#include <Visualizer.h>

Inheritance diagram for cloudViewer::visualization::Visualizer:

[legend]

Collaboration diagram for cloudViewer::visualization::Visualizer:

Classes
struct	MouseControl

Public Member Functions
	Visualizer ()

virtual	~Visualizer ()

	Visualizer (Visualizer &&)=delete

	Visualizer (const Visualizer &)=delete

Visualizer &	operator= (const Visualizer &)=delete

bool	CreateVisualizerWindow (const std::string &window_name="CloudViewer", const int width=640, const int height=480, const int left=50, const int top=50, const bool visible=true)
	Function to create a window and initialize GLFW. More...

void	DestroyVisualizerWindow ()
	Function to destroy a window. More...

void	RegisterAnimationCallback (std::function< bool(Visualizer *)> callback_func)
	Function to register a callback function for animation. More...

void	Run ()
	Function to activate the window. More...

void	Close ()
	Function to to notify the window to be closed. More...

bool	WaitEvents ()
	Function to process the event queue and return if the window is closed. More...

bool	PollEvents ()

virtual bool	AddGeometry (std::shared_ptr< const ccHObject > geometry_ptr, bool reset_bounding_box=true)
	Function to add geometry to the scene and create corresponding shaders. More...

virtual bool	RemoveGeometry (std::shared_ptr< const ccHObject > geometry_ptr, bool reset_bounding_box=true)
	Function to remove geometry from the scene. More...

virtual bool	ClearGeometries ()

virtual bool	UpdateGeometry (std::shared_ptr< const ccHObject > geometry_ptr=nullptr)
	Function to update geometry. More...

virtual bool	HasGeometry () const

virtual void	UpdateRender ()
	Function to inform render needed to be updated. More...

virtual void	SetFullScreen (bool fullscreen)
	Functions to change between fullscreen and windowed modes. More...

virtual void	ToggleFullScreen ()

virtual bool	IsFullScreen ()

virtual void	PrintVisualizerHelp ()

virtual void	UpdateWindowTitle ()

virtual void	BuildUtilities ()

ViewControl &	GetViewControl ()
	Function to retrieve the associated ViewControl. More...

RenderOption &	GetRenderOption ()
	Function to retrieve the associated RenderOption. More...

std::shared_ptr< geometry::Image >	CaptureScreenFloatBuffer (bool do_render=true)
	Function to capture screen and store RGB in a float buffer. More...

void	CaptureScreenImage (const std::string &filename="", bool do_render=true)
	Function to capture and save a screen image. More...

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)
	Function to capture and save local point cloud. More...

void	CaptureRenderOption (const std::string &filename="")

void	ResetViewPoint (bool reset_bounding_box=false)
	Function to reset view point. More...

const std::string &	GetWindowName () const

Protected Member Functions
virtual bool	InitOpenGL ()
	Function to initialize OpenGL. More...

virtual bool	InitViewControl ()
	Function to initialize ViewControl. More...

virtual bool	InitRenderOption ()
	Function to initialize RenderOption. More...

virtual void	Render (bool render_screen=false)

void	CopyViewStatusToClipboard ()

void	CopyViewStatusFromClipboard ()

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, int action, int mods)

virtual void	KeyPressCallback (GLFWwindow *window, int key, int scancode, int action, int mods)

virtual void	WindowCloseCallback (GLFWwindow *window)
	Function to notify the window to be closed. More...

Protected Attributes
GLFWwindow *	window_ = nullptr

std::string	window_name_ = "CloudViewer"

std::shared_ptr< GLFWContext >	glfw_context_ = nullptr
	Shared GLFW context. More...

Eigen::Vector2i	saved_window_size_ = Eigen::Vector2i::Zero()

Eigen::Vector2i	saved_window_pos_ = Eigen::Vector2i::Zero()

std::function< bool(Visualizer *)>	animation_callback_func_ = nullptr

std::function< bool(Visualizer *)>	animation_callback_func_in_loop_

MouseControl	mouse_control_

bool	is_redraw_required_ = true

bool	is_initialized_ = false

GLuint	vao_id_ = 0

GLuint	render_fbo_ = 0

GLuint	render_rgb_tex_ = 0

GLuint	render_depth_stencil_rbo_ = 0

std::unique_ptr< ViewControl >	view_control_ptr_

std::unique_ptr< RenderOption >	render_option_ptr_

std::unordered_set< std::shared_ptr< const ccHObject > >	geometry_ptrs_

std::unordered_set< std::shared_ptr< glsl::GeometryRenderer > >	geometry_renderer_ptrs_

std::vector< std::shared_ptr< const ccHObject > >	utility_ptrs_

std::vector< std::shared_ptr< glsl::GeometryRenderer > >	utility_renderer_ptrs_

std::unordered_map< std::shared_ptr< glsl::GeometryRenderer >, RenderOption >	utility_renderer_opts_

std::shared_ptr< ccMesh >	coordinate_frame_mesh_ptr_

std::shared_ptr< glsl::CoordinateFrameRenderer >	coordinate_frame_mesh_renderer_ptr_

Detailed Description

The main Visualizer class.

Definition at line 45 of file Visualizer.h.

Constructor & Destructor Documentation

◆ Visualizer() [1/3]

cloudViewer::visualization::Visualizer::Visualizer ( )

Definition at line 85 of file Visualizer.cpp.

◆ ~Visualizer()

cloudViewer::visualization::Visualizer::~Visualizer ( )

virtual

Definition at line 87 of file Visualizer.cpp.

References DestroyVisualizerWindow().

