def __init__(self):
self.rgb_images = []
for f in os.listdir(RGB_DIR):
if f.endswith(".jpg") or f.endswith(".png"):
img = o3d.io.read_image(os.path.join(RGB_DIR, f))
self.rgb_images.append(img)
self.depth_images = []
for f in os.listdir(DEPTH_DIR):
if f.endswith(".jpg") or f.endswith(".png"):
img = o3d.io.read_image(os.path.join(DEPTH_DIR, f))
# The images are pretty dark, so rescale them so that it is
# obvious that this is a depth image, for the sake of the example
img = rescale_greyscale(img)
self.depth_images.append(img)
assert (len(self.rgb_images) == len(self.depth_images))
self.window = gui.Application.instance.create_window(
"Open3D - Video Example", 1000, 500)
self.window.set_on_layout(self._on_layout)
self.window.set_on_close(self._on_close)
self.widget3d = gui.SceneWidget()
self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
self.window.add_child(self.widget3d)
lit = rendering.Material()
lit.shader = "defaultLit"
tet = o3d.geometry.TriangleMesh.create_tetrahedron()
tet.compute_vertex_normals()
tet.paint_uniform_color([0.5, 0.75, 1.0])
self.widget3d.scene.add_geometry("tetrahedron", tet, lit)
bounds = self.widget3d.scene.bounding_box
self.widget3d.setup_camera(60.0, bounds, bounds.get_center())
self.widget3d.scene.show_axes(True)
em = self.window.theme.font_size
margin = 0.5 * em
self.panel = gui.Vert(0.5 * em, gui.Margins(margin))
self.panel.add_child(gui.Label("Color image"))
self.rgb_widget = gui.ImageWidget(self.rgb_images[0])
self.panel.add_child(self.rgb_widget)
self.panel.add_child(gui.Label("Depth image (normalized)"))
self.depth_widget = gui.ImageWidget(self.depth_images[0])
self.panel.add_child(self.depth_widget)
self.window.add_child(self.panel)
self.is_done = False
threading.Thread(target=self._update_thread).start()
def __init__(self, title, message):
self._window = None
# A Dialog is just a widget, so you make its child a layout just like
# a Window.
dlg = gui.Dialog(title)
# Add the message text
em = self.window.theme.font_size
dlg_layout = gui.Vert(em, gui.Margins(em, em, em, em))
dlg_layout.add_child(gui.Label(message))
# Add the Ok button. We need to define a callback function to handle
# the click.
ok_button = gui.Button("Ok")
ok_button.set_on_clicked(self._on_ok)
# We want the Ok button to be an the right side, so we need to add
# a stretch item to the layout, otherwise the button will be the size
# of the entire row. A stretch item takes up as much space as it can,
# which forces the button to be its minimum size.
button_layout = gui.Horiz()
button_layout.add_stretch()
button_layout.add_child(ok_button)
# Add the button layout,
dlg_layout.add_child(button_layout)
# ... then add the layout as the child of the Dialog
dlg.add_child(dlg_layout)
def __init__(self, cloud):
# We will create a SceneWidget that fills the entire window, and then
# a label in the lower left on top of the SceneWidget to display the
# coordinate.
app = gui.Application.instance
self.window = app.create_window("Open3D - GetCoord Example", 1024, 768)
# Since we want the label on top of the scene, we cannot use a layout,
# so we need to manually layout the window's children.
self.window.set_on_layout(self._on_layout)
self.widget3d = gui.SceneWidget()
self.window.add_child(self.widget3d)
self.info = gui.Label("")
self.info.visible = False
self.window.add_child(self.info)
self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
mat = rendering.Material()
mat.shader = "defaultUnlit"
# Point size is in native pixels, but "pixel" means different things to
# different platforms (macOS, in particular), so multiply by Window scale
# factor.
mat.point_size = 3 * self.window.scaling
self.widget3d.scene.add_geometry("Point Cloud", cloud, mat)
bounds = self.widget3d.scene.bounding_box
center = bounds.get_center()
self.widget3d.setup_camera(60, bounds, center)
self.widget3d.look_at(center, center - [0, 0, 3], [0, -1, 0])
self.widget3d.set_on_mouse(self._on_mouse_widget3d)
def _on_menu_about(self):
# Show a simple dialog. Although the Dialog is actually a widget, you can
# treat it similar to a Window for layout and put all the widgets in a
# layout which you make the only child of the Dialog.
em = self.window.theme.font_size
dlg = gui.Dialog("About")
# Add the text
dlg_layout = gui.Vert(em, gui.Margins(em, em, em, em))
dlg_layout.add_child(gui.Label("Open3D GUI Example"))
# Add the Ok button. We need to define a callback function to handle
# the click.
ok = gui.Button("OK")
ok.set_on_clicked(self._on_about_ok)
