Open 3d Widget with editing

o3d_widget_with_editing_demo.py

# Partially Working Error on Exit

from PySide2 import QtWidgets, QtGui,QtCore
import open3d as o3d
import win32gui
import sys
import threading
import time

class Worker(QtCore.QObject):
    def run(self,vis):
        vis.run()

class MainWindow(QtWidgets.QMainWindow):
    def __init__(self):
        super(MainWindow, self).__init__()
        widget = QtWidgets.QWidget()
        layout = QtWidgets.QGridLayout(widget)
        self.setCentralWidget(widget)
        
        file_path = "C:\\test\test.pcd"
        self.pcd = o3d.io.read_point_cloud(file_path)

        self.vis = o3d.visualization.VisualizerWithEditing()
        self.vis.create_window()
        self.vis.add_geometry(self.pcd)

        hwnd = win32gui.FindWindowEx(0, 0, None, "Open3D - free view")
        self.window = QtGui.QWindow.fromWinId(hwnd)    

        self.windowcontainer = self.createWindowContainer(self.window, widget)
        layout.addWidget(self.windowcontainer, 0, 0)
        
        self.thread = QtCore.QThread()
        self.worker = Worker()
        self.thread.started.connect(lambda: self.worker.run(self.vis))
        self.thread.start()
        
        timer = QtCore.QTimer(self)
        timer.timeout.connect(self.blub)
        timer.start(100)
        #print("starting vis")

        btn = QtWidgets.QPushButton(text="test")
        btn.clicked.connect(lambda: print("Button pressed!"))
        layout.addWidget(btn)
    
    def blub(self):
        #Function to keep PySide eventloop running
        pass
    
    def start_vis(self):
        print("thread start")
        self.vis.run()
        print("thread end")

    def update_vis(self):
        #self.vis.update_geometry()
        self.vis.poll_events()
        self.vis.update_renderer()

if __name__ == '__main__':

    app = QtWidgets.QApplication(sys.argv)
    form = MainWindow()
    form.setWindowTitle('o3d Embed')
    form.setGeometry(100, 100, 600, 500)
    form.show()
    sys.exit(app.exec_())

Thanks for your help.

Could anyone hint me on how this code could be changed to visualize a .OBJ or .PLY file with texture? (still using VisualizerWithEditing() within a Qt widget)
Here is what I have been able to achieve (and not):

• using o3d.io.read_triangle_mesh() on a .PLY file instead of o3d.io.read_point_cloud() for a .PCD brings the object with texture in the visualizer, but then clicking does not do anything.

• using o3d.io.read_triangle_mesh() on a .OBJ brings the object but does not load the texture, and again clicking does not do anything.

• using o3d.io.read_triangle_model() yields an error as self.vis.add_geometry() does not support "triangle_model" object type. self.vis Class only has add_geometry(), and does not support add_model() as some other open3d classes have.

I am thinking about finding a way to convert the OBJ or PLY object to a point-cloud (with texture) in open3d and then loading it into the visualizer as a workaround if no other way exists (and need to figure out how to perform that conversion).
[Edit] I converted a textured mesh (.PLY) to point-count simply with the following:
filepath1 = 'my_filepath_to_my_ply_file'
obj1 = o3d.io.read_triangle_mesh(filepath1)
pcd = o3d.geometry.PointCloud()
pcd.points = obj1.vertices
pcd.colors = obj1.vertex_colors
pcd.normals = obj1.vertex_normals
It is not ideal as clicking between points results in "no click", or may hit a point located on a face behind the intended face.
It also seems that VisualizerWithEditing() ignores further add_geometry() calls, so it is not possible to have more than one object in the visualizer.

I am thinking it may then be best to use the standard open3d visualizer and use ray_casting to identify the location where the user clicked.
https://www.open3d.org/docs/release/tutorial/geometry/ray_casting.html#Creating-a-virtual-point-cloud
Anyone tried doing that?

I want to press btn to add another geometry, but run() will block the current thread. So I didn't succeed, Do you know how to solve it, thank you very much!

I solved it by using open3d.visualization.Visualizer() instead of self.vis = o3d.visualization.VisualizerWithEditing()
VisualizerWithEditing() can only render one geometry at a time even though you succeeded in adding it whereas Visualizer can only render more than one geometry.