// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #include "open3d/geometry/PointCloud.h" #include "open3d/geometry/TriangleMesh.h" #include "open3d/io/IJsonConvertibleIO.h" #include "open3d/utility/FileSystem.h" #include "open3d/visualization/utility/DrawGeometry.h" #include "open3d/visualization/utility/SelectionPolygonVolume.h" #include "open3d/visualization/visualizer/Visualizer.h" #include "pybind/docstring.h" #include "pybind/visualization/visualization.h" namespace open3d { namespace visualization { void pybind_visualization_utility_declarations(py::module &m) { py::class_ selection_volume( m, "SelectionPolygonVolume", "Select a polygon volume for cropping."); } void pybind_visualization_utility_definitions(py::module &m) { auto selection_volume = static_cast>( m.attr("SelectionPolygonVolume")); py::detail::bind_default_constructor( selection_volume); py::detail::bind_copy_functions(selection_volume); selection_volume .def( "crop_point_cloud", [](const SelectionPolygonVolume &s, const geometry::PointCloud &input) { return s.CropPointCloud(input); }, "input"_a, "Function to crop point cloud.") .def( "crop_triangle_mesh", [](const SelectionPolygonVolume &s, const geometry::TriangleMesh &input) { return s.CropTriangleMesh(input); }, "input"_a, "Function to crop crop triangle mesh.") .def( "crop_in_polygon", [](const SelectionPolygonVolume &s, const geometry::PointCloud &input) { return s.CropInPolygon(input); }, "input"_a, "Function to crop 3d point clouds.") .def("__repr__", [](const SelectionPolygonVolume &s) { return std::string( "SelectionPolygonVolume, access " "its members:\n" "orthogonal_axis, bounding_polygon, axis_min, " "axis_max"); }) .def_readwrite("orthogonal_axis", &SelectionPolygonVolume::orthogonal_axis_, "string: one of ``{x, y, z}``.") .def_readwrite("bounding_polygon", &SelectionPolygonVolume::bounding_polygon_, "``(n, 3)`` float64 numpy array: Bounding polygon " "boundary.") .def_readwrite("axis_min", &SelectionPolygonVolume::axis_min_, "float: Minimum axis value.") .def_readwrite("axis_max", &SelectionPolygonVolume::axis_max_, "float: Maximum axis value."); docstring::ClassMethodDocInject(m, "SelectionPolygonVolume", "crop_point_cloud", {{"input", "The input point cloud."}}); docstring::ClassMethodDocInject(m, "SelectionPolygonVolume", "crop_triangle_mesh", {{"input", "The input triangle mesh."}}); docstring::ClassMethodDocInject(m, "SelectionPolygonVolume", "crop_in_polygon", {{"input", "The input point cloud xyz."}}); // Visualization util functions have similar arguments, sharing arg // docstrings static const std::unordered_map map_shared_argument_docstrings = { {"callback_function", "Call back function to be triggered at a key press " "event."}, {"filename", "The file path."}, {"geometry_list", "List of geometries to be visualized."}, {"height", "The height of the visualization window."}, {"key_to_callback", "Map of key to call back functions."}, {"left", "The left margin of the visualization window."}, {"optional_view_trajectory_json_file", "Camera trajectory json file path for custom animation."}, {"top", "The top margin of the visualization window."}, {"width", "The width of the visualization window."}, {"point_show_normal", "Visualize point normals if set to true."}, {"mesh_show_wireframe", "Visualize mesh wireframe if set to true."}, {"mesh_show_back_face", "Visualize also the back face of the mesh triangles."}, {"window_name", "The displayed title of the visualization window."}, {"lookat", "The lookat vector of the camera."}, {"up", "The up vector of the camera."}, {"front", "The front vector of the camera."}, {"zoom", "The zoom of the camera."}}; m.def( "draw_geometries", [](const std::vector> &geometry_ptrs, const std::string &window_name, int width, int height, int left, int top, bool point_show_normal, bool mesh_show_wireframe, bool mesh_show_back_face) { std::string current_dir = utility::filesystem::GetWorkingDirectory(); DrawGeometries(geometry_ptrs, window_name, width, height, left, top, point_show_normal, mesh_show_wireframe, mesh_show_back_face); utility::filesystem::ChangeWorkingDirectory(current_dir); }, "Function to draw a list of geometry::Geometry objects", "geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50, "point_show_normal"_a = false, "mesh_show_wireframe"_a = false, "mesh_show_back_face"_a = false); m.def( "draw_geometries", [](const std::vector> &geometry_ptrs, const std::string &window_name, int width, int height, int left, int