◆ Visualizer() [2/3]

cloudViewer::visualization::Visualizer::Visualizer ( Visualizer && )

delete

◆ Visualizer() [3/3]

cloudViewer::visualization::Visualizer::Visualizer ( const Visualizer & )

delete

Member Function Documentation

◆ AddGeometry()

bool cloudViewer::visualization::Visualizer::AddGeometry	(	std::shared_ptr< const ccHObject >	geometry_ptr,
		bool	reset_bounding_box = `true`
	)

virtual

Function to add geometry to the scene and create corresponding shaders.

After calling this function, the Visualizer owns the geometry object.
This function MUST be called after CreateVisualizerWindow().
This function returns FALSE when the geometry is of an unsupported type.
If an added geometry is changed, the behavior of Visualizer is undefined. Programmers are responsible for calling Geometry() to notify the Visualizer that the geometry has been changed and the Visualizer should be updated accordingly.

Parameters

geometry_ptr The Geometry object.

Reimplemented in PyVisualizer< VisualizerBase >, cloudViewer::visualization::VisualizerWithVertexSelection, and cloudViewer::visualization::VisualizerWithEditing.

Definition at line 336 of file Visualizer.cpp.

References CV_TYPES::BBOX, CV_TYPES::CUSTOM_H_OBJECT, CV_TYPES::FACET, geometry_ptrs_, geometry_renderer_ptrs_, CV_TYPES::HALF_EDGE_MESH, CV_TYPES::IMAGE2, is_initialized_, CV_TYPES::LINESET, LogDebug, LogWarning, CV_TYPES::MESH, CV_TYPES::ORIENTED_BBOX, CV_TYPES::POINT_CLOUD, CV_TYPES::POINT_OCTREE2, CV_TYPES::POLY_LINE, ResetViewPoint(), CV_TYPES::RGBD_IMAGE, CV_TYPES::TETRA_MESH, UpdateGeometry(), view_control_ptr_, CV_TYPES::VOXEL_GRID, and window_.

Referenced by cloudViewer::VisualizerForAlignment::AddSourceAndTarget(), cloudViewer::visualization::DrawGeometries(), cloudViewer::visualization::DrawGeometriesWithAnimationCallback(), cloudViewer::visualization::DrawGeometriesWithCustomAnimation(), cloudViewer::visualization::DrawGeometriesWithKeyCallbacks(), main(), and cloudViewer::visualization::pybind_visualizer().

◆ BuildUtilities()

void cloudViewer::visualization::Visualizer::BuildUtilities ( )

virtual

Reimplemented in PyVisualizer< VisualizerBase >, cloudViewer::visualization::VisualizerWithVertexSelection, and cloudViewer::visualization::VisualizerWithEditing.

Definition at line 271 of file Visualizer.cpp.

References coordinate_frame_mesh_ptr_, coordinate_frame_mesh_renderer_ptr_, ccMesh::CreateCoordinateFrame(), cloudViewer::visualization::ViewControl::GetBoundingBox(), GetViewControl(), max(), utility_ptrs_, utility_renderer_ptrs_, and window_.

Referenced by cloudViewer::visualization::VisualizerWithEditing::BuildUtilities(), cloudViewer::visualization::VisualizerWithVertexSelection::BuildUtilities(), main(), and Run().

◆ CaptureDepthFloatBuffer()

std::shared_ptr< geometry::Image > cloudViewer::visualization::Visualizer::CaptureDepthFloatBuffer ( bool do_render = true )

Function to capture depth in a float buffer.

Parameters

do_render Set to true to do render.

Definition at line 278 of file VisualizerRender.cpp.

References cloudViewer::geometry::Image::BytesPerLine(), cloudViewer::geometry::Image::data_, cloudViewer::geometry::Image::height_, is_redraw_required_, cloudViewer::geometry::Image::Prepare(), Render(), view_control_ptr_, and cloudViewer::geometry::Image::width_.

Referenced by cloudViewer::visualization::pybind_visualizer().

◆ CaptureDepthImage()

void cloudViewer::visualization::Visualizer::CaptureDepthImage	(	const std::string &	filename = `""`,
		bool	do_render = `true`,
		double	depth_scale = `1000.0`
	)

Function to capture and save a depth image.

Parameters

filename	Path to file.
do_render	Set to `true` to do render.
depth_scale	Scale depth value when capturing the depth image.

Definition at line 342 of file VisualizerRender.cpp.

References cloudViewer::geometry::Image::BytesPerLine(), cloudViewer::geometry::Image::data_, filename, cloudViewer::utility::GetCurrentTimeStamp(), cloudViewer::geometry::Image::height_, is_redraw_required_, LogDebug, min(), cloudViewer::geometry::Image::Prepare(), Render(), view_control_ptr_, cloudViewer::geometry::Image::width_, cloudViewer::io::WriteIJsonConvertible(), and cloudViewer::io::WriteImage().

Referenced by KeyPressCallback(), and cloudViewer::visualization::VisualizerWithCustomAnimation::Play().

◆ CaptureDepthPointCloud()

void cloudViewer::visualization::Visualizer::CaptureDepthPointCloud	(	const std::string &	filename = `""`,
		bool	do_render = `true`,
		bool	convert_to_world_coordinate = `false`
	)

Function to capture and save local point cloud.

Parameters

filename	Path to file.
do_render	Set to `true` to do render.
convert_to_world_coordinate	Set to `true` to convert to world coordinates.

Definition at line 425 of file VisualizerRender.cpp.

References cloudViewer::PointCloudTpl< T >::addPoint(), cloudViewer::geometry::Image::BytesPerLine(), cloudViewer::geometry::Image::data_, filename, cloudViewer::utility::GetCurrentTimeStamp(), cloudViewer::geometry::Image::height_, is_redraw_required_, LogDebug, cloudViewer::geometry::Image::Prepare(), Render(), cloudViewer::visualization::gl_util::Unproject(), view_control_ptr_, cloudViewer::geometry::Image::width_, cloudViewer::io::WriteIJsonConvertible(), and cloudViewer::io::WritePointCloud().

