open3d::visualization::DrawConfig Struct Reference

#include <Draw.h>

Data Fields
std::optional< Eigen::Vector3f >	lookat
std::optional< Eigen::Vector3f >	eye
	Camera location. Use with lookat and up.
std::optional< Eigen::Vector3f >	up
	Camera up direction. Use with lookat and eye.
float	field_of_view = 60.0f
	Camera horizontal field of view in degrees. Default: 60.0.
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
	Background image. If specified, overrides bg_color.
std::optional< std::string >	ibl
std::optional< float >	ibl_intensity
	IBL intensity multiplier. Default: 1.0.
std::optional< bool >	show_skybox
	Show skybox as scene background. Default: false.
std::optional< bool >	show_ui
std::optional< bool >	show_axes
	Show world-space axes at the scene origin. Default: false.
std::optional< bool >	raw_mode
	Use raw mode for simpler rendering of basic geometry. Default: false.
std::optional< float >	near_plane
std::optional< float >	far_plane
std::optional< int >	point_size
	3D point size (pixel count). Default: 3.
std::optional< int >	line_width
	3D line width (pixel count). Default: 2.
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

Detailed Description

Configuration for advanced Draw parameters.

DrawConfig provides optional parameters for customizing the visualization, matching the draw.py API. The initial view may be specified either as a combination of (lookat, eye, up, and field_of_view) or (intrinsic_matrix, extrinsic_matrix) pair. A simple pinhole camera model is used.

Example:

DrawConfig config;
config.eye = Eigen::Vector3d(0, 0, 5);
config.lookat = Eigen::Vector3d(0, 0, 0);
config.up = Eigen::Vector3d(0, 1, 0);
config.field_of_view = 60.0f;
config.bg_color = Eigen::Vector4f(1.0f, 1.0f, 1.0f, 1.0f);  // white

Field Documentation

animation_duration

std::optional<double> open3d::visualization::DrawConfig::animation_duration

Total animation duration in seconds. If not specified, animation runs indefinitely.

animation_time_step

double open3d::visualization::DrawConfig::animation_time_step = 1.0

Parameters

Duration in seconds for each animation frame. Default: 1.0.

bg_color

std::optional<Eigen::Vector4f> open3d::visualization::DrawConfig::bg_color

and Rendering

Background color as RGBA float with range [0,1]. Default: white.

bg_image

std::shared_ptr<geometry::Image> open3d::visualization::DrawConfig::bg_image

Background image. If specified, overrides bg_color.

extrinsic_matrix

std::optional<Eigen::Matrix4d> open3d::visualization::DrawConfig::extrinsic_matrix

Camera extrinsic matrix (4x4) for world-to-camera transformation. Use with intrinsic_matrix instead of lookat/eye/up.

eye

std::optional<Eigen::Vector3f> open3d::visualization::DrawConfig::eye

Camera location. Use with lookat and up.

far_plane

std::optional<float> open3d::visualization::DrawConfig::far_plane

Far clip distance (world units). Must be greater than near_plane. Default: auto.

field_of_view

float open3d::visualization::DrawConfig::field_of_view = 60.0f

Camera horizontal field of view in degrees. Default: 60.0.

ibl

std::optional<std::string> open3d::visualization::DrawConfig::ibl

and Environment

Path to environment map for image-based lighting (IBL).

ibl_intensity

std::optional<float> open3d::visualization::DrawConfig::ibl_intensity

IBL intensity multiplier. Default: 1.0.

intrinsic_matrix

std::optional<Eigen::Matrix3d> open3d::visualization::DrawConfig::intrinsic_matrix

Camera intrinsic matrix (3x3). Use with extrinsic_matrix instead of lookat/eye/up.

line_width

std::optional<int> open3d::visualization::DrawConfig::line_width

3D line width (pixel count). Default: 2.

lookat

std::optional<Eigen::Vector3f> open3d::visualization::DrawConfig::lookat

Setup

Camera principal axis direction (lookat point). Use with eye and up.

near_plane

std::optional<float> open3d::visualization::DrawConfig::near_plane

Setup

Near clip distance (world units). If set, overrides the value chosen by ResetCameraToDefault(). Must be positive. Default: auto.

non_blocking_and_return_uid

bool open3d::visualization::DrawConfig::non_blocking_and_return_uid = false

Mode

If true, do not block waiting for window close. Instead, return the window ID. Useful for embedding the visualizer. Default: false.

on_animation_frame

std::function<void(visualizer::O3DVisualizer &, double)> open3d::visualization::DrawConfig::on_animation_frame

Optional callback invoked for each animation frame update. Signature: void(O3DVisualizer&, double time)

on_animation_tick

std::function<visualizer::O3DVisualizer::TickResult( visualizer::O3DVisualizer &, double, double)> open3d::visualization::DrawConfig::on_animation_tick

Optional callback invoked for each animation time step. Signature: TickResult(O3DVisualizer&, double tick_duration, double time) Return TickResult::REDRAW to trigger scene redraw, or TickResult::NO_CHANGE if redraw is not needed.

on_init

std::function<void(visualizer::O3DVisualizer &)> open3d::visualization::DrawConfig::on_init

Callbacks

Optional callback for extra initialization of the GUI window. Signature: void(O3DVisualizer&)

point_size

std::optional<int> open3d::visualization::DrawConfig::point_size

3D point size (pixel count). Default: 3.

raw_mode

std::optional<bool> open3d::visualization::DrawConfig::raw_mode

Use raw mode for simpler rendering of basic geometry. Default: false.

rpc_interface

std::string open3d::visualization::DrawConfig::rpc_interface

Interface

RPC interface address string (e.g., "tcp://localhost:51454"). Empty string disables RPC interface. Default: empty.

show_axes

std::optional<bool> open3d::visualization::DrawConfig::show_axes

Show world-space axes at the scene origin. Default: false.

show_skybox

std::optional<bool> open3d::visualization::DrawConfig::show_skybox

Show skybox as scene background. Default: false.

show_ui

std::optional<bool> open3d::visualization::DrawConfig::show_ui

and Rendering Modes

Show settings user interface (can be toggled from Actions menu). Default: false.

up

std::optional<Eigen::Vector3f> open3d::visualization::DrawConfig::up

Camera up direction. Use with lookat and eye.

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The documentation for this struct was generated from the following file:

• /home/runner/work/Open3D/Open3D/cpp/open3d/visualization/utility/Draw.h (bba9247 (Tue Jul 28 21:42:19 2026 -0700))