# We want the Ok button to be an the right side, so we need to add
# a stretch item to the layout, otherwise the button will be the size
# of the entire row. A stretch item takes up as much space as it can,
# which forces the button to be its minimum size.
h = gui.Horiz()
h.add_stretch()
h.add_child(ok)
h.add_stretch()
dlg_layout.add_child(h)
dlg.add_child(dlg_layout)
self.window.show_dialog(dlg)
def switch_proxy():
self.logo_idx += 1
if self.logo_idx % 3 == 0:
proxy.set_widget(None)
elif self.logo_idx % 3 == 1:
# Add a simple image
logo = gui.ImageWidget(basedir + "/icon-32.png")
proxy.set_widget(logo)
else:
label = gui.Label(
'Open3D: A Modern Library for 3D Data Processing')
proxy.set_widget(label)
w.set_needs_layout()
def __init__(self, vfov=60, max_pcd_vertices=1 << 20, **callbacks):
"""Initialize.
Args:
vfov (float): Vertical field of view for the 3D scene.
max_pcd_vertices (int): Maximum point clud verties for which memory
is allocated.
callbacks (dict of kwargs): Callbacks provided by the controller
for various operations.
"""
self.vfov = vfov
self.max_pcd_vertices = max_pcd_vertices
gui.Application.instance.initialize()
self.window = gui.Application.instance.create_window(
"Open3D || Online RGBD Video Processing", 1280, 960)
# Called on window layout (eg: resize)
self.window.set_on_layout(self.on_layout)
self.window.set_on_close(callbacks['on_window_close'])
self.pcd_material = o3d.visualization.rendering.MaterialRecord()
self.pcd_material.shader = "defaultLit"
# Set n_pixels displayed for each 3D point, accounting for HiDPI scaling
self.pcd_material.point_size = int(4 * self.window.scaling)
# 3D scene
self.pcdview = gui.SceneWidget()
self.window.add_child(self.pcdview)
self.pcdview.enable_scene_caching(
True) # makes UI _much_ more responsive
self.pcdview.scene = rendering.Open3DScene(self.window.renderer)
self.pcdview.scene.set_background([1, 1, 1, 1]) # White background
self.pcdview.scene.set_lighting(
rendering.Open3DScene.LightingProfile.SOFT_SHADOWS, [0, -6, 0])
# Point cloud bounds, depends on the sensor range
self.pcd_bounds = o3d.geometry.AxisAlignedBoundingBox([-3, -3, 0],
[3, 3, 6])
self.camera_view() # Initially look from the camera
em = self.window.theme.font_size
# Options panel
self.panel = gui.Vert(em, gui.Margins(em, em, em, em))
self.panel.preferred_width = int(360 * self.window.scaling)
self.window.add_child(self.panel)
toggles = gui.Horiz(em)
self.panel.add_child(toggles)
toggle_capture = gui.ToggleSwitch("Capture / Play")
toggle_capture.is_on = False
toggle_capture.set_on_clicked(
callbacks['on_toggle_capture']) # callback
toggles.add_child(toggle_capture)
self.flag_normals = False
self.toggle_normals = gui.ToggleSwitch("Colors / Normals")
self.toggle_normals.is_on = False
self.toggle_normals.set_on_clicked(
callbacks['on_toggle_normals']) # callback
toggles.add_child(self.toggle_normals)
view_buttons = gui.Horiz(em)
self.panel.add_child(view_buttons)
view_buttons.add_stretch() # for centering
camera_view = gui.Button("Camera view")
camera_view.set_on_clicked(self.camera_view) # callback
view_buttons.add_child(camera_view)
birds_eye_view = gui.Button("Bird's eye view")
birds_eye_view.set_on_clicked(self.birds_eye_view) # callback
view_buttons.add_child(birds_eye_view)
view_buttons.add_stretch() # for centering
save_toggle = gui.Horiz(em)
self.panel.add_child(save_toggle)
save_toggle.add_child(gui.Label("Record / Save"))
self.toggle_record = None
if callbacks['on_toggle_record'] is not None:
save_toggle.add_fixed(1.5 * em)
self.toggle_record = gui.ToggleSwitch("Video")
self.toggle_record.is_on = False
self.toggle_record.set_on_clicked(callbacks['on_toggle_record'])
save_toggle.add_child(self.toggle_record)
save_buttons = gui.Horiz(em)
self.panel.add_child(save_buttons)
save_buttons.add_stretch() # for centering
save_pcd = gui.Button("Save Point cloud")
save_pcd.set_on_clicked(callbacks['on_save_pcd'])
save_buttons.add_child(save_pcd)
save_rgbd = gui.Button("Save RGBD frame")
save_rgbd.set_on_clicked(callbacks['on_save_rgbd'])
save_buttons.add_child(save_rgbd)
save_buttons.add_stretch() # for centering
