the FoV is set to 90 degrees.

../../_images/fov_90.png

The following code

custom_draw_geometry_with_custom_fov(pcd, -90.0)

will set FoV to 5 degrees, because 60 - 90 = -30 is less than 5 degrees.

../../_images/fov_5.png

Callback functions

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def custom_draw_geometry_with_rotation(pcd):

    def rotate_view(vis):
        ctr = vis.get_view_control()
        ctr.rotate(10.0, 0.0)
        return False

    o3d.visualization.draw_geometries_with_animation_callback([pcd],
                                                              rotate_view)

Function draw_geometries_with_animation_callback registers a Python callback function rotate_view as the idle function of the main loop. It rotates the view along the x-axis whenever the visualizer is idle. This defines an animation behavior.

../../_images/rotate_small.gif 
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def custom_draw_geometry_with_key_callback(pcd):

    def change_background_to_black(vis):
        opt = vis.get_render_option()
        opt.background_color = np.asarray([0, 0, 0])
        return False

    def load_render_option(vis):
        vis.get_render_option().load_from_json(
            "../../test_data/renderoption.json")
        return False

    def capture_depth(vis):
        depth = vis.capture_depth_float_buffer()
        plt.imshow(np.asarray(depth))
        plt.show()
        return False

    def capture_image(vis):
        image = vis.capture_screen_float_buffer()
        plt.imshow(np.asarray(image))
        plt.show()
        return False

    key_to_callback = {}
    key_to_callback[ord("K")] = change_background_to_black
    key_to_callback[ord("R")] = load_render_option
    key_to_callback[ord(",")] = capture_depth
    key_to_callback[ord(".")] = capture_image
    o3d.visualization.draw_geometries_with_key_callbacks([pcd], key_to_callback)

Callback functions can also be registered upon key press event. This script registered four keys. For example, pressing k changes the background color to black.

../../_images/key_k.png

Capture images in a customized animation

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def custom_draw_geometry_with_camera_trajectory(pcd):
    custom_draw_geometry_with_camera_trajectory.index = -1
    custom_draw_geometry_with_camera_trajectory.trajectory =\
            o3d.io.read_pinhole_camera_trajectory(
                    "../../test_data/camera_trajectory.json")
    custom_draw_geometry_with_camera_trajectory.vis = o3d.visualization.Visualizer(
    )
    if not os.path.exists("../../test_data/image/"):
        os.makedirs("../../test_data/image/")
    if not os.path.exists("../../test_data/depth/"):
        os.makedirs("../../test_data/depth/")

    def move_forward(vis):
        # This function is called within the o3d.visualization.Visualizer::run() loop
        # The run loop calls the function, then re-render
        # So the sequence in this function is to:
        # 1. Capture frame
        # 2. index++, check ending criteria
        # 3. Set camera
        # 4. (Re-render)
        ctr = vis.get_view_control()
        glb = custom_draw_geometry_with_camera_trajectory
        if glb.index >= 0:
            print("Capture image {:05d}".format(glb.index))
            depth = vis.capture_depth_float_buffer(False)
            image = vis.capture_screen_float_buffer(False)
            plt.imsave("../../test_data/depth/{:05d}.png".format(glb.index),\
                    np.asarray(depth), dpi = 1)
            plt.imsave("../../test_data/image/{:05d}.png".format(glb.index),\
                    np.asarray(image), dpi = 1)
            # vis.capture_depth_image("depth/{:05d}.png".format(glb.index), False)
            # vis.capture_screen_image("image/{:05d}.png".format(glb.index), False)
        glb.index = glb.index + 1
        if glb.index < len(glb.trajectory.parameters):
            ctr.convert_from_pinhole_camera_parameters(
                glb.trajectory.parameters[glb.index], allow_arbitrary=True)
        else:
            custom_draw_geometry_with_camera_trajectory.vis.\
                    register_animation_callback(None)
        return False

    vis = custom_draw_geometry_with_camera_trajectory.vis
    vis.create_window()
    vis.add_geometry(pcd)
    vis.get_render_option().load_from_json("../../test_data/renderoption.json")
    vis.register_animation_callback(move_forward)
    vis.run()
    vis.destroy_window()

This function reads a camera trajectory, then defines an animation function move_forward to travel through the camera trajectory. In this animation function, both color image and depth image are captured using Visualizer.capture_depth_float_buffer and Visualizer.capture_screen_float_buffer respectively. The images are saved as png files.

The captured image sequence:

../../_images/image_small.gif

The captured depth sequence:

../../_images/depth_small.gif