Visualizer.h

Go to the documentation of this file.

// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------

#pragma once

// Avoid warning caused by redefinition of APIENTRY macro
// defined also in glfw3.h
#ifdef _WIN32
#include <windows.h>
#endif

#include <GL/glew.h>
#include <GLFW/glfw3.h>
#include <memory>
#include <string>
#include <unordered_map>
#include <unordered_set>

#include "Open3D/Geometry/Geometry.h"
#include "Open3D/Visualization/Shader/GeometryRenderer.h"
#include "Open3D/Visualization/Utility/ColorMap.h"
#include "Open3D/Visualization/Visualizer/RenderOption.h"
#include "Open3D/Visualization/Visualizer/ViewControl.h"

namespace open3d {

namespace geometry {
class TriangleMesh;
class Image;
}  // namespace geometry

namespace visualization {
class Visualizer {
public:
    struct MouseControl {
    public:
        bool is_mouse_left_button_down = false;
        bool is_mouse_middle_button_down = false;
        bool is_control_key_down = false;
        bool is_shift_key_down = false;
        bool is_alt_key_down = false;
        bool is_super_key_down = false;
        double mouse_position_x = 0.0;
        double mouse_position_y = 0.0;
    };

public:
    Visualizer();
    virtual ~Visualizer();
    Visualizer(Visualizer &&) = delete;
    Visualizer(const Visualizer &) = delete;
    Visualizer &operator=(const Visualizer &) = delete;

public:
    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);

    void DestroyVisualizerWindow();

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

    void Run();

    void Close();

    bool WaitEvents();

    bool PollEvents();

    virtual bool AddGeometry(
            std::shared_ptr<const geometry::Geometry> geometry_ptr,
            bool reset_bounding_box = true);

    virtual bool RemoveGeometry(
            std::shared_ptr<const geometry::Geometry> geometry_ptr,
            bool reset_bounding_box = true);

    virtual bool ClearGeometries();

    virtual bool UpdateGeometry(
            std::shared_ptr<const geometry::Geometry> geometry_ptr = nullptr);
    virtual bool HasGeometry() const;

    virtual void UpdateRender();

    virtual void PrintVisualizerHelp();
    virtual void UpdateWindowTitle();
    virtual void BuildUtilities();

    ViewControl &GetViewControl() { return *view_control_ptr_; }
    RenderOption &GetRenderOption() { return *render_option_ptr_; }
    std::shared_ptr<geometry::Image> CaptureScreenFloatBuffer(
            bool do_render = true);
    void CaptureScreenImage(const std::string &filename = "",
                            bool do_render = true);
    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);
    void CaptureRenderOption(const std::string &filename = "");
    void ResetViewPoint(bool reset_bounding_box = false);

    const std::string &GetWindowName() const { return window_name_; }

protected:
    virtual bool InitOpenGL();

    virtual bool InitViewControl();

    virtual bool InitRenderOption();

    virtual void Render();

    void CopyViewStatusToClipboard();

    void CopyViewStatusFromClipboard();

    // callback functions
    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);

protected:
    // window
    GLFWwindow *window_ = NULL;
    std::string window_name_ = "Open3D";
    std::function<bool(Visualizer *)> animation_callback_func_ = nullptr;
    // Auxiliary internal backup of the callback function.
    // It copies animation_callback_func_ in each PollEvent() or WaitEvent()
    // so that even if user calls RegisterAnimationCallback() within the
    // callback function it is still safe.
    std::function<bool(Visualizer *)> animation_callback_func_in_loop_ =
            nullptr;

    // control
    MouseControl mouse_control_;
    bool is_redraw_required_ = true;
    bool is_initialized_ = false;
    GLuint vao_id_;

    // view control
    std::unique_ptr<ViewControl> view_control_ptr_;

    // rendering properties
    std::unique_ptr<RenderOption> render_option_ptr_;

    // geometry to be rendered
    std::unordered_set<std::shared_ptr<const geometry::Geometry>>
            geometry_ptrs_;

    // geometry renderers
    std::unordered_set<std::shared_ptr<glsl::GeometryRenderer>>
            geometry_renderer_ptrs_;

    // utilities owned by the Visualizer
    std::vector<std::shared_ptr<const geometry::Geometry>> utility_ptrs_;

    // utility renderers
    std::vector<std::shared_ptr<glsl::GeometryRenderer>> utility_renderer_ptrs_;
    // map's key is the renderer for which the RenderOption applies
    // (should be something in utility_renderer_ptrs_)
    std::unordered_map<std::shared_ptr<glsl::GeometryRenderer>, RenderOption>
            utility_renderer_opts_;

    // coordinate frame
    std::shared_ptr<geometry::TriangleMesh> coordinate_frame_mesh_ptr_;
    std::shared_ptr<glsl::CoordinateFrameRenderer>
            coordinate_frame_mesh_renderer_ptr_;

#ifdef __APPLE__
    // MacBook with Retina display does not have a 1:1 mapping from screen
    // coordinates to pixels. Thus we hack it back.
    // http://www.glfw.org/faq.html#why-is-my-output-in-the-lower-left-corner-of-the-window
    double pixel_to_screen_coordinate_ = 1.0;
#endif  //__APPLE__
};

}  // namespace visualization
}  // namespace open3d