Visualizer with editing capabilities. More...

#include <VisualizerWithEditing.h>

Inheritance diagram for cloudViewer::visualization::VisualizerWithEditing:

Collaboration diagram for cloudViewer::visualization::VisualizerWithEditing:

[legend]

Public Types
enum class	SelectionMode { None = 0 , Rectangle = 1 , Polygon = 2 }

Public Member Functions
	VisualizerWithEditing (double voxel_size=-1.0, bool use_dialog=true, const std::string &directory="")

	~VisualizerWithEditing () override

	VisualizerWithEditing (const VisualizerWithEditing &)=delete

VisualizerWithEditing &	operator= (const VisualizerWithEditing &)=delete

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

void	PrintVisualizerHelp () override

void	UpdateWindowTitle () override

void	BuildUtilities () override

int	PickPoint (double x, double y)

std::vector< size_t > &	GetPickedPoints ()

Public Member Functions inherited from cloudViewer::visualization::Visualizer
	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	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 ()

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

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

void	WindowResizeCallback (GLFWwindow *window, int w, int h) override

void	MouseMoveCallback (GLFWwindow *window, double x, double y) override

void	MouseScrollCallback (GLFWwindow *window, double x, double y) override

void	MouseButtonCallback (GLFWwindow *window, int button, int action, int mods) override

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

void	InvalidateSelectionPolygon ()

void	InvalidatePicking ()

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

Protected Member Functions inherited from cloudViewer::visualization::Visualizer
virtual bool	InitOpenGL ()
	Function to initialize OpenGL. More...

virtual void	Render (bool render_screen=false)

void	CopyViewStatusToClipboard ()

void	CopyViewStatusFromClipboard ()

virtual void	WindowRefreshCallback (GLFWwindow *window)

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

Protected Attributes
std::shared_ptr< SelectionPolygon >	selection_polygon_ptr_

std::shared_ptr< glsl::SelectionPolygonRenderer >	selection_polygon_renderer_ptr_

SelectionMode	selection_mode_ = SelectionMode::None

std::shared_ptr< PointCloudPicker >	pointcloud_picker_ptr_

std::shared_ptr< glsl::PointCloudPickerRenderer >	pointcloud_picker_renderer_ptr_

std::shared_ptr< const ccHObject >	original_geometry_ptr_

std::shared_ptr< ccHObject >	editing_geometry_ptr_

std::shared_ptr< glsl::GeometryRenderer >	editing_geometry_renderer_ptr_

double	voxel_size_ = -1.0

bool	use_dialog_ = true

std::string	default_directory_

unsigned int	crop_action_count_ = 0

Protected Attributes inherited from cloudViewer::visualization::Visualizer
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

Visualizer with editing capabilities.

Definition at line 21 of file VisualizerWithEditing.h.

Member Enumeration Documentation

◆ SelectionMode

enum cloudViewer::visualization::VisualizerWithEditing::SelectionMode

strong

Enumerator
None
Rectangle
Polygon

Definition at line 23 of file VisualizerWithEditing.h.

Constructor & Destructor Documentation

◆ VisualizerWithEditing() [1/2]

cloudViewer::visualization::VisualizerWithEditing::VisualizerWithEditing	(	double	voxel_size = `-1.0`,
		bool	use_dialog = `true`,
		const std::string &	directory = `""`
	)

inline

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

Parameters

geometry The Geometry object.

Definition at line 33 of file VisualizerWithEditing.h.

◆ ~VisualizerWithEditing()

cloudViewer::visualization::VisualizerWithEditing::~VisualizerWithEditing ( )

inlineoverride

Definition at line 39 of file VisualizerWithEditing.h.

◆ VisualizerWithEditing() [2/2]

cloudViewer::visualization::VisualizerWithEditing::VisualizerWithEditing ( const VisualizerWithEditing & )

delete

Member Function Documentation

◆ AddGeometry()

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

overridevirtual

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 from cloudViewer::visualization::Visualizer.

Definition at line 32 of file VisualizerWithEditing.cpp.