◆ CaptureRenderOption()

void cloudViewer::visualization::Visualizer::CaptureRenderOption ( const std::string & filename = "" )

Definition at line 507 of file VisualizerRender.cpp.

References filename, cloudViewer::utility::GetCurrentTimeStamp(), LogDebug, render_option_ptr_, and cloudViewer::io::WriteIJsonConvertible().

Referenced by KeyPressCallback().

◆ CaptureScreenFloatBuffer()

std::shared_ptr< geometry::Image > cloudViewer::visualization::Visualizer::CaptureScreenFloatBuffer ( bool do_render = true )

Function to capture screen and store RGB in a float buffer.

Parameters

do_render Set to true to do render.

Definition at line 201 of file VisualizerRender.cpp.

References cloudViewer::geometry::Image::BytesPerLine(), cloudViewer::geometry::Image::data_, cloudViewer::geometry::Image::height_, is_redraw_required_, cloudViewer::geometry::Image::Prepare(), Render(), view_control_ptr_, and window_.

Referenced by cloudViewer::visualization::pybind_visualizer().

◆ CaptureScreenImage()

void cloudViewer::visualization::Visualizer::CaptureScreenImage	(	const std::string &	filename = `""`,
		bool	do_render = `true`
	)

Function to capture and save a screen image.

Parameters

filename	Path to file.
do_render	Set to `true` to do render.

Definition at line 232 of file VisualizerRender.cpp.

References cloudViewer::geometry::Image::BytesPerLine(), cloudViewer::geometry::Image::data_, filename, cloudViewer::utility::GetCurrentTimeStamp(), cloudViewer::geometry::Image::height_, is_redraw_required_, LogDebug, cloudViewer::geometry::Image::Prepare(), Render(), view_control_ptr_, cloudViewer::io::WriteIJsonConvertible(), and cloudViewer::io::WriteImage().

Referenced by KeyPressCallback(), and cloudViewer::visualization::VisualizerWithCustomAnimation::Play().

◆ ClearGeometries()

bool cloudViewer::visualization::Visualizer::ClearGeometries ( )

virtual

Function to remove all geometries from the scene. After calling this function, the Visualizer releases the pointer of all geometry objects.

Definition at line 456 of file Visualizer.cpp.

References geometry_ptrs_, geometry_renderer_ptrs_, is_initialized_, UpdateGeometry(), and window_.

Referenced by cloudViewer::visualization::pybind_visualizer().

◆ Close()

void cloudViewer::visualization::Visualizer::Close ( )

Function to to notify the window to be closed.

Definition at line 305 of file Visualizer.cpp.

References LogDebug, and window_.

Referenced by KeyPressCallback(), cloudViewer::visualization::VisualizerWithCustomAnimation::Play(), and cloudViewer::visualization::pybind_visualizer().

◆ CopyViewStatusFromClipboard()

void cloudViewer::visualization::Visualizer::CopyViewStatusFromClipboard ( )

protected

Definition at line 184 of file VisualizerRender.cpp.

References LogWarning, NULL, cloudViewer::io::ReadIJsonConvertibleFromJSONString(), view_control_ptr_, cloudViewer::visualization::ViewTrajectory::view_status_, and window_.

Referenced by KeyPressCallback().

◆ CopyViewStatusToClipboard()

void cloudViewer::visualization::Visualizer::CopyViewStatusToClipboard ( )

protected

Definition at line 169 of file VisualizerRender.cpp.

References LogWarning, view_control_ptr_, cloudViewer::visualization::ViewTrajectory::view_status_, window_, and cloudViewer::io::WriteIJsonConvertibleToJSONString().

Referenced by KeyPressCallback().

◆ CreateVisualizerWindow()

bool cloudViewer::visualization::Visualizer::CreateVisualizerWindow	(	const std::string &	window_name = `"CloudViewer"`,
		const int	width = `640`,
		const int	height = `480`,
		const int	left = `50`,
		const int	top = `50`,
		const bool	visible = `true`
	)

Function to create a window and initialize GLFW.

This function MUST be called from the main thread.

Parameters

window_name	Window title name.
width	Width of the window.
height	Height of window.
left	Left margin of the window to the screen.
top	Top margin of the window to the screen.
visible	Whether the window is visible.

Definition at line 95 of file Visualizer.cpp.

References cloudViewer::visualization::GLFWContext::GetInstance(), glfw_context_, cloudViewer::visualization::GLFWContext::GLFWErrorCallback(), height, InitOpenGL(), InitRenderOption(), InitViewControl(), is_initialized_, KeyPressCallback(), LogDebug, LogWarning, MouseButtonCallback(), MouseMoveCallback(), MouseScrollCallback(), UpdateWindowTitle(), width, window_, window_name_, WindowCloseCallback(), WindowRefreshCallback(), and WindowResizeCallback().

Referenced by cloudViewer::visualization::DrawGeometries(), cloudViewer::visualization::DrawGeometriesWithAnimationCallback(), cloudViewer::visualization::DrawGeometriesWithCustomAnimation(), cloudViewer::visualization::DrawGeometriesWithEditing(), cloudViewer::visualization::DrawGeometriesWithKeyCallbacks(), cloudViewer::visualization::DrawGeometriesWithVertexSelection(), main(), and cloudViewer::visualization::pybind_visualizer().

◆ DestroyVisualizerWindow()

void cloudViewer::visualization::Visualizer::DestroyVisualizerWindow ( )

Function to destroy a window.

This function MUST be called from the main thread.

Definition at line 235 of file Visualizer.cpp.