self.video_size = (int(240 * self.window.scaling),
int(320 * self.window.scaling), 3)
self.show_color = gui.CollapsableVert("Color image")
self.show_color.set_is_open(False)
self.panel.add_child(self.show_color)
self.color_video = gui.ImageWidget(
o3d.geometry.Image(np.zeros(self.video_size, dtype=np.uint8)))
self.show_color.add_child(self.color_video)
self.show_depth = gui.CollapsableVert("Depth image")
self.show_depth.set_is_open(False)
self.panel.add_child(self.show_depth)
self.depth_video = gui.ImageWidget(
o3d.geometry.Image(np.zeros(self.video_size, dtype=np.uint8)))
self.show_depth.add_child(self.depth_video)
self.status_message = gui.Label("")
self.panel.add_child(self.status_message)
self.flag_exit = False
self.flag_gui_init = False
def __init__(self, config, font_id):
self.config = config
self.window = gui.Application.instance.create_window(
'Open3D - Reconstruction', 1280, 800)
w = self.window
em = w.theme.font_size
spacing = int(np.round(0.25 * em))
vspacing = int(np.round(0.5 * em))
margins = gui.Margins(vspacing)
# First panel
self.panel = gui.Vert(spacing, margins)
## Items in fixed props
self.fixed_prop_grid = gui.VGrid(2, spacing, gui.Margins(em, 0, em, 0))
### Depth scale slider
scale_label = gui.Label('Depth scale')
self.scale_slider = gui.Slider(gui.Slider.INT)
self.scale_slider.set_limits(1000, 5000)
self.scale_slider.int_value = int(config.depth_scale)
self.fixed_prop_grid.add_child(scale_label)
self.fixed_prop_grid.add_child(self.scale_slider)
voxel_size_label = gui.Label('Voxel size')
self.voxel_size_slider = gui.Slider(gui.Slider.DOUBLE)
self.voxel_size_slider.set_limits(0.003, 0.01)
self.voxel_size_slider.double_value = config.voxel_size
self.fixed_prop_grid.add_child(voxel_size_label)
self.fixed_prop_grid.add_child(self.voxel_size_slider)
trunc_multiplier_label = gui.Label('Trunc multiplier')
self.trunc_multiplier_slider = gui.Slider(gui.Slider.DOUBLE)
self.trunc_multiplier_slider.set_limits(1.0, 20.0)
self.trunc_multiplier_slider.double_value = config.trunc_voxel_multiplier
self.fixed_prop_grid.add_child(trunc_multiplier_label)
self.fixed_prop_grid.add_child(self.trunc_multiplier_slider)
est_block_count_label = gui.Label('Est. blocks')
self.est_block_count_slider = gui.Slider(gui.Slider.INT)
self.est_block_count_slider.set_limits(40000, 100000)
self.est_block_count_slider.int_value = config.block_count
self.fixed_prop_grid.add_child(est_block_count_label)
self.fixed_prop_grid.add_child(self.est_block_count_slider)
est_point_count_label = gui.Label('Est. points')
self.est_point_count_slider = gui.Slider(gui.Slider.INT)
self.est_point_count_slider.set_limits(500000, 8000000)
self.est_point_count_slider.int_value = config.est_point_count
self.fixed_prop_grid.add_child(est_point_count_label)
self.fixed_prop_grid.add_child(self.est_point_count_slider)
## Items in adjustable props
self.adjustable_prop_grid = gui.VGrid(2, spacing,
gui.Margins(em, 0, em, 0))
### Reconstruction interval
interval_label = gui.Label('Recon. interval')
self.interval_slider = gui.Slider(gui.Slider.INT)
self.interval_slider.set_limits(1, 500)
self.interval_slider.int_value = 50
self.adjustable_prop_grid.add_child(interval_label)
self.adjustable_prop_grid.add_child(self.interval_slider)
### Depth max slider
max_label = gui.Label('Depth max')
self.max_slider = gui.Slider(gui.Slider.DOUBLE)
self.max_slider.set_limits(3.0, 6.0)
self.max_slider.double_value = config.depth_max
self.adjustable_prop_grid.add_child(max_label)
self.adjustable_prop_grid.add_child(self.max_slider)
### Depth diff slider
diff_label = gui.Label('Depth diff')
self.diff_slider = gui.Slider(gui.Slider.DOUBLE)
self.diff_slider.set_limits(0.07, 0.5)
self.diff_slider.double_value = config.odometry_distance_thr
self.adjustable_prop_grid.add_child(diff_label)
self.adjustable_prop_grid.add_child(self.diff_slider)
### Update surface?
update_label = gui.Label('Update surface?')
self.update_box = gui.Checkbox('')
self.update_box.checked = True
self.adjustable_prop_grid.add_child(update_label)
self.adjustable_prop_grid.add_child(self.update_box)
### Ray cast color?
raycast_label = gui.Label('Raycast color?')