References CV_TYPES::CUSTOM_H_OBJECT, editing_geometry_ptr_, editing_geometry_renderer_ptr_, cloudViewer::visualization::Visualizer::geometry_ptrs_, cloudViewer::visualization::Visualizer::geometry_renderer_ptrs_, CV_TYPES::HALF_EDGE_MESH, CV_TYPES::IMAGE2, cloudViewer::visualization::Visualizer::is_initialized_, CV_TYPES::LINESET, LogDebug, CV_TYPES::MESH, original_geometry_ptr_, CV_TYPES::POINT_CLOUD, cloudViewer::visualization::Visualizer::ResetViewPoint(), cloudViewer::visualization::Visualizer::UpdateGeometry(), cloudViewer::visualization::Visualizer::view_control_ptr_, and cloudViewer::visualization::Visualizer::window_.

Referenced by cloudViewer::visualization::DrawGeometriesWithEditing(), and main().

◆ BuildUtilities()

void cloudViewer::visualization::VisualizerWithEditing::BuildUtilities ( )

overridevirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 142 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::Visualizer::BuildUtilities(), editing_geometry_ptr_, cloudViewer::visualization::Visualizer::geometry_ptrs_, pointcloud_picker_ptr_, pointcloud_picker_renderer_ptr_, selection_polygon_ptr_, selection_polygon_renderer_ptr_, cloudViewer::visualization::Visualizer::utility_ptrs_, and cloudViewer::visualization::Visualizer::utility_renderer_ptrs_.

Referenced by main().

◆ GetPickedPoints()

std::vector< size_t > & cloudViewer::visualization::VisualizerWithEditing::GetPickedPoints ( )

Definition at line 243 of file VisualizerWithEditing.cpp.

References pointcloud_picker_ptr_.

Referenced by cloudViewer::VisualizerForAlignment::AlignWithManualAnnotation(), cloudViewer::VisualizerForAlignment::LoadSessionFromFile(), cloudViewer::visualization::pybind_visualizer(), and cloudViewer::VisualizerForAlignment::SaveSessionToFile().

◆ InitRenderOption()

bool cloudViewer::visualization::VisualizerWithEditing::InitRenderOption ( )

overrideprotectedvirtual

Function to initialize RenderOption.

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 254 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::Visualizer::render_option_ptr_.

◆ InitViewControl()

bool cloudViewer::visualization::VisualizerWithEditing::InitViewControl ( )

overrideprotectedvirtual

Function to initialize ViewControl.

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 247 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::Visualizer::ResetViewPoint(), and cloudViewer::visualization::Visualizer::view_control_ptr_.

◆ InvalidatePicking()

void cloudViewer::visualization::VisualizerWithEditing::InvalidatePicking ( )

protected

Definition at line 637 of file VisualizerWithEditing.cpp.

References pointcloud_picker_ptr_, and pointcloud_picker_renderer_ptr_.

Referenced by KeyPressCallback().

◆ InvalidateSelectionPolygon()

void cloudViewer::visualization::VisualizerWithEditing::InvalidateSelectionPolygon ( )

protected

Definition at line 629 of file VisualizerWithEditing.cpp.

References None, selection_mode_, selection_polygon_ptr_, and selection_polygon_renderer_ptr_.

Referenced by KeyPressCallback(), MouseButtonCallback(), and WindowResizeCallback().

◆ KeyPressCallback()

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

overrideprotectedvirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 260 of file VisualizerWithEditing.cpp.

References crop_action_count_, default_directory_, editing_geometry_ptr_, editing_geometry_renderer_ptr_, filename, format, InvalidatePicking(), InvalidateSelectionPolygon(), cloudViewer::visualization::Visualizer::is_redraw_required_, cloudViewer::visualization::Visualizer::KeyPressCallback(), LogDebug, LogError, LogInfo, LogWarning, CV_TYPES::MESH, mesh_ptr, None, NULL, original_geometry_ptr_, CV_TYPES::POINT_CLOUD, cloudViewer::visualization::SelectionPolygon::Polygon, Polygon, cloudViewer::visualization::Visualizer::render_option_ptr_, SaveCroppingResult(), selection_mode_, selection_polygon_ptr_, selection_polygon_renderer_ptr_, patch::to_string(), cloudViewer::visualization::Visualizer::UpdateGeometry(), UpdateWindowTitle(), use_dialog_, cloudViewer::visualization::Visualizer::view_control_ptr_, voxel_size_, ccPointCloud::VoxelDownSample(), and cloudViewer::visualization::Visualizer::window_.

◆ MouseButtonCallback()

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

overrideprotectedvirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 512 of file VisualizerWithEditing.cpp.

