#include <Visualizer.h>

Inheritance diagram for open3d::visualization::Visualizer:

Data Structures
struct	MouseControl

Public Member Functions
	Visualizer ()

virtual	~Visualizer ()

	Visualizer (Visualizer &&)=delete

	Visualizer (const Visualizer &)=delete

Visualizer &	operator= (const Visualizer &)=delete

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. More...

void	DestroyVisualizerWindow ()
	Function to destroy a window. More...

void	RegisterAnimationCallback (std::function< bool(Visualizer *)> callback_func)
	Function to register a callback function for animation. More...

void	Run ()
	Function to activate the window. More...

void	Close ()
	Function to to notify the window to be closed. More...

bool	WaitEvents ()
	Function to process the event queue and return if the window is closed. More...

bool	PollEvents ()

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. More...

virtual bool	RemoveGeometry (std::shared_ptr< const geometry::Geometry > geometry_ptr, bool reset_bounding_box=true)
	Function to remove geometry from the scene. More...

virtual bool	ClearGeometries ()

virtual bool	UpdateGeometry (std::shared_ptr< const geometry::Geometry > geometry_ptr=nullptr)
	Function to update geometry. More...

virtual bool	HasGeometry () const

virtual void	UpdateRender ()
	Function to inform render needed to be updated. More...

virtual void	SetFullScreen (bool fullscreen)
	Functions to change between fullscreen and windowed modes. More...

virtual void	ToggleFullScreen ()

virtual bool	IsFullScreen ()

virtual void	PrintVisualizerHelp ()

virtual void	UpdateWindowTitle ()

virtual void	BuildUtilities ()

ViewControl &	GetViewControl ()
	Function to retrieve the associated ViewControl. More...

const ViewControl &	GetViewControl () const

RenderOption &	GetRenderOption ()
	Function to retrieve the associated RenderOption. More...

std::shared_ptr< geometry::Image >	CaptureScreenFloatBuffer (bool do_render=true)
	Function to capture screen and store RGB in a float buffer. More...

void	CaptureScreenImage (const std::string &filename="", bool do_render=true)
	Function to capture and save a screen image. More...

std::shared_ptr< geometry::Image >	CaptureDepthFloatBuffer (bool do_render=true)

void	CaptureDepthImage (const std::string &filename="", bool do_render=true, double depth_scale=1000.0)

void	CaptureDepthPointCloud (const std::string &filename="", bool do_render=true, bool convert_to_world_coordinate=false)
	Function to capture and save local point cloud. More...

void	CaptureRenderOption (const std::string &filename="")

void	ResetViewPoint (bool reset_bounding_box=false)
	Function to reset view point. More...

const std::string &	GetWindowName () const

Protected Member Functions
virtual bool	InitOpenGL ()
	Function to initialize OpenGL. More...

virtual bool	InitViewControl ()
	Function to initialize ViewControl. More...

virtual bool	InitRenderOption ()
	Function to initialize RenderOption. More...

virtual void	Render (bool render_screen=false)

void	CopyViewStatusToClipboard ()

void	CopyViewStatusFromClipboard ()

virtual void	WindowRefreshCallback (GLFWwindow *window)

virtual void	WindowResizeCallback (GLFWwindow *window, int w, int h)

virtual void	MouseMoveCallback (GLFWwindow *window, double x, double y)

virtual void	MouseScrollCallback (GLFWwindow *window, double x, double y)

virtual void	MouseButtonCallback (GLFWwindow *window, int button, int action, int mods)

virtual void	KeyPressCallback (GLFWwindow *window, int key, int scancode, int action, int mods)

virtual void	WindowCloseCallback (GLFWwindow *window)
	Function to notify the window to be closed. More...