self.raycast_box = gui.Checkbox('')
self.raycast_box.checked = True
self.adjustable_prop_grid.add_child(raycast_label)
self.adjustable_prop_grid.add_child(self.raycast_box)
set_enabled(self.fixed_prop_grid, True)
## Application control
b = gui.ToggleSwitch('Resume/Pause')
b.set_on_clicked(self._on_switch)
## Tabs
tab_margins = gui.Margins(0, int(np.round(0.5 * em)), 0, 0)
tabs = gui.TabControl()
### Input image tab
tab1 = gui.Vert(0, tab_margins)
self.input_color_image = gui.ImageWidget()
self.input_depth_image = gui.ImageWidget()
tab1.add_child(self.input_color_image)
tab1.add_fixed(vspacing)
tab1.add_child(self.input_depth_image)
tabs.add_tab('Input images', tab1)
### Rendered image tab
tab2 = gui.Vert(0, tab_margins)
self.raycast_color_image = gui.ImageWidget()
self.raycast_depth_image = gui.ImageWidget()
tab2.add_child(self.raycast_color_image)
tab2.add_fixed(vspacing)
tab2.add_child(self.raycast_depth_image)
tabs.add_tab('Raycast images', tab2)
### Info tab
tab3 = gui.Vert(0, tab_margins)
self.output_info = gui.Label('Output info')
self.output_info.font_id = font_id
tab3.add_child(self.output_info)
tabs.add_tab('Info', tab3)
self.panel.add_child(gui.Label('Starting settings'))
self.panel.add_child(self.fixed_prop_grid)
self.panel.add_fixed(vspacing)
self.panel.add_child(gui.Label('Reconstruction settings'))
self.panel.add_child(self.adjustable_prop_grid)
self.panel.add_child(b)
self.panel.add_stretch()
self.panel.add_child(tabs)
# Scene widget
self.widget3d = gui.SceneWidget()
# FPS panel
self.fps_panel = gui.Vert(spacing, margins)
self.output_fps = gui.Label('FPS: 0.0')
self.fps_panel.add_child(self.output_fps)
# Now add all the complex panels
w.add_child(self.panel)
w.add_child(self.widget3d)
w.add_child(self.fps_panel)
self.widget3d.scene = rendering.Open3DScene(self.window.renderer)
self.widget3d.scene.set_background([1, 1, 1, 1])
w.set_on_layout(self._on_layout)
w.set_on_close(self._on_close)
self.is_done = False
self.is_started = False
self.is_running = False
self.is_surface_updated = False
self.idx = 0
self.poses = []
# Start running
threading.Thread(name='UpdateMain', target=self.update_main).start()
def __init__(self):
self.window = gui.Window("Test")
# self.window = gui.Window("Test", 640, 480)
# self.window = gui.Window("Test", 640, 480, x=50, y=100)
w = self.window # for more concise code
# Rather than specifying sizes in pixels, which may vary in size based
# on the monitor, especially on macOS which has 220 dpi monitors, use
# the em-size. This way sizings will be proportional to the font size,
# which will create a more visually consistent size across platforms.
em = w.theme.font_size
# Widgets are laid out in layouts: gui.Horiz, gui.Vert,
# gui.CollapsableVert, and gui.VGrid. By nesting the layouts we can
# achieve complex designs. Usually we use a vertical layout as the
# topmost widget, since widgets tend to be organized from top to bottom.
# Within that, we usually have a series of horizontal layouts for each
# row.
layout = gui.Vert(0, gui.Margins(0.5 * em, 0.5 * em, 0.5 * em,
0.5 * em))
# Create the menu. The menu is global (because the macOS menu is global),
# so only create it once.
if gui.Application.instance.menubar is None:
menubar = gui.Menu()
test_menu = gui.Menu()
test_menu.add_item("An option", ExampleWindow.MENU_CHECKABLE)
test_menu.set_checked(ExampleWindow.MENU_CHECKABLE, True)
test_menu.add_item("Unavailable feature",
ExampleWindow.MENU_DISABLED)
test_menu.set_enabled(ExampleWindow.MENU_DISABLED, False)
test_menu.add_separator()
test_menu.add_item("Quit", ExampleWindow.MENU_QUIT)
# On macOS the first menu item is the application menu item and will
# always be the name of the application (probably "Python"),
# regardless of what you pass in here. The application menu is
# typically where About..., Preferences..., and Quit go.
menubar.add_menu("Test", test_menu)
gui.Application.instance.menubar = menubar
# Each window needs to know what to do with the menu items, so we need
# to tell the window how to handle menu items.
w.set_on_menu_item_activated(ExampleWindow.MENU_CHECKABLE,
self._on_menu_checkable)
w.set_on_menu_item_activated(ExampleWindow.MENU_QUIT,
self._on_menu_quit)
# Create a file-chooser widget. One part will be a text edit widget for
# the filename and clicking on the button will let the user choose using
# the file dialog.
self._fileedit = gui.TextEdit()
filedlgbutton = gui.Button("...")
