Visualizer.h

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// ----------------------------------------------------------------------------
// -                        Open3D: www.open3d.org                            -
// ----------------------------------------------------------------------------
// The MIT License (MIT)
//
// Copyright (c) 2018 www.open3d.org
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
// FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
// IN THE SOFTWARE.
// ----------------------------------------------------------------------------
 
#pragma once
 
// Avoid warning caused by redefinition of APIENTRY macro
// defined also in glfw3.h
#ifdef _WIN32
#include <windows.h>
#endif
 
#include <GL/glew.h>
#include <GLFW/glfw3.h>
#include <memory>
#include <string>
#include <unordered_map>
#include <unordered_set>
 
#include "Open3D/Geometry/Geometry.h"
#include "Open3D/Visualization/Shader/GeometryRenderer.h"
#include "Open3D/Visualization/Utility/ColorMap.h"
#include "Open3D/Visualization/Visualizer/RenderOption.h"
#include "Open3D/Visualization/Visualizer/ViewControl.h"
 
namespace open3d {
 
namespace geometry {
class TriangleMesh;
class Image;
}  // namespace geometry
 
namespace visualization {
class Visualizer {
public:
    struct MouseControl {
    public:
        bool is_mouse_left_button_down = false;
        bool is_mouse_middle_button_down = false;
        bool is_control_key_down = false;
        bool is_shift_key_down = false;
        bool is_alt_key_down = false;
        bool is_super_key_down = false;
        double mouse_position_x = 0.0;
        double mouse_position_y = 0.0;
    };
 
public:
    Visualizer();
    virtual ~Visualizer();
    Visualizer(Visualizer &&) = delete;
    Visualizer(const Visualizer &) = delete;
    Visualizer &operator=(const Visualizer &) = delete;
 
public:
    bool CreateVisualizerWindow(const std::string &window_name = "Open3D",
                                const int width = 640,
                                const int height = 480,
                                const int left = 50,
                                const int top = 50,
                                const bool visible = true);
 
    void DestroyVisualizerWindow();
 
    void RegisterAnimationCallback(
            std::function<bool(Visualizer *)> callback_func);
 
    void Run();
 
    void Close();
 
    bool WaitEvents();
 
    bool PollEvents();
 
    virtual bool AddGeometry(
            std::shared_ptr<const geometry::Geometry> geometry_ptr,
            bool reset_bounding_box = true);
 
    virtual bool RemoveGeometry(
            std::shared_ptr<const geometry::Geometry> geometry_ptr,
            bool reset_bounding_box = true);
 
    virtual bool ClearGeometries();
 
    virtual bool UpdateGeometry(
            std::shared_ptr<const geometry::Geometry> geometry_ptr = nullptr);
    virtual bool HasGeometry() const;
 
    virtual void UpdateRender();
 
    virtual void PrintVisualizerHelp();
    virtual void UpdateWindowTitle();
    virtual void BuildUtilities();
 
    ViewControl &GetViewControl() { return *view_control_ptr_; }
    RenderOption &GetRenderOption() { return *render_option_ptr_; }
    std::shared_ptr<geometry::Image> CaptureScreenFloatBuffer(
            bool do_render = true);
    void CaptureScreenImage(const std::string &filename = "",
                            bool do_render = true);
    std::shared_ptr<geometry::Image> CaptureDepthFloatBuffer(
            bool do_render = true);
    void CaptureDepthImage(const std::string &filename = "",
                           bool do_render = true,
                           double depth_scale = 1000.0);
    void CaptureDepthPointCloud(const std::string &filename = "",
                                bool do_render = true,
                                bool convert_to_world_coordinate = false);
    void CaptureRenderOption(const std::string &filename = "");
    void ResetViewPoint(bool reset_bounding_box = false);
 
    const std::string &GetWindowName() const { return window_name_; }
 
protected:
    virtual bool InitOpenGL();
 
    virtual bool InitViewControl();
 
    virtual bool InitRenderOption();
 
    virtual void Render();
 
    void CopyViewStatusToClipboard();
 
    void CopyViewStatusFromClipboard();
 
    // callback functions
    virtual void WindowRefreshCallback(GLFWwindow *window);
    virtual void WindowResizeCallback(GLFWwindow *window, int w, int h);
    virtual void MouseMoveCallback(GLFWwindow *window, double x, double y);
    virtual void MouseScrollCallback(GLFWwindow *window, double x, double y);
    virtual void MouseButtonCallback(GLFWwindow *window,
                                     int button,