// ---------------------------------------------------------------------------- // - Open3D: www.open3d.org - // ---------------------------------------------------------------------------- // Copyright (c) 2018-2023 www.open3d.org // SPDX-License-Identifier: MIT // ---------------------------------------------------------------------------- #include "open3d/Open3D.h" void PrintHelp() { using namespace open3d; PrintOpen3DVersion(); // clang-format off utility::LogInfo("Usage:"); utility::LogInfo(" > ViewGeometry [options]"); utility::LogInfo(" Open a window to view geometry."); utility::LogInfo(""); utility::LogInfo("Basic options:"); utility::LogInfo(" --help, -h : Print help information."); utility::LogInfo(" --mesh file : Add a triangle mesh from file."); utility::LogInfo(" --pointcloud file : Add a point cloud from file."); utility::LogInfo(" --lineset file : Add a line set from file."); utility::LogInfo(" --voxelgrid file : Add a voxel grid from file."); utility::LogInfo(" --image file : Add an image from file."); utility::LogInfo(" --depth file : Add a point cloud converted from a depth image."); utility::LogInfo(" --depth_camera file : Use with --depth, read a json file that stores"); utility::LogInfo(" the camera parameters."); utility::LogInfo(" --show_frame : Add a coordinate frame."); utility::LogInfo(" --verbose n : Set verbose level (0-4)."); utility::LogInfo(""); utility::LogInfo("Animation options:"); utility::LogInfo(" --render_option file : Read a json file of rendering settings."); utility::LogInfo(" --view_trajectory file : Read a json file of view trajectory."); utility::LogInfo(" --camera_trajectory file : Read a json file of camera trajectory."); utility::LogInfo(" --auto_recording [i|d] : Automatically plays the animation, record"); utility::LogInfo(" images (i) or depth images (d). Exits when"); utility::LogInfo(" animation ends."); utility::LogInfo(""); utility::LogInfo("Window options:"); utility::LogInfo(" --window_name name : Set window name."); utility::LogInfo(" --height n : Set window height."); utility::LogInfo(" --width n : Set window width."); utility::LogInfo(" --top n : Set window top edge."); utility::LogInfo(" --left n : Set window left edge."); // clang-format on } int main(int argc, char **argv) { using namespace open3d; using namespace open3d::utility::filesystem; int verbose = utility::GetProgramOptionAsInt(argc, argv, "--verbose", 5); utility::SetVerbosityLevel((utility::VerbosityLevel)verbose); if (argc <= 1 || utility::ProgramOptionExists(argc, argv, "--help") || utility::ProgramOptionExists(argc, argv, "-h")) { PrintHelp(); return 0; } std::vector> geometry_ptrs; int width = utility::GetProgramOptionAsInt(argc, argv, "--width", 1920); int height = utility::GetProgramOptionAsInt(argc, argv, "--height", 1080); int top = utility::GetProgramOptionAsInt(argc, argv, "--top", 200); int left = utility::GetProgramOptionAsInt(argc, argv, "--left", 200); std::string window_name = utility::GetProgramOptionAsString( argc, argv, "--window_name", "ViewGeometry"); std::string mesh_filename = utility::GetProgramOptionAsString(argc, argv, "--mesh"); std::string pcd_filename = utility::GetProgramOptionAsString(argc, argv, "--pointcloud"); std::string lineset_filename = utility::GetProgramOptionAsString(argc, argv, "--lineset"); std::string voxelgrid_filename = utility::GetProgramOptionAsString(argc, argv, "--voxelgrid"); std::string image_filename = utility::GetProgramOptionAsString(argc, argv, "--image"); std::string depth_filename = utility::GetProgramOptionAsString(argc, argv, "--depth"); std::string depth_parameter_filename = utility::GetProgramOptionAsString(argc, argv, "--depth_camera"); std::string render_filename = utility::GetProgramOptionAsString(argc, argv, "--render_option"); std::string view_filename = utility::GetProgramOptionAsString(argc, argv, "--view_trajectory"); std::string