Protected Attributes
GLFWwindow *	window_ = NULL

std::string	window_name_ = "Open3D"

Eigen::Vector2i	saved_window_size_ = Eigen::Vector2i::Zero()

Eigen::Vector2i	saved_window_pos_ = Eigen::Vector2i::Zero()

std::function< bool(Visualizer *)>	animation_callback_func_ = nullptr

std::function< bool(Visualizer *)>	animation_callback_func_in_loop_

MouseControl	mouse_control_

bool	is_redraw_required_ = true

bool	is_initialized_ = false

GLuint	vao_id_ = 0

GLuint	render_fbo_ = 0

GLuint	render_rgb_tex_ = 0

GLuint	render_depth_stencil_rbo_ = 0

std::unique_ptr< ViewControl >	view_control_ptr_

std::unique_ptr< RenderOption >	render_option_ptr_

std::unordered_set< std::shared_ptr< const geometry::Geometry > >	geometry_ptrs_

std::unordered_set< std::shared_ptr< glsl::GeometryRenderer > >	geometry_renderer_ptrs_

std::vector< std::shared_ptr< const geometry::Geometry > >	utility_ptrs_

std::vector< std::shared_ptr< glsl::GeometryRenderer > >	utility_renderer_ptrs_

std::unordered_map< std::shared_ptr< glsl::GeometryRenderer >, RenderOption >	utility_renderer_opts_

std::shared_ptr< geometry::TriangleMesh >	coordinate_frame_mesh_ptr_

std::shared_ptr< glsl::CoordinateFrameRenderer >	coordinate_frame_mesh_renderer_ptr_

Detailed Description

The main Visualizer class.

Constructor & Destructor Documentation

◆ Visualizer() [1/3]

open3d::visualization::Visualizer::Visualizer ( )

◆ ~Visualizer()

open3d::visualization::Visualizer::~Visualizer ( )

virtual

◆ Visualizer() [2/3]

open3d::visualization::Visualizer::Visualizer ( Visualizer && )

delete

◆ Visualizer() [3/3]

open3d::visualization::Visualizer::Visualizer ( const Visualizer & )

delete

Member Function Documentation

◆ AddGeometry()

bool open3d::visualization::Visualizer::AddGeometry	(	std::shared_ptr< const geometry::Geometry >	geometry_ptr,
		bool	reset_bounding_box = `true`
	)

virtual

Function to add geometry to the scene and create corresponding shaders.

After calling this function, the Visualizer owns the geometry object.
This function MUST be called after CreateVisualizerWindow().
This function returns FALSE when the geometry is of an unsupported type.
If an added geometry is changed, the behavior of Visualizer is undefined. Programmers are responsible for calling Geometry() to notify the Visualizer that the geometry has been changed and the Visualizer should be updated accordingly.

Parameters

geometry_ptr The Geometry object.

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, and open3d::visualization::VisualizerWithEditing.

◆ BuildUtilities()

void open3d::visualization::Visualizer::BuildUtilities ( )

virtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, and open3d::visualization::VisualizerWithEditing.

◆ CaptureDepthFloatBuffer()

std::shared_ptr< geometry::Image > open3d::visualization::Visualizer::CaptureDepthFloatBuffer ( bool do_render = true )

Function to capture depth in a float buffer.

Parameters

do_render Set to true to do render.

◆ CaptureDepthImage()

void open3d::visualization::Visualizer::CaptureDepthImage	(	const std::string &	filename = `""`,
		bool	do_render = `true`,
		double	depth_scale = `1000.0`
	)

Function to capture and save a depth image.

Parameters

filename	Path to file.
do_render	Set to `true` to do render.
depth_scale	Scale depth value when capturing the depth image.

◆ CaptureDepthPointCloud()

void open3d::visualization::Visualizer::CaptureDepthPointCloud	(	const std::string &	filename = `""`,
		bool	do_render = `true`,
		bool	convert_to_world_coordinate = `false`
	)

Function to capture and save local point cloud.

Parameters

filename	Path to file.
do_render	Set to `true` to do render.
convert_to_world_coordinate	Set to `true` to convert to world coordinates.

◆ CaptureRenderOption()

void open3d::visualization::Visualizer::CaptureRenderOption ( const std::string & filename = "" )

◆ CaptureScreenFloatBuffer()

std::shared_ptr< geometry::Image > open3d::visualization::Visualizer::CaptureScreenFloatBuffer ( bool do_render = true )

Function to capture screen and store RGB in a float buffer.

Parameters

do_render Set to true to do render.

◆ CaptureScreenImage()

void open3d::visualization::Visualizer::CaptureScreenImage	(	const std::string &	filename = `""`,
		bool	do_render = `true`
	)

Function to capture and save a screen image.

Parameters

filename	Path to file.
do_render	Set to `true` to do render.

◆ ClearGeometries()

bool open3d::visualization::Visualizer::ClearGeometries ( )

virtual

Function to remove all geometries from the scene. After calling this function, the Visualizer releases the pointer of all geometry objects.