References editing_geometry_ptr_, InvalidateSelectionPolygon(), cloudViewer::visualization::Visualizer::is_redraw_required_, LogInfo, cloudViewer::visualization::Visualizer::MouseButtonCallback(), None, PickPoint(), pointcloud_picker_ptr_, Polygon, cloudViewer::visualization::SelectionPolygon::Rectangle, Rectangle, selection_mode_, selection_polygon_ptr_, selection_polygon_renderer_ptr_, and cloudViewer::visualization::Visualizer::view_control_ptr_.

◆ MouseMoveCallback()

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

overrideprotectedvirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 474 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::Visualizer::is_redraw_required_, cloudViewer::visualization::Visualizer::MouseMoveCallback(), None, Polygon, Rectangle, selection_mode_, selection_polygon_ptr_, selection_polygon_renderer_ptr_, and cloudViewer::visualization::Visualizer::view_control_ptr_.

◆ MouseScrollCallback()

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

overrideprotectedvirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 502 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::Visualizer::MouseScrollCallback(), and cloudViewer::visualization::Visualizer::view_control_ptr_.

◆ operator=()

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

delete

◆ PickPoint()

int cloudViewer::visualization::VisualizerWithEditing::PickPoint	(	double	x,
		double	y
	)

Definition at line 177 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::gl_util::ColorCodeToPickIndex(), editing_geometry_ptr_, cloudViewer::visualization::Visualizer::GetRenderOption(), cloudViewer::visualization::Visualizer::GetViewControl(), LogWarning, and cloudViewer::visualization::Visualizer::view_control_ptr_.

Referenced by MouseButtonCallback().

◆ PrintVisualizerHelp()

void cloudViewer::visualization::VisualizerWithEditing::PrintVisualizerHelp ( )

overridevirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 107 of file VisualizerWithEditing.cpp.

References LogInfo, and cloudViewer::visualization::Visualizer::PrintVisualizerHelp().

◆ SaveCroppingResult()

void cloudViewer::visualization::VisualizerWithEditing::SaveCroppingResult ( const std::string & filename = "" )

protected

Definition at line 644 of file VisualizerWithEditing.cpp.

References editing_geometry_ptr_, filename, cloudViewer::utility::filesystem::GetFileNameWithoutExtension(), cloudViewer::visualization::Visualizer::GetViewControl(), CV_TYPES::MESH, CV_TYPES::POINT_CLOUD, selection_polygon_ptr_, cloudViewer::io::WriteIJsonConvertible(), cloudViewer::io::WritePointCloud(), and cloudViewer::io::WriteTriangleMesh().

Referenced by KeyPressCallback().

◆ UpdateWindowTitle()

void cloudViewer::visualization::VisualizerWithEditing::UpdateWindowTitle ( )

overridevirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 133 of file VisualizerWithEditing.cpp.

References cloudViewer::visualization::Visualizer::view_control_ptr_, cloudViewer::visualization::Visualizer::window_, and cloudViewer::visualization::Visualizer::window_name_.

Referenced by KeyPressCallback().

◆ WindowResizeCallback()

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

overrideprotectedvirtual

Reimplemented from cloudViewer::visualization::Visualizer.

Definition at line 467 of file VisualizerWithEditing.cpp.

References InvalidateSelectionPolygon(), and cloudViewer::visualization::Visualizer::WindowResizeCallback().

Member Data Documentation

◆ crop_action_count_

unsigned int cloudViewer::visualization::VisualizerWithEditing::crop_action_count_ = 0

protected

Definition at line 88 of file VisualizerWithEditing.h.

Referenced by KeyPressCallback().

◆ default_directory_

std::string cloudViewer::visualization::VisualizerWithEditing::default_directory_

protected

Definition at line 87 of file VisualizerWithEditing.h.

Referenced by KeyPressCallback().

◆ editing_geometry_ptr_

std::shared_ptr<ccHObject> cloudViewer::visualization::VisualizerWithEditing::editing_geometry_ptr_

protected

Definition at line 82 of file VisualizerWithEditing.h.

Referenced by AddGeometry(), BuildUtilities(), KeyPressCallback(), MouseButtonCallback(), PickPoint(), and SaveCroppingResult().

