// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #include "open3d/visualization/visualizer/VisualizerWithCustomAnimation.h" #include #include "open3d/camera/PinholeCameraTrajectory.h" #include "open3d/io/IJsonConvertibleIO.h" #include "open3d/utility/FileSystem.h" #include "open3d/utility/Logging.h" #include "open3d/utility/ProgressBar.h" #include "open3d/visualization/visualizer/ViewControlWithCustomAnimation.h" namespace open3d { namespace visualization { VisualizerWithCustomAnimation::VisualizerWithCustomAnimation() {} VisualizerWithCustomAnimation::~VisualizerWithCustomAnimation() {} void VisualizerWithCustomAnimation::PrintVisualizerHelp() { Visualizer::PrintVisualizerHelp(); // clang-format off utility::LogInfo(" -- Animation control --"); utility::LogInfo(" Ctrl + F : Enter freeview (editing) mode."); utility::LogInfo(" Ctrl + W : Enter preview mode."); utility::LogInfo(" Ctrl + P : Enter animation mode and play animation from beginning."); utility::LogInfo(" Ctrl + R : Enter animation mode, play animation, and record screen."); utility::LogInfo(" Ctrl + G : Enter animation mode, play animation, and record depth."); utility::LogInfo(" Ctrl + S : Save the camera path into a json file."); utility::LogInfo(""); utility::LogInfo(" -- In free view mode --"); utility::LogInfo(" Ctrl + <-/-> : Go backward/forward a keyframe."); utility::LogInfo(" Ctrl + Wheel : Same as Ctrl + <-/->."); utility::LogInfo(" Ctrl + [/] : Go to the first/last keyframe."); utility::LogInfo(" Ctrl + +/- : Increase/decrease interval between keyframes."); utility::LogInfo(" Ctrl + L : Turn on/off camera path as a loop."); utility::LogInfo(" Ctrl + A : Add a keyframe right after the current keyframe."); utility::LogInfo(" Ctrl + U : Update the current keyframe."); utility::LogInfo(" Ctrl + D : Delete the current keyframe."); utility::LogInfo(" Ctrl + N : Add 360 spin right after the current keyframe."); utility::LogInfo(" Ctrl + E : Erase the entire camera path."); utility::LogInfo(""); utility::LogInfo(" -- In preview mode --"); utility::LogInfo(" Ctrl + <-/-> : Go backward/forward a frame."); utility::LogInfo(" Ctrl + Wheel : Same as Ctrl + <-/->."); utility::LogInfo(" Ctrl + [/] : Go to beginning/end of the camera path."); utility::LogInfo(""); // clang-format on } void VisualizerWithCustomAnimation::UpdateWindowTitle() { if (window_ != NULL) { auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); std::string new_window_title = window_name_ + " - " + view_control.GetStatusString(); glfwSetWindowTitle(window_, new_window_title.c_str()); } } void VisualizerWithCustomAnimation::Play( bool recording /* = false*/, bool recording_depth /* = false*/, bool close_window_when_animation_ends /* = false*/) { auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); if (view_control.NumOfFrames() == 0) { utility::LogWarning("Abort playing due to empty trajectory."); return; } view_control.SetAnimationMode( ViewControlWithCustomAnimation::AnimationMode::PlayMode); is_redraw_required_ = true; UpdateWindowTitle(); recording_file_index_ = 0; auto progress_bar_ptr = std::make_shared( view_control.NumOfFrames(), "Play animation: "); auto trajectory_ptr = std::make_shared(); bool recording_trajectory = view_control.IsValidPinholeCameraTrajectory(); if (recording) { if (recording_depth) { utility::filesystem::MakeDirectoryHierarchy( recording_depth_basedir_); } else { utility::filesystem::MakeDirectoryHierarchy( recording_image_basedir_); } } RegisterAnimationCallback([this, recording, recording_depth, close_window_when_animation_ends, recording_trajectory, trajectory_ptr, progress_bar_ptr](Visualizer *vis) { // The lambda function captures no references to avoid dangling // references auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); std::this_thread::sleep_for(std::chrono::milliseconds(10)); recording_file_index_++; if (recording) { if (recording_trajectory) { auto parameter = camera::PinholeCameraParameters(); view_control.ConvertToPinholeCameraParameters(parameter); trajectory_ptr->parameters_.push_back(parameter); } std::string buffer; if (recording_depth) { buffer = fmt::format(recording_depth_filename_format_.c_str(), recording_file_index_); CaptureDepthImage( recording_depth_basedir_ + std::string(buffer), false); } else { buffer = fmt::format(recording_image_filename_format_.c_str(), recording_file_index_); CaptureScreenImage( recording_image_basedir_ + std::string(buffer), false); } } view_control.Step(1.0); ++(*progress_bar_ptr); if (view_control.IsPlayingEnd(recording_file_index_)) { view_control.SetAnimationMode( ViewControlWithCustomAnimation::AnimationMode::FreeMode); RegisterAnimationCallback(nullptr); if (recording && recording_trajectory) { if (recording_depth) { io::WriteIJsonConvertible( recording_depth_basedir_ + recording_depth_trajectory_filename_, *trajectory_ptr); } else { io::WriteIJsonConvertible( recording_image_basedir_ + recording_image_trajectory_filename_, *trajectory_ptr); } } if (close_window_when_animation_ends) { Close(); } } UpdateWindowTitle(); return false; }); } bool VisualizerWithCustomAnimation::InitViewControl() { view_control_ptr_ = std::unique_ptr( new ViewControlWithCustomAnimation); ResetViewPoint(); return true; } void VisualizerWithCustomAnimation::KeyPressCallback( GLFWwindow *window, int key, int scancode, int action, int mods) { auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); if (action == GLFW_RELEASE || view_control.IsPlaying()) { return; } if (mods & GLFW_MOD_CONTROL) { switch (key) { case GLFW_KEY_F: view_control.SetAnimationMode(ViewControlWithCustomAnimation:: AnimationMode::FreeMode); utility::LogDebug( "[Visualizer] Enter freeview (editing) mode."); break; case GLFW_KEY_W: view_control.SetAnimationMode( ViewControlWithCustomAnimation::AnimationMode:: PreviewMode); utility::LogDebug("[Visualizer] Enter preview mode."); break; case GLFW_KEY_P: Play(false); break; case GLFW_KEY_R: Play(true, false); break; case GLFW_KEY_G: Play(true, true); break; case GLFW_KEY_S: view_control.CaptureTrajectory(); break; case GLFW_KEY_LEFT: view_control.Step(-1.0); break; case GLFW_KEY_RIGHT: view_control.Step(1.0); break; case GLFW_KEY_LEFT_BRACKET: view_control.GoToFirst(); break; case GLFW_KEY_RIGHT_BRACKET: view_control.GoToLast(); break; case GLFW_KEY_EQUAL: view_control.ChangeTrajectoryInterval(1); utility::LogDebug("[Visualizer] Trajectory interval set to {}.", view_control.GetTrajectoryInterval()); break; case GLFW_KEY_MINUS: view_control.ChangeTrajectoryInterval(-1); utility::LogDebug("[Visualizer] Trajectory interval set to {}.", view_control.GetTrajectoryInterval()); break; case GLFW_KEY_L: view_control.ToggleTrajectoryLoop(); break; case GLFW_KEY_A: view_control.AddKeyFrame(); utility::LogDebug( "[Visualizer] Insert key frame; {} remaining.", view_control.NumOfKeyFrames()); break; case GLFW_KEY_U: view_control.UpdateKeyFrame(); utility::LogDebug( "[Visualizer] Update key frame; {} remaining.", view_control.NumOfKeyFrames()); break; case GLFW_KEY_D: view_control.DeleteKeyFrame(); utility::LogDebug( "[Visualizer] Delete last key frame; {} remaining.", view_control.NumOfKeyFrames()); break; case GLFW_KEY_N: view_control.AddSpinKeyFrames(); utility::LogDebug( "[Visualizer] Insert spin key frames; {} remaining.", view_control.NumOfKeyFrames()); break; case GLFW_KEY_E: view_control.ClearAllKeyFrames(); utility::LogDebug( "[Visualizer] Clear key frames; {} remaining.", view_control.NumOfKeyFrames()); break; default: Visualizer::KeyPressCallback(window, key, scancode, action, mods); break; } is_redraw_required_ = true; UpdateWindowTitle(); } else { Visualizer::KeyPressCallback(window, key, scancode, action, mods); } } void VisualizerWithCustomAnimation::MouseMoveCallback(GLFWwindow *window, double x, double y) { auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); if (view_control.IsPreviewing()) { } else if (view_control.IsPlaying()) { } else { Visualizer::MouseMoveCallback(window, x, y); } } void VisualizerWithCustomAnimation::MouseScrollCallback(GLFWwindow *window, double x, double y) { auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); if (view_control.IsPreviewing()) { if (glfwGetKey(window, GLFW_KEY_LEFT_CONTROL) == GLFW_PRESS || glfwGetKey(window, GLFW_KEY_RIGHT_CONTROL) == GLFW_PRESS) { view_control.Step(y); is_redraw_required_ = true; UpdateWindowTitle(); } } else if (view_control.IsPlaying()) { } else { Visualizer::MouseScrollCallback(window, x, y); } } void VisualizerWithCustomAnimation::MouseButtonCallback(GLFWwindow *window, int button, int action, int mods) { auto &view_control = (ViewControlWithCustomAnimation &)(*view_control_ptr_); if (view_control.IsPreviewing()) { } else if (view_control.IsPlaying()) { } else { Visualizer::MouseButtonCallback(window, button, action, mods); } } } // namespace visualization } // namespace open3d