camera_filename = utility::GetProgramOptionAsString( argc, argv, "--camera_trajectory"); bool show_coordinate_frame = utility::ProgramOptionExists(argc, argv, "--show_frame"); visualization::VisualizerWithCustomAnimation visualizer; if (!visualizer.CreateVisualizerWindow(window_name, width, height, left, top)) { utility::LogWarning("Failed creating OpenGL window."); return 0; } if (!mesh_filename.empty()) { auto mesh_ptr = io::CreateMeshFromFile(mesh_filename); mesh_ptr->ComputeVertexNormals(); if (!visualizer.AddGeometry(mesh_ptr)) { utility::LogWarning("Failed adding triangle mesh."); return 1; } } if (!pcd_filename.empty()) { auto pointcloud_ptr = io::CreatePointCloudFromFile(pcd_filename); if (!visualizer.AddGeometry(pointcloud_ptr)) { utility::LogWarning("Failed adding point cloud."); return 1; } if (pointcloud_ptr->points_.size() > 5000000) { visualizer.GetRenderOption().point_size_ = 1.0; } } if (!lineset_filename.empty()) { auto lineset_ptr = io::CreateLineSetFromFile(lineset_filename); if (!visualizer.AddGeometry(lineset_ptr)) { utility::LogWarning("Failed adding line set."); return 1; } } if (!voxelgrid_filename.empty()) { auto voxelgrid_ptr = io::CreateVoxelGridFromFile(voxelgrid_filename); if (!visualizer.AddGeometry(voxelgrid_ptr)) { utility::LogWarning("Failed adding voxel grid."); return 1; } } if (!image_filename.empty()) { auto image_ptr = io::CreateImageFromFile(image_filename); if (!visualizer.AddGeometry(image_ptr)) { utility::LogWarning("Failed adding image."); return 1; } } if (!depth_filename.empty()) { camera::PinholeCameraParameters parameters; if (depth_parameter_filename.empty() || !io::ReadIJsonConvertible(depth_parameter_filename, parameters)) { utility::LogWarning( "Failed to read intrinsic parameters for depth image."); utility::LogWarning("Using default value for Primesense camera."); parameters.intrinsic_.SetIntrinsics(640, 480, 525.0, 525.0, 319.5, 239.5); } auto image_ptr = io::CreateImageFromFile(depth_filename); auto pointcloud_ptr = geometry::PointCloud::CreateFromDepthImage( *image_ptr, parameters.intrinsic_, parameters.extrinsic_); if (pointcloud_ptr == nullptr) { utility::LogWarning("Failed creating from depth image."); return 1; } if (!visualizer.AddGeometry(pointcloud_ptr)) { utility::LogWarning("Failed adding depth image."); return 1; } } if (!visualizer.HasGeometry()) { utility::LogWarning("No geometry to render!"); visualizer.DestroyVisualizerWindow(); return 1; } if (!render_filename.empty()) { if (!io::ReadIJsonConvertible(render_filename, visualizer.GetRenderOption())) { utility::LogWarning("Failed loading rendering settings."); return 1; } } if (!view_filename.empty()) { auto &view_control = (visualization::ViewControlWithCustomAnimation &) visualizer.GetViewControl(); if (!view_control.LoadTrajectoryFromJsonFile(view_filename)) { utility::LogWarning("Failed loading view trajectory."); return 1; } } else if (!camera_filename.empty()) { camera::PinholeCameraTrajectory camera_trajectory; if (!io::ReadIJsonConvertible(camera_filename, camera_trajectory)) { utility::LogWarning("Failed loading camera trajectory."); return 1; } else { auto &view_control = (visualization::ViewControlWithCustomAnimation &) visualizer.GetViewControl(); if (!view_control.LoadTrajectoryFromCameraTrajectory( camera_trajectory)) { utility::LogWarning( "Failed converting camera trajectory to view " "trajectory."); return 1; } } } visualizer.GetRenderOption().show_coordinate_frame_ = show_coordinate_frame; if (utility::ProgramOptionExists(argc, argv, "--auto_recording")) { std::string mode = utility::GetProgramOptionAsString( argc, argv, "--auto_recording"); if (mode == "i") { visualizer.Play(true, false, true); } else if (mode == "d") { visualizer.Play(true, true, true); } else { visualizer.Play(true, false, true); } visualizer.Run(); } else { visualizer.Run(); } visualizer.DestroyVisualizerWindow(); return 0; }