References glfw_context_, is_initialized_, LogDebug, vao_id_, and window_.

Referenced by cloudViewer::visualization::DrawGeometries(), cloudViewer::visualization::DrawGeometriesWithAnimationCallback(), cloudViewer::visualization::DrawGeometriesWithCustomAnimation(), cloudViewer::visualization::DrawGeometriesWithEditing(), cloudViewer::visualization::DrawGeometriesWithKeyCallbacks(), cloudViewer::visualization::DrawGeometriesWithVertexSelection(), main(), cloudViewer::visualization::pybind_visualizer(), and ~Visualizer().

◆ GetRenderOption()

RenderOption& cloudViewer::visualization::Visualizer::GetRenderOption ( )

inline

Function to retrieve the associated RenderOption.

Definition at line 177 of file Visualizer.h.

References render_option_ptr_.

Referenced by cloudViewer::VisualizerForAlignment::AddSourceAndTarget(), cloudViewer::visualization::DrawGeometries(), cloudViewer::visualization::VisualizerWithVertexSelection::GetDepth(), main(), cloudViewer::visualization::VisualizerWithEditing::PickPoint(), cloudViewer::visualization::VisualizerWithVertexSelection::PickPoints(), and cloudViewer::visualization::pybind_visualizer().

◆ GetViewControl()

ViewControl& cloudViewer::visualization::Visualizer::GetViewControl ( )

inline

Function to retrieve the associated ViewControl.

Definition at line 175 of file Visualizer.h.

References view_control_ptr_.

Referenced by BuildUtilities(), cloudViewer::visualization::DrawGeometries(), cloudViewer::visualization::DrawGeometriesWithCustomAnimation(), cloudViewer::visualization::VisualizerWithVertexSelection::GetDepth(), main(), cloudViewer::visualization::VisualizerWithEditing::PickPoint(), cloudViewer::visualization::VisualizerWithVertexSelection::PickPoints(), cloudViewer::visualization::pybind_visualizer(), and cloudViewer::visualization::VisualizerWithEditing::SaveCroppingResult().

◆ GetWindowName()

const std::string& cloudViewer::visualization::Visualizer::GetWindowName ( ) const

inline

Definition at line 215 of file Visualizer.h.

References window_name_.

Referenced by cloudViewer::visualization::pybind_visualizer().

◆ HasGeometry()

bool cloudViewer::visualization::Visualizer::HasGeometry ( ) const

virtual

Reimplemented in PyVisualizer< VisualizerBase >.

Definition at line 481 of file Visualizer.cpp.

References geometry_ptrs_.

Referenced by main().

◆ InitOpenGL()

bool cloudViewer::visualization::Visualizer::InitOpenGL ( )

protectedvirtual

Function to initialize OpenGL.

Definition at line 34 of file VisualizerRender.cpp.

References LogWarning, render_fbo_, and vao_id_.

Referenced by CreateVisualizerWindow().

◆ InitRenderOption()

bool cloudViewer::visualization::Visualizer::InitRenderOption ( )

protectedvirtual

Function to initialize RenderOption.

Reimplemented in cloudViewer::visualization::VisualizerWithVertexSelection, and cloudViewer::visualization::VisualizerWithEditing.

Definition at line 260 of file Visualizer.cpp.

References render_option_ptr_.

Referenced by CreateVisualizerWindow().

◆ InitViewControl()

bool cloudViewer::visualization::Visualizer::InitViewControl ( )

protectedvirtual

Function to initialize ViewControl.

Reimplemented in cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 254 of file Visualizer.cpp.

References ResetViewPoint(), and view_control_ptr_.

Referenced by CreateVisualizerWindow().

◆ IsFullScreen()

bool cloudViewer::visualization::Visualizer::IsFullScreen ( )

virtual

Definition at line 511 of file Visualizer.cpp.

References window_.

Referenced by KeyPressCallback(), cloudViewer::visualization::pybind_visualizer(), and ToggleFullScreen().

◆ KeyPressCallback()

void cloudViewer::visualization::Visualizer::KeyPressCallback	(	GLFWwindow *	window,
		int	key,
		int	scancode,
		int	action,
		int	mods
	)

protectedvirtual

Reimplemented in cloudViewer::VisualizerForAlignment, cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithKeyCallback, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 106 of file VisualizerCallback.cpp.

Referenced by CreateVisualizerWindow(), cloudViewer::visualization::VisualizerWithCustomAnimation::KeyPressCallback(), cloudViewer::visualization::VisualizerWithEditing::KeyPressCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::KeyPressCallback(), cloudViewer::visualization::VisualizerWithVertexSelection::KeyPressCallback(), and cloudViewer::VisualizerForAlignment::KeyPressCallback().

◆ MouseButtonCallback()

void cloudViewer::visualization::Visualizer::MouseButtonCallback	(	GLFWwindow *	window,
		int	button,
		int	action,
		int	mods
	)

protectedvirtual

Reimplemented in cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithKeyCallback, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 72 of file VisualizerCallback.cpp.

Referenced by CreateVisualizerWindow(), cloudViewer::visualization::VisualizerWithCustomAnimation::MouseButtonCallback(), cloudViewer::visualization::VisualizerWithEditing::MouseButtonCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseButtonCallback(), and cloudViewer::visualization::VisualizerWithVertexSelection::MouseButtonCallback().

◆ MouseMoveCallback()

void cloudViewer::visualization::Visualizer::MouseMoveCallback	(	GLFWwindow *	window,
		double	x,
		double	y
	)

protectedvirtual

Reimplemented in cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithKeyCallback, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 29 of file VisualizerCallback.cpp.

