Draw.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// Copyright (c) 2018-2024 www.open3d.org
// SPDX-License-Identifier: MIT
// ----------------------------------------------------------------------------
 
#pragma once
 
#include <optional>
#include <vector>
 
#include "open3d/visualization/rendering/Model.h"
#include "open3d/visualization/visualizer/O3DVisualizer.h"
 
namespace open3d {
namespace visualization {
 
struct DrawObject {
    std::string name;
    std::shared_ptr<geometry::Geometry3D> geometry;
    std::shared_ptr<t::geometry::Geometry> tgeometry;
    std::shared_ptr<rendering::TriangleMeshModel> model;
    rendering::MaterialRecord material;
    std::string group;
    double time = 0.0;
    bool has_material = false;
    bool is_visible;
 
    DrawObject(const std::string &n,
               std::shared_ptr<geometry::Geometry3D> g,
               bool vis = true);
    DrawObject(const std::string &n,
               std::shared_ptr<t::geometry::Geometry> tg,
               bool vis = true);
    DrawObject(const std::string &n,
               std::shared_ptr<rendering::TriangleMeshModel> m,
               bool vis = true);
};
 
struct DrawAction {
    std::string name;
    std::function<void(visualizer::O3DVisualizer &)> callback;
};
 
struct DrawConfig {
    std::optional<Eigen::Vector3f> lookat;
    std::optional<Eigen::Vector3f> eye;
    std::optional<Eigen::Vector3f> up;
    float field_of_view = 60.0f;
    std::optional<Eigen::Matrix3d> intrinsic_matrix;
    std::optional<Eigen::Matrix4d> extrinsic_matrix;
 
    std::optional<Eigen::Vector4f> bg_color;
    std::shared_ptr<geometry::Image> bg_image;
 
    std::optional<std::string> ibl;
    std::optional<float> ibl_intensity;
    std::optional<bool> show_skybox;
 
    std::optional<bool> show_ui;
    std::optional<bool> show_axes;
    std::optional<bool> raw_mode;
 
    std::optional<float> near_plane;
    std::optional<float> far_plane;
    std::optional<int> point_size;
    std::optional<int> line_width;
 
    double animation_time_step = 1.0;
    std::optional<double> animation_duration;
 
    std::string rpc_interface;
 
    std::function<void(visualizer::O3DVisualizer &)> on_init;
    std::function<void(visualizer::O3DVisualizer &, double)> on_animation_frame;
    std::function<visualizer::O3DVisualizer::TickResult(
            visualizer::O3DVisualizer &, double, double)>
            on_animation_tick;
 
    bool non_blocking_and_return_uid = false;
};
 
std::string Draw(const std::vector<DrawObject> &objects,
                 const std::string &window_name = "Open3D",
                 int width = 1024,
                 int height = 768,
                 const std::vector<DrawAction> &actions = {},
                 const DrawConfig &config = DrawConfig());
 
void Draw(const std::vector<std::shared_ptr<geometry::Geometry3D>> &geometries,
          const std::string &window_name = "Open3D",
          int width = 1024,
          int height = 768,
          const std::vector<DrawAction> &actions = {});
 
void Draw(
        const std::vector<std::shared_ptr<t::geometry::Geometry>> &tgeometries,
        const std::string &window_name = "Open3D",
        int width = 1024,
        int height = 768,
        const std::vector<DrawAction> &actions = {});
 
void Draw(const std::vector<std::shared_ptr<rendering::TriangleMeshModel>>
                  &models,
          const std::string &window_name = "Open3D",
          int width = 1024,
          int height = 768,
          const std::vector<DrawAction> &actions = {});
 
}  // namespace visualization
}  // namespace open3d