filedlgbutton.horizontal_padding_em = 0.5
filedlgbutton.vertical_padding_em = 0
filedlgbutton.set_on_clicked(self._on_filedlg_button)
# (Create the horizontal widget for the row. This will make sure the
# text editor takes up as much space as it can.)
fileedit_layout = gui.Horiz()
fileedit_layout.add_child(gui.Label("Model file"))
fileedit_layout.add_child(self._fileedit)
fileedit_layout.add_fixed(0.25 * em)
fileedit_layout.add_child(filedlgbutton)
# add to the top-level (vertical) layout
layout.add_child(fileedit_layout)
# Create a collapsable vertical widget, which takes up enough vertical
# space for all its children when open, but only enough for text when
# closed. This is useful for property pages, so the user can hide sets
# of properties they rarely use. All layouts take a spacing parameter,
# which is the spacinging between items in the widget, and a margins
# parameter, which specifies the spacing of the left, top, right,
# bottom margins. (This acts like the 'padding' property in CSS.)
collapse = gui.CollapsableVert("Widgets", 0.33 * em,
gui.Margins(em, 0, 0, 0))
self._label = gui.Label("Lorem ipsum dolor")
self._label.text_color = gui.Color(1.0, 0.5, 0.0)
collapse.add_child(self._label)
# Create a checkbox. Checking or unchecking would usually be used to set
# a binary property, but in this case it will show a simple message box,
# which illustrates how to create simple dialogs.
cb = gui.Checkbox("Enable some really cool effect")
cb.set_on_checked(self._on_cb) # set the callback function
collapse.add_child(cb)
# Create a color editor. We will change the color of the orange label
# above when the color changes.
color = gui.ColorEdit()
color.color_value = self._label.text_color
color.set_on_value_changed(self._on_color)
collapse.add_child(color)
# This is a combobox, nothing fancy here, just set a simple function to
# handle the user selecting an item.
combo = gui.Combobox()
combo.add_item("Show point labels")
combo.add_item("Show point velocity")
combo.add_item("Show bounding boxes")
combo.set_on_selection_changed(self._on_combo)
collapse.add_child(combo)
# Add a simple image
logo = gui.ImageLabel(basedir + "/icon-32.png")
collapse.add_child(logo)
# Add a list of items
lv = gui.ListView()
lv.set_items(["Ground", "Trees", "Buildings" "Cars", "People"])
lv.selected_index = lv.selected_index + 2 # initially is -1, so now 1
lv.set_on_selection_changed(self._on_list)
collapse.add_child(lv)
# Add a tree view
tree = gui.TreeView()
tree.add_item(tree.get_root_item(), "Camera")
geo_id = tree.add_item(tree.get_root_item(), "Geometries")
mesh_id = tree.add_item(geo_id, "Mesh")
tree.add_item(mesh_id, "Triangles")
tree.add_item(mesh_id, "Albedo texture")
tree.add_item(mesh_id, "Normal map")
points_id = tree.add_item(geo_id, "Points")
tree.can_select_items_with_children = True
tree.set_on_selection_changed(self._on_tree)
# does not call on_selection_changed: user did not change selection
tree.selected_item = points_id
collapse.add_child(tree)
# Add two number editors, one for integers and one for floating point
# Number editor can clamp numbers to a range, although this is more
# useful for integers than for floating point.
intedit = gui.NumberEdit(gui.NumberEdit.INT)
intedit.int_value = 0
intedit.set_limits(1, 19) # value coerced to 1
intedit.int_value = intedit.int_value + 2 # value should be 3
doubleedit = gui.NumberEdit(gui.NumberEdit.DOUBLE)
numlayout = gui.Horiz()
numlayout.add_child(gui.Label("int"))
numlayout.add_child(intedit)
numlayout.add_fixed(
em) # manual spacing (could set it in Horiz() ctor)
numlayout.add_child(gui.Label("double"))
numlayout.add_child(doubleedit)
collapse.add_child(numlayout)
# Create a progress bar. It ranges from 0.0 to 1.0.
self._progress = gui.ProgressBar()
self._progress.value = 0.25 # 25% complete
self._progress.value = self._progress.value + 0.08 # 0.25 + 0.08 = 33%
prog_layout = gui.Horiz(em)
prog_layout.add_child(gui.Label("Progress..."))
