Open3d Tests

test.py

import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering

class TestWindow:

    def __init__(self, pcd_file, width, height):
        self.pcd_file = pcd_file
        self._window = gui.Application.instance.create_window("Test", width, height)
        w = self._window

        self._scene = gui.SceneWidget()
        self._scene.scene = rendering.Open3DScene(w.renderer)
        # self._scene.scene.set_background_color([68, 68, 68, 255])
        self._scene.scene.set_background_color([200, 200, 200, 255])
        # self._scene.scene.set_background_color(gui.Color(1, 1, 1))
        self._scene.set_view_controls(gui.SceneWidget.Controls.ROTATE_CAMERA)

        em = w.theme.font_size
        separation_height = int(round(0.5 * em))
        
        self._settings_panel = gui.Vert(0, gui.Margins(0.25*em, 0.25*em, 0.25*em, 0.25*em))

        # View controls
        view_ctrls = gui.CollapsableVert("View controls", 0.25 * em,
                                         gui.Margins(em, 0, 0, 0))
        # Model button
        self._model_button = gui.Button("Model")
        self._model_button.horizontal_padding_em = 0.5
        self._model_button.vertical_padding_em = 0.25
        self._model_button.set_on_clicked(self._set_mouse_mode_model)

        # Pick button
        self._pick_button = gui.Button("Pick")
        self._pick_button.horizontal_padding_em = 0.5
        self._pick_button.vertical_padding_em = 0.25
        self._pick_button.set_on_clicked(self._set_mouse_mode_pick)
        
        view_ctrls.add_child(gui.Label("Mouse controls"))
        h = gui.Horiz(0.25 * em)
        h.add_child(self._model_button)
        h.add_child(self._pick_button)
        h.add_stretch()
        view_ctrls.add_child(h)
        self._settings_panel.add_child(view_ctrls)

        w.set_on_layout(self._on_layout2)
        w.add_child(self._scene)
        w.add_child(self._settings_panel)
        
        self.load_model(pcd_file)
        self.setup_camera()

    def _on_layout(self, theme):
        # https://github.com/intel-isl/Open3D/blob/master/examples/python/gui/vis-gui.py#L505
        # 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.
        print('_on_layout')
        r = self.window.content_rect
        self._scene.frame = r
        width = 17 * theme.font_size
        height = min(r.height,
                     self._settings_panel.calc_preferred_size(theme).height)
        self._settings_panel.frame = gui.Rect(r.get_right() - width, r.y, width,
                                              height)

    def _on_layout2(self, theme):
        # https://github.com/intel-isl/Open3D-ML/blob/master/ml3d/vis/visualizer.py#1304
        print('_on_layout')
        frame = self._window.content_rect
        em = theme.font_size
        panel_width = 20 * em
        panel_rect = gui.Rect(frame.get_right() - panel_width, frame.y,
                              panel_width, frame.height - frame.y)
        self._settings_panel.frame = panel_rect
        self._scene.frame = gui.Rect(frame.x, frame.y, panel_rect.x - frame.x,
                                  frame.height - frame.y)

    def load_model(self, pcd_file):
        try:
            self.geometry = o3d.io.read_point_cloud(pcd_file)
            self._scene.scene.add_geometry("__model__", self.geometry, self.get_material())
        except Exception as e:
            print(e)

    def setup_camera(self):
        try:
            bounds = self.geometry.get_axis_aligned_bounding_box()
            self._scene.setup_camera(60, bounds, bounds.get_center())
        except Exception as e:
            print(e)

    def setup_sun(self):
        self._scene.scene.scene.set_sun_light([0.577, -0.577, -0.577], gui.Color(1, 1, 1), 45000)
        self._scene.scene.scene.enable_sun_light(True)

    def get_material(self):
        # For shaders see: https://github.com/intel-isl/Open3D/tree/master/cpp/open3d/visualization/gui/Materials
        mat = rendering.Material()
        # mat.shader = "defaultUnlit"
        mat.shader = "unlitSolidColor"
        mat.base_color = [1.0, 0.2, 0.2, 1.0]
        return mat

    def _set_mouse_mode_model(self):
        self._scene.set_view_controls(gui.SceneWidget.Controls.ROTATE_MODEL)

    def _set_mouse_mode_pick(self):
        self._scene.set_view_controls(gui.SceneWidget.Controls.PICK_POINTS)


def main():
    # o3d.utility.set_verbosity_level(o3d.utility.VerbosityLevel.Debug)
    print('====INITIALIZE====')
    gui.Application.instance.initialize()
    print('====END INITIALIZE====')
    
    exception = None
    try:
        print('====TESTWINDOW====')
        test = TestWindow("examples/test_data/Armadillo.ply", 1024, 800)
        print('====END TESTWINDOW====')
    except Exception as e:
        print('====EXCEPTION====')
        exception = e
        raise e

    # if not exception:
        # print('No exceptions: running')
    print('====BEGIN RUN====')
    gui.Application.instance.run()
    print('====END====')


if __name__ == '__main__':
    main()