◆ Close()

void open3d::visualization::Visualizer::Close ( )

Function to to notify the window to be closed.

◆ CopyViewStatusFromClipboard()

void open3d::visualization::Visualizer::CopyViewStatusFromClipboard ( )

protected

◆ CopyViewStatusToClipboard()

void open3d::visualization::Visualizer::CopyViewStatusToClipboard ( )

protected

◆ CreateVisualizerWindow()

bool open3d::visualization::Visualizer::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.

This function MUST be called from the main thread.

Parameters

window_name	Window title name.
width	Width of the window.
height	Height of window.
left	Left margin of the window to the screen.
top	Top margin of the window to the screen.
visible	Whether the window is visible.

◆ DestroyVisualizerWindow()

void open3d::visualization::Visualizer::DestroyVisualizerWindow ( )

Function to destroy a window.

This function MUST be called from the main thread.

◆ GetRenderOption()

RenderOption& open3d::visualization::Visualizer::GetRenderOption ( )

inline

Function to retrieve the associated RenderOption.

◆ GetViewControl() [1/2]

ViewControl& open3d::visualization::Visualizer::GetViewControl ( )

inline

Function to retrieve the associated ViewControl.

◆ GetViewControl() [2/2]

const ViewControl& open3d::visualization::Visualizer::GetViewControl ( ) const

inline

◆ GetWindowName()

const std::string& open3d::visualization::Visualizer::GetWindowName ( ) const

inline

◆ HasGeometry()

bool open3d::visualization::Visualizer::HasGeometry ( ) const

virtual

◆ InitOpenGL()

bool open3d::visualization::Visualizer::InitOpenGL ( )

protectedvirtual

Function to initialize OpenGL.

◆ InitRenderOption()

bool open3d::visualization::Visualizer::InitRenderOption ( )

protectedvirtual

Function to initialize RenderOption.

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, and open3d::visualization::VisualizerWithEditing.

◆ InitViewControl()

bool open3d::visualization::Visualizer::InitViewControl ( )

protectedvirtual

Function to initialize ViewControl.

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ IsFullScreen()

bool open3d::visualization::Visualizer::IsFullScreen ( )

virtual

◆ KeyPressCallback()

void open3d::visualization::Visualizer::KeyPressCallback	(	GLFWwindow *	window,
		int	key,
		int	scancode,
		int	action,
		int	mods
	)

protectedvirtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithKeyCallback, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ MouseButtonCallback()

void open3d::visualization::Visualizer::MouseButtonCallback	(	GLFWwindow *	window,
		int	button,
		int	action,
		int	mods
	)

protectedvirtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ MouseMoveCallback()

void open3d::visualization::Visualizer::MouseMoveCallback	(	GLFWwindow *	window,
		double	x,
		double	y
	)

protectedvirtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ MouseScrollCallback()

void open3d::visualization::Visualizer::MouseScrollCallback	(	GLFWwindow *	window,
		double	x,
		double	y
	)

protectedvirtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ operator=()

Visualizer& open3d::visualization::Visualizer::operator= ( const Visualizer & )

delete

◆ PollEvents()

bool open3d::visualization::Visualizer::PollEvents ( )

Function to process the event queue and return if the window is closed.

Use this function if you want to manage the while loop yourself. This function will NOT block the thread. Thus it is suitable for computation heavy task behind the scene.

◆ PrintVisualizerHelp()

void open3d::visualization::Visualizer::PrintVisualizerHelp ( )

virtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithKeyCallback, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ RegisterAnimationCallback()

void open3d::visualization::Visualizer::RegisterAnimationCallback ( std::function< bool(Visualizer *)> callback_func )

Function to register a callback function for animation.

The callback function returns if UpdateGeometry() needs to be run.

Parameters

callback_func The call back function.

◆ RemoveGeometry()

bool open3d::visualization::Visualizer::RemoveGeometry	(	std::shared_ptr< const geometry::Geometry >	geometry_ptr,
		bool	reset_bounding_box = `true`
	)

virtual

Function to remove geometry from the scene.

After calling this function, the Visualizer releases the pointer of the geometry object.
This function MUST be called after CreateVisualizerWindow().
This function returns FALSE if the geometry to be removed is not added by AddGeometry

Parameters

geometry_ptr The Geometry object.