prog_layout.add_child(self._progress)
collapse.add_child(prog_layout)
# Create a slider. It acts very similar to NumberEdit except that the
# user moves a slider and cannot type the number.
slider = gui.Slider(gui.Slider.INT)
slider.set_limits(5, 13)
slider.set_on_value_changed(self._on_slider)
collapse.add_child(slider)
# Create a text editor. The placeholder text (if not empty) will be
# displayed when there is no text, as concise help, or visible tooltip.
tedit = gui.TextEdit()
tedit.placeholder_text = "Edit me some text here"
# on_text_changed fires whenever the user changes the text (but not if
# the text_value property is assigned to).
tedit.set_on_text_changed(self._on_text_changed)
# on_value_changed fires whenever the user signals that they are finished
# editing the text, either by pressing return or by clicking outside of
# the text editor, thus losing text focus.
tedit.set_on_value_changed(self._on_value_changed)
collapse.add_child(tedit)
# Create a widget for showing/editing a 3D vector
vedit = gui.VectorEdit()
vedit.vector_value = [1, 2, 3]
vedit.set_on_value_changed(self._on_vedit)
collapse.add_child(vedit)
# Create a VGrid layout. This layout specifies the number of columns
# (two, in this case), and will place the first child in the first
# column, the second in the second, the third in the first, the fourth
# in the second, etc.
# So:
# 2 cols 3 cols 4 cols
# | 1 | 2 | | 1 | 2 | 3 | | 1 | 2 | 3 | 4 |
# | 3 | 4 | | 4 | 5 | 6 | | 5 | 6 | 7 | 8 |
# | 5 | 6 | | 7 | 8 | 9 | | 9 | 10 | 11 | 12 |
# | ... | | ... | | ... |
vgrid = gui.VGrid(2)
vgrid.add_child(gui.Label("Trees"))
vgrid.add_child(gui.Label("12 items"))
vgrid.add_child(gui.Label("People"))
vgrid.add_child(gui.Label("2 (93% certainty)"))
vgrid.add_child(gui.Label("Cars"))
vgrid.add_child(gui.Label("5 (87% certainty)"))
collapse.add_child(vgrid)
collapse.add_child(vgrid)
# Create a tab control. This is really a set of N layouts on top of each
# other, but with only one selected.
tabs = gui.TabControl()
tab1 = gui.Vert()
tab1.add_child(gui.Checkbox("Enable option 1"))
tab1.add_child(gui.Checkbox("Enable option 2"))
tab1.add_child(gui.Checkbox("Enable option 3"))
tabs.add_tab("Options", tab1)
tab2 = gui.Vert()
tab2.add_child(gui.Label("No plugins detected"))
tab2.add_stretch()
tabs.add_tab("Plugins", tab2)
collapse.add_child(tabs)
# Quit button. (Typically this is a menu item)
button_layout = gui.Horiz()
ok_button = gui.Button("Ok")
ok_button.set_on_clicked(self._on_ok)
button_layout.add_stretch()
button_layout.add_child(ok_button)
layout.add_child(collapse)
layout.add_child(button_layout)
# We're done, set the window's layout
w.add_child(layout)
def __init__(self, width, height):
self.settings = Settings()
resource_path = gui.Application.instance.resource_path
self.settings.new_ibl_name = resource_path + "/" + AppWindow.DEFAULT_IBL
self.window = gui.Application.instance.create_window(
"Open3D", width, height)
w = self.window # to make the code more concise
# 3D widget
self._scene = gui.SceneWidget()
self._scene.scene = rendering.Open3DScene(w.renderer)
self._scene.set_on_sun_direction_changed(self._on_sun_dir)
# ---- Settings panel ----
# Rather than specifying sizes in pixels, which may vary in size based
# on the monitor, especially on macOS which has 220 dpi monitors, use
# the em-size. This way sizings will be proportional to the font size,
# which will create a more visually consistent size across platforms.
em = w.theme.font_size
separation_height = int(round(0.5 * em))
# Widgets are laid out in layouts: gui.Horiz, gui.Vert,
# gui.CollapsableVert, and gui.VGrid. By nesting the layouts we can
# achieve complex designs. Usually we use a vertical layout as the
# topmost widget, since widgets tend to be organized from top to bottom.
# Within that, we usually have a series of horizontal layouts for each
# row. All layouts take a spacing parameter, which is the spacing
# between items in the widget, and a margins parameter, which specifies
# the spacing of the left, top, right, bottom margins. (This acts like
# the 'padding' property in CSS.)
self._settings_panel = gui.Vert(
0, gui.Margins(0.25 * em, 0.25 * em, 0.25 * em, 0.25 * em))
