94 lines
3.6 KiB
Python
94 lines
3.6 KiB
Python
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# ----------------------------------------------------------------------------
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# - Open3D: www.open3d.org -
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# ----------------------------------------------------------------------------
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# The MIT License (MIT)
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#
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# Copyright (c) 2018 www.open3d.org
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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# FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS
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# IN THE SOFTWARE.
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# ----------------------------------------------------------------------------
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import ipywidgets as widgets
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from traitlets import Unicode, Float, List, Instance
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from IPython.display import display
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import open3d as o3
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import numpy as np
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def geometry_to_json(geometry):
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"""Convert Open3D geometry to Json (Dict)"""
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json = dict()
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if isinstance(geometry, o3.geometry.PointCloud):
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json['type'] = 'PointCloud'
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# TODO: do not flatten
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json['points'] = np.asarray(geometry.points,
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dtype=np.float32).reshape(-1).tolist()
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json['colors'] = np.asarray(geometry.colors,
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dtype=np.float32).reshape(-1).tolist()
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else:
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raise NotImplementedError(
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"Only supporting geometry_to_json for PointCloud")
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return json
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@widgets.register
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class JVisualizer(widgets.DOMWidget):
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_view_name = Unicode('JVisualizerView').tag(sync=True)
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_view_module = Unicode('open3d').tag(sync=True)
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_view_module_version = Unicode('~0.10.0').tag(
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sync=True)
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_model_name = Unicode('JVisualizerModel').tag(sync=True)
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_model_module = Unicode('open3d').tag(sync=True)
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_model_module_version = Unicode('~0.10.0').tag(
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sync=True)
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# We need to declare class attributes for traitlets to work
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geometry_jsons = List(Instance(dict)).tag(sync=True)
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def __init__(self):
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super(JVisualizer, self).__init__()
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self.geometry_jsons = []
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self.geometries = []
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def __repr__(self):
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return "JVisualizer with %s geometries" % len(self.geometry_jsons)
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def add_geometry(self, geometry):
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# TODO: See if we can use self.send(content=content)
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# For some reason self.geometry_jsons has to be directly assigned,
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# so we keep track of self.geometries and self.geometry_jsons.
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self.geometries.append(geometry)
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self.geometry_jsons = [geometry_to_json(g) for g in self.geometries]
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def clear(self):
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self.geometries = []
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self.geometry_jsons = []
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# TODO: consider using this mechanism to send geometry data
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# def send_dog(self):
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# print("py: sending gwen")
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# content = {
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# "type": "dog",
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# "name": "gwen"
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# }
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# self.send(content=content)
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def show(self):
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display(self)
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