◆ editing_geometry_renderer_ptr_

std::shared_ptr<glsl::GeometryRenderer> cloudViewer::visualization::VisualizerWithEditing::editing_geometry_renderer_ptr_

protected

Definition at line 83 of file VisualizerWithEditing.h.

Referenced by AddGeometry(), and KeyPressCallback().

◆ original_geometry_ptr_

std::shared_ptr<const ccHObject> cloudViewer::visualization::VisualizerWithEditing::original_geometry_ptr_

protected

Definition at line 81 of file VisualizerWithEditing.h.

Referenced by AddGeometry(), and KeyPressCallback().

◆ pointcloud_picker_ptr_

std::shared_ptr<PointCloudPicker> cloudViewer::visualization::VisualizerWithEditing::pointcloud_picker_ptr_

protected

Definition at line 77 of file VisualizerWithEditing.h.

Referenced by BuildUtilities(), GetPickedPoints(), InvalidatePicking(), and MouseButtonCallback().

◆ pointcloud_picker_renderer_ptr_

std::shared_ptr<glsl::PointCloudPickerRenderer> cloudViewer::visualization::VisualizerWithEditing::pointcloud_picker_renderer_ptr_

protected

Definition at line 79 of file VisualizerWithEditing.h.

Referenced by BuildUtilities(), and InvalidatePicking().

◆ selection_mode_

SelectionMode cloudViewer::visualization::VisualizerWithEditing::selection_mode_ = SelectionMode::None

protected

Definition at line 75 of file VisualizerWithEditing.h.

Referenced by InvalidateSelectionPolygon(), KeyPressCallback(), MouseButtonCallback(), and MouseMoveCallback().

◆ selection_polygon_ptr_

std::shared_ptr<SelectionPolygon> cloudViewer::visualization::VisualizerWithEditing::selection_polygon_ptr_

protected

Definition at line 72 of file VisualizerWithEditing.h.

Referenced by BuildUtilities(), InvalidateSelectionPolygon(), KeyPressCallback(), MouseButtonCallback(), MouseMoveCallback(), and SaveCroppingResult().

◆ selection_polygon_renderer_ptr_

std::shared_ptr<glsl::SelectionPolygonRenderer> cloudViewer::visualization::VisualizerWithEditing::selection_polygon_renderer_ptr_

protected

Definition at line 74 of file VisualizerWithEditing.h.

Referenced by BuildUtilities(), InvalidateSelectionPolygon(), KeyPressCallback(), MouseButtonCallback(), and MouseMoveCallback().

◆ use_dialog_

bool cloudViewer::visualization::VisualizerWithEditing::use_dialog_ = true

protected

Definition at line 86 of file VisualizerWithEditing.h.

Referenced by KeyPressCallback().

◆ voxel_size_

double cloudViewer::visualization::VisualizerWithEditing::voxel_size_ = -1.0

protected

Definition at line 85 of file VisualizerWithEditing.h.

Referenced by KeyPressCallback().

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

/root/ACloudViewer/libs/cloudViewer/visualization/visualizer/VisualizerWithEditing.h
/root/ACloudViewer/libs/cloudViewer/visualization/visualizer/VisualizerWithEditing.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ SelectionMode

Constructor & Destructor Documentation

◆ VisualizerWithEditing() [1/2]

◆ ~VisualizerWithEditing()

◆ VisualizerWithEditing() [2/2]

Member Function Documentation

◆ AddGeometry()

◆ BuildUtilities()

◆ GetPickedPoints()

◆ InitRenderOption()

◆ InitViewControl()

◆ InvalidatePicking()

◆ InvalidateSelectionPolygon()

◆ KeyPressCallback()

◆ MouseButtonCallback()

◆ MouseMoveCallback()

◆ MouseScrollCallback()

◆ operator=()

◆ PickPoint()

◆ PrintVisualizerHelp()

◆ SaveCroppingResult()

◆ UpdateWindowTitle()

◆ WindowResizeCallback()

Member Data Documentation

◆ crop_action_count_

◆ default_directory_

◆ editing_geometry_ptr_

◆ editing_geometry_renderer_ptr_

◆ original_geometry_ptr_

◆ pointcloud_picker_ptr_

◆ pointcloud_picker_renderer_ptr_

◆ selection_mode_

◆ selection_polygon_ptr_

◆ selection_polygon_renderer_ptr_

◆ use_dialog_

◆ voxel_size_