top, bool point_show_normal, bool mesh_show_wireframe, bool mesh_show_back_face, Eigen::Vector3d lookat, Eigen::Vector3d up, Eigen::Vector3d front, double zoom) { std::string current_dir = utility::filesystem::GetWorkingDirectory(); DrawGeometries(geometry_ptrs, window_name, width, height, left, top, point_show_normal, mesh_show_wireframe, mesh_show_back_face, &lookat, &up, &front, &zoom); utility::filesystem::ChangeWorkingDirectory(current_dir); }, "Function to draw a list of geometry::Geometry objects", "geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50, "point_show_normal"_a = false, "mesh_show_wireframe"_a = false, "mesh_show_back_face"_a = false, "lookat"_a, "up"_a, "front"_a, "zoom"_a); docstring::FunctionDocInject(m, "draw_geometries", map_shared_argument_docstrings); m.def( "draw_geometries_with_custom_animation", [](const std::vector> &geometry_ptrs, const std::string &window_name, int width, int height, int left, int top, const fs::path &json_filename) { std::string current_dir = utility::filesystem::GetWorkingDirectory(); DrawGeometriesWithCustomAnimation(geometry_ptrs, window_name, width, height, left, top, json_filename.string()); utility::filesystem::ChangeWorkingDirectory(current_dir); }, "Function to draw a list of geometry::Geometry objects with a GUI " "that " "supports animation", "geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50, "optional_view_trajectory_json_file"_a = ""); docstring::FunctionDocInject(m, "draw_geometries_with_custom_animation", map_shared_argument_docstrings); m.def( "draw_geometries_with_animation_callback", [](const std::vector> &geometry_ptrs, std::function callback_func, const std::string &window_name, int width, int height, int left, int top) { std::string current_dir = utility::filesystem::GetWorkingDirectory(); DrawGeometriesWithAnimationCallback(geometry_ptrs, callback_func, window_name, width, height, left, top); utility::filesystem::ChangeWorkingDirectory(current_dir); }, "Function to draw a list of geometry::Geometry objects with a " "customized " "animation callback function", "geometry_list"_a, "callback_function"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50, py::return_value_policy::reference); docstring::FunctionDocInject(m, "draw_geometries_with_animation_callback", map_shared_argument_docstrings); m.def( "draw_geometries_with_key_callbacks", [](const std::vector> &geometry_ptrs, const std::map> &key_to_callback, const std::string &window_name, int width, int height, int left, int top) { std::string current_dir = utility::filesystem::GetWorkingDirectory(); DrawGeometriesWithKeyCallbacks(geometry_ptrs, key_to_callback, window_name, width, height, left, top); utility::filesystem::ChangeWorkingDirectory(current_dir); }, "Function to draw a list of geometry::Geometry objects with a " "customized " "key-callback mapping", "geometry_list"_a, "key_to_callback"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50); docstring::FunctionDocInject(m, "draw_geometries_with_key_callbacks", map_shared_argument_docstrings); m.def( "draw_geometries_with_editing", [](const std::vector> &geometry_ptrs, const std::string &window_name, int width, int height, int left, int top) { DrawGeometriesWithEditing(geometry_ptrs, window_name, width, height, left, top); }, "Function to draw a list of geometry::Geometry providing user " "interaction", "geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50); docstring::FunctionDocInject(m, "draw_geometries_with_editing", map_shared_argument_docstrings); m.def( "draw_geometries_with_vertex_selection", [](const std::vector> &geometry_ptrs, const std::string &window_name, int width, int height, int left, int top) { DrawGeometriesWithVertexSelection(geometry_ptrs, window_name, width, height, left, top); }, "Function to draw a list of geometry::Geometry providing ability " "for user to select points", "geometry_list"_a, "window_name"_a = "Open3D", "width"_a = 1920, "height"_a = 1080, "left"_a = 50, "top"_a = 50); docstring::FunctionDocInject(m, "draw_geometries_with_vertex_selection", map_shared_argument_docstrings); m.def( "read_selection_polygon_volume", [](const fs::path &filename) { SelectionPolygonVolume vol; io::ReadIJsonConvertible(filename.string(), vol); return vol; }, "Function to read SelectionPolygonVolume from file", "filename"_a); docstring::FunctionDocInject(m, "read_selection_polygon_volume", map_shared_argument_docstrings); } } // namespace visualization } // namespace open3d