# Create a collapsable vertical widget, which takes up enough vertical
# space for all its children when open, but only enough for text when
# closed. This is useful for property pages, so the user can hide sets
# of properties they rarely use.
view_ctrls = gui.CollapsableVert("View controls", 0.25 * em,
gui.Margins(em, 0, 0, 0))
self._arcball_button = gui.Button("Arcball")
self._arcball_button.horizontal_padding_em = 0.5
self._arcball_button.vertical_padding_em = 0
self._arcball_button.set_on_clicked(self._set_mouse_mode_rotate)
self._fly_button = gui.Button("Fly")
self._fly_button.horizontal_padding_em = 0.5
self._fly_button.vertical_padding_em = 0
self._fly_button.set_on_clicked(self._set_mouse_mode_fly)
self._model_button = gui.Button("Model")
self._model_button.horizontal_padding_em = 0.5
self._model_button.vertical_padding_em = 0
self._model_button.set_on_clicked(self._set_mouse_mode_model)
self._sun_button = gui.Button("Sun")
self._sun_button.horizontal_padding_em = 0.5
self._sun_button.vertical_padding_em = 0
self._sun_button.set_on_clicked(self._set_mouse_mode_sun)
self._ibl_button = gui.Button("Environment")
self._ibl_button.horizontal_padding_em = 0.5
self._ibl_button.vertical_padding_em = 0
self._ibl_button.set_on_clicked(self._set_mouse_mode_ibl)
view_ctrls.add_child(gui.Label("Mouse controls"))
# We want two rows of buttons, so make two horizontal layouts. We also
# want the buttons centered, which we can do be putting a stretch item
# as the first and last item. Stretch items take up as much space as
# possible, and since there are two, they will each take half the extra
# space, thus centering the buttons.
h = gui.Horiz(0.25 * em) # row 1
h.add_stretch()
h.add_child(self._arcball_button)
h.add_child(self._fly_button)
h.add_child(self._model_button)
h.add_stretch()
view_ctrls.add_child(h)
h = gui.Horiz(0.25 * em) # row 2
h.add_stretch()
h.add_child(self._sun_button)
h.add_child(self._ibl_button)
h.add_stretch()
view_ctrls.add_child(h)
self._show_skybox = gui.Checkbox("Show skymap")
self._show_skybox.set_on_checked(self._on_show_skybox)
view_ctrls.add_fixed(separation_height)
view_ctrls.add_child(self._show_skybox)
self._bg_color = gui.ColorEdit()
self._bg_color.set_on_value_changed(self._on_bg_color)
grid = gui.VGrid(2, 0.25 * em)
grid.add_child(gui.Label("BG Color"))
grid.add_child(self._bg_color)
view_ctrls.add_child(grid)
self._show_axes = gui.Checkbox("Show axes")
self._show_axes.set_on_checked(self._on_show_axes)
view_ctrls.add_fixed(separation_height)
view_ctrls.add_child(self._show_axes)
self._profiles = gui.Combobox()
for name in sorted(Settings.LIGHTING_PROFILES.keys()):
self._profiles.add_item(name)
self._profiles.add_item(Settings.CUSTOM_PROFILE_NAME)
self._profiles.set_on_selection_changed(self._on_lighting_profile)
view_ctrls.add_fixed(separation_height)
view_ctrls.add_child(gui.Label("Lighting profiles"))
view_ctrls.add_child(self._profiles)
self._settings_panel.add_fixed(separation_height)
self._settings_panel.add_child(view_ctrls)
advanced = gui.CollapsableVert("Advanced lighting", 0,
gui.Margins(em, 0, 0, 0))
advanced.set_is_open(False)
self._use_ibl = gui.Checkbox("HDR map")
self._use_ibl.set_on_checked(self._on_use_ibl)
self._use_sun = gui.Checkbox("Sun")
self._use_sun.set_on_checked(self._on_use_sun)
advanced.add_child(gui.Label("Light sources"))
h = gui.Horiz(em)
h.add_child(self._use_ibl)
h.add_child(self._use_sun)
advanced.add_child(h)
self._ibl_map = gui.Combobox()
for ibl in glob.glob(gui.Application.instance.resource_path +
"/*_ibl.ktx"):
self._ibl_map.add_item(os.path.basename(ibl[:-8]))
self._ibl_map.selected_text = AppWindow.DEFAULT_IBL
self._ibl_map.set_on_selection_changed(self._on_new_ibl)
self._ibl_intensity = gui.Slider(gui.Slider.INT)
self._ibl_intensity.set_limits(0, 200000)
self._ibl_intensity.set_on_value_changed(self._on_ibl_intensity)
grid = gui.VGrid(2, 0.25 * em)
grid.add_child(gui.Label("HDR map"))
grid.add_child(self._ibl_map)
grid.add_child(gui.Label("Intensity"))
grid.add_child(self._ibl_intensity)
advanced.add_fixed(separation_height)
advanced.add_child(gui.Label("Environment"))
advanced.add_child(grid)
self._sun_intensity = gui.Slider(gui.Slider.INT)
self._sun_intensity.set_limits(0, 200000)
self._sun_intensity.set_on_value_changed(self._on_sun_intensity)
self._sun_dir = gui.VectorEdit()
self._sun_dir.set_on_value_changed(self._on_sun_dir)
self._sun_color = gui.ColorEdit()
self._sun_color.set_on_value_changed(self._on_sun_color)