References cloudViewer::visualization::Visualizer::MouseControl::is_alt_key_down, cloudViewer::visualization::Visualizer::MouseControl::is_control_key_down, cloudViewer::visualization::Visualizer::MouseControl::is_mouse_left_button_down, cloudViewer::visualization::Visualizer::MouseControl::is_mouse_middle_button_down, is_redraw_required_, cloudViewer::visualization::Visualizer::MouseControl::is_shift_key_down, mouse_control_, cloudViewer::visualization::Visualizer::MouseControl::mouse_position_x, cloudViewer::visualization::Visualizer::MouseControl::mouse_position_y, and view_control_ptr_.

Referenced by CreateVisualizerWindow(), cloudViewer::visualization::VisualizerWithCustomAnimation::MouseMoveCallback(), cloudViewer::visualization::VisualizerWithEditing::MouseMoveCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseMoveCallback(), and cloudViewer::visualization::VisualizerWithVertexSelection::MouseMoveCallback().

◆ MouseScrollCallback()

void cloudViewer::visualization::Visualizer::MouseScrollCallback	(	GLFWwindow *	window,
		double	x,
		double	y
	)

protectedvirtual

Reimplemented in cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithKeyCallback, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 67 of file VisualizerCallback.cpp.

References is_redraw_required_, and view_control_ptr_.

Referenced by CreateVisualizerWindow(), cloudViewer::visualization::VisualizerWithCustomAnimation::MouseScrollCallback(), cloudViewer::visualization::VisualizerWithEditing::MouseScrollCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseScrollCallback(), and cloudViewer::visualization::VisualizerWithVertexSelection::MouseScrollCallback().

◆ operator=()

Visualizer& cloudViewer::visualization::Visualizer::operator= ( const Visualizer & )

delete

◆ PollEvents()

bool cloudViewer::visualization::Visualizer::PollEvents ( )

Function to process the event queue and return if the window is closed.

Use this function if you want to manage the while loop yourself. This function will NOT block the thread. Thus it is suitable for computation heavy task behind the scene.

Definition at line 323 of file Visualizer.cpp.

References animation_callback_func_, animation_callback_func_in_loop_, is_initialized_, is_redraw_required_, window_, and WindowRefreshCallback().

Referenced by main(), cloudViewer::visualization::pybind_visualizer(), and Run().

◆ PrintVisualizerHelp()

void cloudViewer::visualization::Visualizer::PrintVisualizerHelp ( )

virtual

Reimplemented in PyVisualizer< VisualizerBase >, cloudViewer::VisualizerForAlignment, cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithKeyCallback, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 515 of file Visualizer.cpp.

References LogInfo.

Referenced by KeyPressCallback(), cloudViewer::visualization::VisualizerWithCustomAnimation::PrintVisualizerHelp(), cloudViewer::visualization::VisualizerWithEditing::PrintVisualizerHelp(), cloudViewer::visualization::VisualizerWithKeyCallback::PrintVisualizerHelp(), cloudViewer::visualization::VisualizerWithVertexSelection::PrintVisualizerHelp(), and cloudViewer::VisualizerForAlignment::PrintVisualizerHelp().

◆ RegisterAnimationCallback()

void cloudViewer::visualization::Visualizer::RegisterAnimationCallback ( std::function< bool(Visualizer *)> callback_func )

Function to register a callback function for animation.

The callback function returns if UpdateGeometry() needs to be run.

Parameters

callback_func The call back function.

Definition at line 249 of file Visualizer.cpp.

References animation_callback_func_.

Referenced by cloudViewer::visualization::DrawGeometriesWithAnimationCallback(), cloudViewer::visualization::VisualizerWithCustomAnimation::Play(), and cloudViewer::visualization::pybind_visualizer().

◆ RemoveGeometry()

bool cloudViewer::visualization::Visualizer::RemoveGeometry	(	std::shared_ptr< const ccHObject >	geometry_ptr,
		bool	reset_bounding_box = `true`
	)

virtual

Function to remove geometry from the scene.

After calling this function, the Visualizer releases the pointer of the geometry object.
This function MUST be called after CreateVisualizerWindow().
This function returns FALSE if the geometry to be removed is not added by AddGeometry

Parameters

geometry_ptr The Geometry object.

Definition at line 433 of file Visualizer.cpp.

References geometry_ptrs_, geometry_renderer_ptrs_, is_initialized_, LogDebug, ResetViewPoint(), UpdateGeometry(), view_control_ptr_, and window_.

Referenced by cloudViewer::visualization::pybind_visualizer().

◆ Render()

void cloudViewer::visualization::Visualizer::Render ( bool render_screen = false )

protectedvirtual

Function to do the main rendering The function first sets view point, then draw geometry (pointclouds and meshes individually).

Definition at line 94 of file VisualizerRender.cpp.

References geometry_renderer_ptrs_, LogWarning, NULL, render_depth_stencil_rbo_, render_fbo_, render_option_ptr_, render_rgb_tex_, utility_renderer_opts_, utility_renderer_ptrs_, view_control_ptr_, and window_.

Referenced by CaptureDepthFloatBuffer(), CaptureDepthImage(), CaptureDepthPointCloud(), CaptureScreenFloatBuffer(), CaptureScreenImage(), and WindowRefreshCallback().

◆ ResetViewPoint()

void cloudViewer::visualization::Visualizer::ResetViewPoint ( bool reset_bounding_box = false )

Function to reset view point.

Definition at line 151 of file VisualizerRender.cpp.

References coordinate_frame_mesh_ptr_, coordinate_frame_mesh_renderer_ptr_, ccMesh::CreateCoordinateFrame(), geometry_ptrs_, is_redraw_required_, and view_control_ptr_.