◆ Render()

void open3d::visualization::Visualizer::Render ( bool render_screen = false )

protectedvirtual

Function to do the main rendering The function first sets view point, then draw geometry (pointclouds and meshes individually).

◆ ResetViewPoint()

void open3d::visualization::Visualizer::ResetViewPoint ( bool reset_bounding_box = false )

Function to reset view point.

◆ Run()

void open3d::visualization::Visualizer::Run ( )

Function to activate the window.

This function will block the current thread until the window is closed.

◆ SetFullScreen()

void open3d::visualization::Visualizer::SetFullScreen ( bool fullscreen )

virtual

Functions to change between fullscreen and windowed modes.

◆ ToggleFullScreen()

void open3d::visualization::Visualizer::ToggleFullScreen ( )

virtual

◆ UpdateGeometry()

bool open3d::visualization::Visualizer::UpdateGeometry ( std::shared_ptr< const geometry::Geometry > geometry_ptr = nullptr )

virtual

Function to update geometry.

This function must be called when geometry has been changed. Otherwise the behavior of Visualizer is undefined. If called without an argument, updates all geometries, otherwise only updates the geometry specified.

Reimplemented in open3d::visualization::VisualizerWithVertexSelection.

◆ UpdateRender()

void open3d::visualization::Visualizer::UpdateRender ( )

virtual

Function to inform render needed to be updated.

◆ UpdateWindowTitle()

void open3d::visualization::Visualizer::UpdateWindowTitle ( )

virtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, open3d::visualization::VisualizerWithEditing, and open3d::visualization::VisualizerWithCustomAnimation.

◆ WaitEvents()

bool open3d::visualization::Visualizer::WaitEvents ( )

Function to process the event queue and return if the window is closed.

Use this function if you want to manage the while loop yourself. This function will block the thread.

◆ WindowCloseCallback()

void open3d::visualization::Visualizer::WindowCloseCallback ( GLFWwindow * window )

protectedvirtual

Function to notify the window to be closed.

◆ WindowRefreshCallback()

void open3d::visualization::Visualizer::WindowRefreshCallback ( GLFWwindow * window )

protectedvirtual

◆ WindowResizeCallback()

void open3d::visualization::Visualizer::WindowResizeCallback	(	GLFWwindow *	window,
		int	w,
		int	h
	)

protectedvirtual

Reimplemented in open3d::visualization::VisualizerWithVertexSelection, and open3d::visualization::VisualizerWithEditing.

Field Documentation

◆ animation_callback_func_

std::function<bool(Visualizer *)> open3d::visualization::Visualizer::animation_callback_func_ = nullptr

protected

◆ animation_callback_func_in_loop_

std::function<bool(Visualizer *)> open3d::visualization::Visualizer::animation_callback_func_in_loop_

protected

Initial value:

=

nullptr

◆ coordinate_frame_mesh_ptr_

std::shared_ptr<geometry::TriangleMesh> open3d::visualization::Visualizer::coordinate_frame_mesh_ptr_

protected

◆ coordinate_frame_mesh_renderer_ptr_

std::shared_ptr<glsl::CoordinateFrameRenderer> open3d::visualization::Visualizer::coordinate_frame_mesh_renderer_ptr_

protected

◆ geometry_ptrs_

std::unordered_set<std::shared_ptr<const geometry::Geometry> > open3d::visualization::Visualizer::geometry_ptrs_

protected

◆ geometry_renderer_ptrs_

std::unordered_set<std::shared_ptr<glsl::GeometryRenderer> > open3d::visualization::Visualizer::geometry_renderer_ptrs_

protected

◆ is_initialized_

bool open3d::visualization::Visualizer::is_initialized_ = false

protected

◆ is_redraw_required_

bool open3d::visualization::Visualizer::is_redraw_required_ = true

protected

◆ mouse_control_

MouseControl open3d::visualization::Visualizer::mouse_control_

protected

◆ render_depth_stencil_rbo_

GLuint open3d::visualization::Visualizer::render_depth_stencil_rbo_ = 0

protected

◆ render_fbo_

GLuint open3d::visualization::Visualizer::render_fbo_ = 0

protected

◆ render_option_ptr_

std::unique_ptr<RenderOption> open3d::visualization::Visualizer::render_option_ptr_