grid = gui.VGrid(2, 0.25 * em)
grid.add_child(gui.Label("Intensity"))
grid.add_child(self._sun_intensity)
grid.add_child(gui.Label("Direction"))
grid.add_child(self._sun_dir)
grid.add_child(gui.Label("Color"))
grid.add_child(self._sun_color)
advanced.add_fixed(separation_height)
advanced.add_child(gui.Label("Sun (Directional light)"))
advanced.add_child(grid)
self._settings_panel.add_fixed(separation_height)
self._settings_panel.add_child(advanced)
material_settings = gui.CollapsableVert("Material settings", 0,
gui.Margins(em, 0, 0, 0))
self._shader = gui.Combobox()
self._shader.add_item(AppWindow.MATERIAL_NAMES[0])
self._shader.add_item(AppWindow.MATERIAL_NAMES[1])
self._shader.add_item(AppWindow.MATERIAL_NAMES[2])
self._shader.add_item(AppWindow.MATERIAL_NAMES[3])
self._shader.set_on_selection_changed(self._on_shader)
self._material_prefab = gui.Combobox()
for prefab_name in sorted(Settings.PREFAB.keys()):
self._material_prefab.add_item(prefab_name)
self._material_prefab.selected_text = Settings.DEFAULT_MATERIAL_NAME
self._material_prefab.set_on_selection_changed(
self._on_material_prefab)
self._material_color = gui.ColorEdit()
self._material_color.set_on_value_changed(self._on_material_color)
self._point_size = gui.Slider(gui.Slider.INT)
self._point_size.set_limits(1, 10)
self._point_size.set_on_value_changed(self._on_point_size)
grid = gui.VGrid(2, 0.25 * em)
grid.add_child(gui.Label("Type"))
grid.add_child(self._shader)
grid.add_child(gui.Label("Material"))
grid.add_child(self._material_prefab)
grid.add_child(gui.Label("Color"))
grid.add_child(self._material_color)
grid.add_child(gui.Label("Point size"))
grid.add_child(self._point_size)
material_settings.add_child(grid)
self._settings_panel.add_fixed(separation_height)
self._settings_panel.add_child(material_settings)
# ----
# Normally our user interface can be children of all one layout (usually
# a vertical layout), which is then the only child of the window. In our
# case we want the scene to take up all the space and the settings panel
# to go above it. We can do this custom layout by providing an on_layout
# callback. The on_layout callback should set the frame
# (position + size) of every child correctly. After the callback is
# done the window will layout the grandchildren.
w.set_on_layout(self._on_layout)
w.add_child(self._scene)
w.add_child(self._settings_panel)
# ---- Menu ----
# The menu is global (because the macOS menu is global), so only create
# it once, no matter how many windows are created
if gui.Application.instance.menubar is None:
if isMacOS:
app_menu = gui.Menu()
app_menu.add_item("About", AppWindow.MENU_ABOUT)
app_menu.add_separator()
app_menu.add_item("Quit", AppWindow.MENU_QUIT)
file_menu = gui.Menu()
file_menu.add_item("Open...", AppWindow.MENU_OPEN)
file_menu.add_item("Export Current Image...",
AppWindow.MENU_EXPORT)
if not isMacOS:
file_menu.add_separator()
file_menu.add_item("Quit", AppWindow.MENU_QUIT)
settings_menu = gui.Menu()
settings_menu.add_item("Lighting & Materials",
AppWindow.MENU_SHOW_SETTINGS)
settings_menu.set_checked(AppWindow.MENU_SHOW_SETTINGS, True)
help_menu = gui.Menu()
help_menu.add_item("About", AppWindow.MENU_ABOUT)
menu = gui.Menu()
if isMacOS:
# macOS will name the first menu item for the running application
# (in our case, probably "Python"), regardless of what we call
# it. This is the application menu, and it is where the
# About..., Preferences..., and Quit menu items typically go.
menu.add_menu("Example", app_menu)
menu.add_menu("File", file_menu)
menu.add_menu("Settings", settings_menu)
# Don't include help menu unless it has something more than
# About...
else:
menu.add_menu("File", file_menu)
menu.add_menu("Settings", settings_menu)
menu.add_menu("Help", help_menu)
gui.Application.instance.menubar = menu
# The menubar is global, but we need to connect the menu items to the
# window, so that the window can call the appropriate function when the
# menu item is activated.
w.set_on_menu_item_activated(AppWindow.MENU_OPEN, self._on_menu_open)
w.set_on_menu_item_activated(AppWindow.MENU_EXPORT,
self._on_menu_export)
w.set_on_menu_item_activated(AppWindow.MENU_QUIT, self._on_menu_quit)
w.set_on_menu_item_activated(AppWindow.MENU_SHOW_SETTINGS,
self._on_menu_toggle_settings_panel)
w.set_on_menu_item_activated(AppWindow.MENU_ABOUT, self._on_menu_about)
# ----
self._apply_settings()
def push_widget():
self._widget_idx += 1
stack.push_widget(gui.Label(f'Widget {self._widget_idx}'))