Referenced by AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), InitViewControl(), cloudViewer::visualization::VisualizerWithCustomAnimation::InitViewControl(), cloudViewer::visualization::VisualizerWithEditing::InitViewControl(), cloudViewer::visualization::VisualizerWithVertexSelection::InitViewControl(), KeyPressCallback(), cloudViewer::VisualizerForAlignment::KeyPressCallback(), cloudViewer::VisualizerForAlignment::LoadSessionFromFile(), cloudViewer::visualization::pybind_visualizer(), and RemoveGeometry().

◆ Run()

void cloudViewer::visualization::Visualizer::Run ( )

Function to activate the window.

This function will block the current thread until the window is closed.

Definition at line 289 of file Visualizer.cpp.

References animation_callback_func_, animation_callback_func_in_loop_, BuildUtilities(), PollEvents(), UpdateGeometry(), UpdateRender(), UpdateWindowTitle(), and WaitEvents().

Referenced by cloudViewer::visualization::DrawGeometries(), cloudViewer::visualization::DrawGeometriesWithAnimationCallback(), cloudViewer::visualization::DrawGeometriesWithCustomAnimation(), cloudViewer::visualization::DrawGeometriesWithEditing(), cloudViewer::visualization::DrawGeometriesWithKeyCallbacks(), cloudViewer::visualization::DrawGeometriesWithVertexSelection(), main(), and cloudViewer::visualization::pybind_visualizer().

◆ SetFullScreen()

void cloudViewer::visualization::Visualizer::SetFullScreen ( bool fullscreen )

virtual

Functions to change between fullscreen and windowed modes.

Definition at line 483 of file Visualizer.cpp.

References LogError, NULL, saved_window_pos_, saved_window_size_, and window_.

Referenced by KeyPressCallback(), cloudViewer::visualization::pybind_visualizer(), and ToggleFullScreen().

◆ ToggleFullScreen()

void cloudViewer::visualization::Visualizer::ToggleFullScreen ( )

virtual

Definition at line 503 of file Visualizer.cpp.

References IsFullScreen(), and SetFullScreen().

Referenced by cloudViewer::visualization::pybind_visualizer().

◆ UpdateGeometry()

bool cloudViewer::visualization::Visualizer::UpdateGeometry ( std::shared_ptr< const ccHObject > geometry_ptr = nullptr )

virtual

Function to update geometry.

This function must be called when geometry has been changed. Otherwise the behavior of Visualizer is undefined. If called without an argument, updates all geometries, otherwise only updates the geometry specified.

Reimplemented in PyVisualizer< VisualizerBase >, and cloudViewer::visualization::VisualizerWithVertexSelection.

Definition at line 466 of file Visualizer.cpp.

References geometry_renderer_ptrs_, UpdateRender(), and window_.

Referenced by AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), ClearGeometries(), KeyPressCallback(), cloudViewer::visualization::VisualizerWithEditing::KeyPressCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::KeyPressCallback(), cloudViewer::VisualizerForAlignment::KeyPressCallback(), cloudViewer::VisualizerForAlignment::LoadSessionFromFile(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseButtonCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseMoveCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseScrollCallback(), cloudViewer::visualization::pybind_visualizer(), RemoveGeometry(), Run(), and cloudViewer::visualization::VisualizerWithVertexSelection::UpdateGeometry().

◆ UpdateRender()

void cloudViewer::visualization::Visualizer::UpdateRender ( )

virtual

Function to inform render needed to be updated.

Reimplemented in PyVisualizer< VisualizerBase >.

Definition at line 479 of file Visualizer.cpp.

References is_redraw_required_.

Referenced by cloudViewer::visualization::VisualizerWithKeyCallback::KeyPressCallback(), cloudViewer::VisualizerForAlignment::LoadSessionFromFile(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseButtonCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseMoveCallback(), cloudViewer::visualization::VisualizerWithKeyCallback::MouseScrollCallback(), cloudViewer::visualization::pybind_visualizer(), Run(), and UpdateGeometry().

◆ UpdateWindowTitle()

void cloudViewer::visualization::Visualizer::UpdateWindowTitle ( )

virtual

Reimplemented in PyVisualizer< VisualizerBase >, cloudViewer::visualization::VisualizerWithVertexSelection, cloudViewer::visualization::VisualizerWithEditing, and cloudViewer::visualization::VisualizerWithCustomAnimation.

Definition at line 265 of file Visualizer.cpp.

References window_, and window_name_.

Referenced by CreateVisualizerWindow(), and Run().

◆ WaitEvents()

bool cloudViewer::visualization::Visualizer::WaitEvents ( )

Function to process the event queue and return if the window is closed.

Use this function if you want to manage the while loop yourself. This function will block the thread.

Definition at line 310 of file Visualizer.cpp.

References animation_callback_func_, animation_callback_func_in_loop_, is_initialized_, is_redraw_required_, window_, and WindowRefreshCallback().

Referenced by Run().

◆ WindowCloseCallback()

void cloudViewer::visualization::Visualizer::WindowCloseCallback ( GLFWwindow * window )

protectedvirtual

Function to notify the window to be closed.

Definition at line 350 of file VisualizerCallback.cpp.

Referenced by CreateVisualizerWindow().

◆ WindowRefreshCallback()

void cloudViewer::visualization::Visualizer::WindowRefreshCallback ( GLFWwindow * window )

protectedvirtual

Definition at line 17 of file VisualizerCallback.cpp.

References is_redraw_required_, and Render().

Referenced by CreateVisualizerWindow(), PollEvents(), and WaitEvents().

◆ WindowResizeCallback()

void cloudViewer::visualization::Visualizer::WindowResizeCallback	(	GLFWwindow *	window,
		int	w,
		int	h
	)

protectedvirtual

Reimplemented in cloudViewer::visualization::VisualizerWithVertexSelection, and cloudViewer::visualization::VisualizerWithEditing.