protected

◆ render_rgb_tex_

GLuint open3d::visualization::Visualizer::render_rgb_tex_ = 0

protected

◆ saved_window_pos_

Eigen::Vector2i open3d::visualization::Visualizer::saved_window_pos_ = Eigen::Vector2i::Zero()

protected

◆ saved_window_size_

Eigen::Vector2i open3d::visualization::Visualizer::saved_window_size_ = Eigen::Vector2i::Zero()

protected

◆ utility_ptrs_

std::vector<std::shared_ptr<const geometry::Geometry> > open3d::visualization::Visualizer::utility_ptrs_

protected

◆ utility_renderer_opts_

std::unordered_map<std::shared_ptr<glsl::GeometryRenderer>, RenderOption> open3d::visualization::Visualizer::utility_renderer_opts_

protected

◆ utility_renderer_ptrs_

std::vector<std::shared_ptr<glsl::GeometryRenderer> > open3d::visualization::Visualizer::utility_renderer_ptrs_

protected

◆ vao_id_

GLuint open3d::visualization::Visualizer::vao_id_ = 0

protected

◆ view_control_ptr_

std::unique_ptr<ViewControl> open3d::visualization::Visualizer::view_control_ptr_

protected

◆ window_

GLFWwindow* open3d::visualization::Visualizer::window_ = NULL

protected

◆ window_name_

std::string open3d::visualization::Visualizer::window_name_ = "Open3D"

protected

The documentation for this class was generated from the following files:

/home/runner/work/Open3D/Open3D/cpp/open3d/visualization/visualizer/Visualizer.h (9238339 (Tue Mar 14 18:49:09 2023 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/visualization/visualizer/Visualizer.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/visualization/visualizer/VisualizerCallback.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))
/home/runner/work/Open3D/Open3D/cpp/open3d/visualization/visualizer/VisualizerRender.cpp (9238339 (Tue Mar 14 18:49:09 2023 -0700))

Data Structures

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Visualizer() [1/3]

◆ ~Visualizer()

◆ Visualizer() [2/3]

◆ Visualizer() [3/3]

Member Function Documentation

◆ AddGeometry()

◆ BuildUtilities()

◆ CaptureDepthFloatBuffer()

◆ CaptureDepthImage()

◆ CaptureDepthPointCloud()

◆ CaptureRenderOption()

◆ CaptureScreenFloatBuffer()

◆ CaptureScreenImage()

◆ ClearGeometries()

◆ Close()

◆ CopyViewStatusFromClipboard()

◆ CopyViewStatusToClipboard()

◆ CreateVisualizerWindow()

◆ DestroyVisualizerWindow()

◆ GetRenderOption()

◆ GetViewControl() [1/2]

◆ GetViewControl() [2/2]

◆ GetWindowName()

◆ HasGeometry()

◆ InitOpenGL()

◆ InitRenderOption()

◆ InitViewControl()

◆ IsFullScreen()

◆ KeyPressCallback()

◆ MouseButtonCallback()

◆ MouseMoveCallback()

◆ MouseScrollCallback()

◆ operator=()

◆ PollEvents()

◆ PrintVisualizerHelp()

◆ RegisterAnimationCallback()

◆ RemoveGeometry()

◆ Render()

◆ ResetViewPoint()

◆ Run()

◆ SetFullScreen()

◆ ToggleFullScreen()

◆ UpdateGeometry()

◆ UpdateRender()

◆ UpdateWindowTitle()

◆ WaitEvents()

◆ WindowCloseCallback()

◆ WindowRefreshCallback()

◆ WindowResizeCallback()

Field Documentation

◆ animation_callback_func_

◆ animation_callback_func_in_loop_

◆ coordinate_frame_mesh_ptr_

◆ coordinate_frame_mesh_renderer_ptr_

◆ geometry_ptrs_

◆ geometry_renderer_ptrs_

◆ is_initialized_

◆ is_redraw_required_

◆ mouse_control_

◆ render_depth_stencil_rbo_

◆ render_fbo_

◆ render_option_ptr_

◆ render_rgb_tex_

◆ saved_window_pos_

◆ saved_window_size_

◆ utility_ptrs_

◆ utility_renderer_opts_

◆ utility_renderer_ptrs_

◆ vao_id_

◆ view_control_ptr_

◆ window_

◆ window_name_