Definition at line 24 of file VisualizerCallback.cpp.

References is_redraw_required_, and view_control_ptr_.

Referenced by CreateVisualizerWindow(), cloudViewer::visualization::VisualizerWithEditing::WindowResizeCallback(), and cloudViewer::visualization::VisualizerWithVertexSelection::WindowResizeCallback().

Member Data Documentation

◆ animation_callback_func_

std::function<bool(Visualizer *)> cloudViewer::visualization::Visualizer::animation_callback_func_ = nullptr

protected

Definition at line 260 of file Visualizer.h.

Referenced by PollEvents(), RegisterAnimationCallback(), Run(), and WaitEvents().

◆ animation_callback_func_in_loop_

std::function<bool(Visualizer *)> cloudViewer::visualization::Visualizer::animation_callback_func_in_loop_

protected

Initial value:

=

nullptr

Definition at line 265 of file Visualizer.h.

Referenced by PollEvents(), Run(), and WaitEvents().

◆ coordinate_frame_mesh_ptr_

std::shared_ptr<ccMesh> cloudViewer::visualization::Visualizer::coordinate_frame_mesh_ptr_

protected

Definition at line 304 of file Visualizer.h.

Referenced by BuildUtilities(), and ResetViewPoint().

◆ coordinate_frame_mesh_renderer_ptr_

std::shared_ptr<glsl::CoordinateFrameRenderer> cloudViewer::visualization::Visualizer::coordinate_frame_mesh_renderer_ptr_

protected

Definition at line 306 of file Visualizer.h.

Referenced by BuildUtilities(), and ResetViewPoint().

◆ geometry_ptrs_

std::unordered_set<std::shared_ptr<const ccHObject> > cloudViewer::visualization::Visualizer::geometry_ptrs_

protected

Definition at line 287 of file Visualizer.h.

Referenced by AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::BuildUtilities(), cloudViewer::visualization::VisualizerWithVertexSelection::BuildUtilities(), ClearGeometries(), HasGeometry(), RemoveGeometry(), and ResetViewPoint().

◆ geometry_renderer_ptrs_

std::unordered_set<std::shared_ptr<glsl::GeometryRenderer> > cloudViewer::visualization::Visualizer::geometry_renderer_ptrs_

protected

Definition at line 291 of file Visualizer.h.

Referenced by AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), ClearGeometries(), cloudViewer::visualization::VisualizerWithVertexSelection::GetDepth(), cloudViewer::visualization::VisualizerWithVertexSelection::PickPoints(), RemoveGeometry(), Render(), and UpdateGeometry().

◆ glfw_context_

std::shared_ptr<GLFWContext> cloudViewer::visualization::Visualizer::glfw_context_ = nullptr

protected

Shared GLFW context.

Definition at line 256 of file Visualizer.h.

Referenced by CreateVisualizerWindow(), and DestroyVisualizerWindow().

◆ is_initialized_

bool cloudViewer::visualization::Visualizer::is_initialized_ = false

protected

Definition at line 271 of file Visualizer.h.

Referenced by AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), ClearGeometries(), CreateVisualizerWindow(), DestroyVisualizerWindow(), PollEvents(), RemoveGeometry(), and WaitEvents().

◆ is_redraw_required_

bool cloudViewer::visualization::Visualizer::is_redraw_required_ = true

protected

Definition at line 270 of file Visualizer.h.

◆ mouse_control_

MouseControl cloudViewer::visualization::Visualizer::mouse_control_

protected

Definition at line 269 of file Visualizer.h.

Referenced by MouseButtonCallback(), and MouseMoveCallback().

◆ render_depth_stencil_rbo_

GLuint cloudViewer::visualization::Visualizer::render_depth_stencil_rbo_ = 0

protected

Definition at line 278 of file Visualizer.h.

Referenced by Render().

◆ render_fbo_

GLuint cloudViewer::visualization::Visualizer::render_fbo_ = 0

protected

Definition at line 276 of file Visualizer.h.

Referenced by InitOpenGL(), and Render().

◆ render_option_ptr_

std::unique_ptr<RenderOption> cloudViewer::visualization::Visualizer::render_option_ptr_

protected

Definition at line 284 of file Visualizer.h.

Referenced by CaptureRenderOption(), GetRenderOption(), InitRenderOption(), cloudViewer::visualization::VisualizerWithEditing::InitRenderOption(), cloudViewer::visualization::VisualizerWithVertexSelection::InitRenderOption(), KeyPressCallback(), cloudViewer::visualization::VisualizerWithEditing::KeyPressCallback(), and Render().

◆ render_rgb_tex_

GLuint cloudViewer::visualization::Visualizer::render_rgb_tex_ = 0

protected

Definition at line 277 of file Visualizer.h.

Referenced by Render().

◆ saved_window_pos_

Eigen::Vector2i cloudViewer::visualization::Visualizer::saved_window_pos_ = Eigen::Vector2i::Zero()

protected

Definition at line 259 of file Visualizer.h.

Referenced by SetFullScreen().

◆ saved_window_size_

Eigen::Vector2i cloudViewer::visualization::Visualizer::saved_window_size_ = Eigen::Vector2i::Zero()

protected

Definition at line 258 of file Visualizer.h.

Referenced by SetFullScreen().

◆ utility_ptrs_

std::vector<std::shared_ptr<const ccHObject> > cloudViewer::visualization::Visualizer::utility_ptrs_

protected

Definition at line 294 of file Visualizer.h.

Referenced by BuildUtilities(), cloudViewer::visualization::VisualizerWithEditing::BuildUtilities(), and cloudViewer::visualization::VisualizerWithVertexSelection::BuildUtilities().

◆ utility_renderer_opts_

std::unordered_map<std::shared_ptr<glsl::GeometryRenderer>, RenderOption> cloudViewer::visualization::Visualizer::utility_renderer_opts_

protected

Definition at line 301 of file Visualizer.h.

Referenced by cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), Render(), and cloudViewer::visualization::VisualizerWithVertexSelection::SetPointSize().

◆ utility_renderer_ptrs_

std::vector<std::shared_ptr<glsl::GeometryRenderer> > cloudViewer::visualization::Visualizer::utility_renderer_ptrs_

protected

Definition at line 297 of file Visualizer.h.

Referenced by cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), BuildUtilities(), cloudViewer::visualization::VisualizerWithEditing::BuildUtilities(), cloudViewer::visualization::VisualizerWithVertexSelection::BuildUtilities(), cloudViewer::visualization::VisualizerWithVertexSelection::KeyPressCallback(), and Render().

◆ vao_id_

GLuint cloudViewer::visualization::Visualizer::vao_id_ = 0

protected

Definition at line 272 of file Visualizer.h.

Referenced by DestroyVisualizerWindow(), and InitOpenGL().

◆ view_control_ptr_

std::unique_ptr<ViewControl> cloudViewer::visualization::Visualizer::view_control_ptr_

protected

Definition at line 281 of file Visualizer.h.

◆ window_

GLFWwindow* cloudViewer::visualization::Visualizer::window_ = nullptr

protected

Definition at line 252 of file Visualizer.h.

Referenced by AddGeometry(), cloudViewer::visualization::VisualizerWithEditing::AddGeometry(), cloudViewer::visualization::VisualizerWithVertexSelection::AddGeometry(), BuildUtilities(), CaptureScreenFloatBuffer(), ClearGeometries(), Close(), CopyViewStatusFromClipboard(), CopyViewStatusToClipboard(), CreateVisualizerWindow(), DestroyVisualizerWindow(), IsFullScreen(), cloudViewer::visualization::VisualizerWithEditing::KeyPressCallback(), PollEvents(), RemoveGeometry(), Render(), SetFullScreen(), UpdateGeometry(), UpdateWindowTitle(), cloudViewer::visualization::VisualizerWithCustomAnimation::UpdateWindowTitle(), cloudViewer::visualization::VisualizerWithEditing::UpdateWindowTitle(), cloudViewer::visualization::VisualizerWithVertexSelection::UpdateWindowTitle(), and WaitEvents().

◆ window_name_

std::string cloudViewer::visualization::Visualizer::window_name_ = "CloudViewer"

protected

Definition at line 253 of file Visualizer.h.

Referenced by CreateVisualizerWindow(), GetWindowName(), UpdateWindowTitle(), cloudViewer::visualization::VisualizerWithCustomAnimation::UpdateWindowTitle(), cloudViewer::visualization::VisualizerWithEditing::UpdateWindowTitle(), and cloudViewer::visualization::VisualizerWithVertexSelection::UpdateWindowTitle().

The documentation for this class was generated from the following files:

/root/ACloudViewer/libs/cloudViewer/visualization/visualizer/Visualizer.h
/root/ACloudViewer/libs/cloudViewer/visualization/visualizer/Visualizer.cpp
/root/ACloudViewer/libs/cloudViewer/visualization/visualizer/VisualizerCallback.cpp
/root/ACloudViewer/libs/cloudViewer/visualization/visualizer/VisualizerRender.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Visualizer() [1/3]

◆ ~Visualizer()

◆ Visualizer() [2/3]

◆ Visualizer() [3/3]

Member Function Documentation

◆ AddGeometry()

◆ BuildUtilities()

◆ CaptureDepthFloatBuffer()

◆ CaptureDepthImage()

◆ CaptureDepthPointCloud()

◆ CaptureRenderOption()

◆ CaptureScreenFloatBuffer()

◆ CaptureScreenImage()

◆ ClearGeometries()

◆ Close()

◆ CopyViewStatusFromClipboard()

◆ CopyViewStatusToClipboard()

◆ CreateVisualizerWindow()

◆ DestroyVisualizerWindow()

◆ GetRenderOption()

◆ GetViewControl()

◆ GetWindowName()

◆ HasGeometry()

◆ InitOpenGL()

◆ InitRenderOption()

◆ InitViewControl()

◆ IsFullScreen()

◆ KeyPressCallback()

◆ MouseButtonCallback()

◆ MouseMoveCallback()

◆ MouseScrollCallback()

◆ operator=()

◆ PollEvents()

◆ PrintVisualizerHelp()

◆ RegisterAnimationCallback()

◆ RemoveGeometry()

◆ Render()

◆ ResetViewPoint()

◆ Run()

◆ SetFullScreen()

◆ ToggleFullScreen()

◆ UpdateGeometry()

◆ UpdateRender()

◆ UpdateWindowTitle()

◆ WaitEvents()

◆ WindowCloseCallback()

◆ WindowRefreshCallback()

◆ WindowResizeCallback()

Member Data Documentation

◆ animation_callback_func_

◆ animation_callback_func_in_loop_

◆ coordinate_frame_mesh_ptr_

◆ coordinate_frame_mesh_renderer_ptr_

◆ geometry_ptrs_

◆ geometry_renderer_ptrs_

◆ glfw_context_

◆ is_initialized_

◆ is_redraw_required_

◆ mouse_control_

◆ render_depth_stencil_rbo_

◆ render_fbo_

◆ render_option_ptr_

◆ render_rgb_tex_

◆ saved_window_pos_

◆ saved_window_size_

◆ utility_ptrs_

◆ utility_renderer_opts_

◆ utility_renderer_ptrs_

◆ vao_id_

◆ view_control_ptr_

◆ window_

◆ window_name_