Open3D (C++ API)  0.16.1
FilamentGeometryBuffersBuilder.h
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26
27#pragma once
28
32
33// clang-format off
34// NOTE: This header must precede the Filament headers otherwise a conflict
35// occurs between Filament and standard headers
37
38// 4068: Filament has some clang-specific vectorizing pragma's that MSVC flags
39// 4146: Filament's utils/algorithm.h utils::details::ctz() tries to negate
40// an unsigned int.
41// 4293: Filament's utils/algorithm.h utils::details::clz() does strange
42// things with MSVC. Somehow sizeof(unsigned int) > 4, but its size is
43// 32 so that x >> 32 gives a warning. (Or maybe the compiler can't
44// determine the if statement does not run.)
45#ifdef _MSC_VER
46#pragma warning(push)
47#pragma warning(disable : 4068 4146 4293)
48// Filament uses OPAQUE and TRANSPARENT as enums which conflicts with windows.h
49#undef OPAQUE
50#undef TRANSPARENT
51#endif // _MSC_VER
52
53#include <filament/Box.h>
54#include <filament/RenderableManager.h>
55
56#ifdef _MSC_VER
57#pragma warning(pop)
58#endif // _MSC_VER
59// clang-format on
60
61#include <memory>
62#include <tuple>
63
64namespace open3d {
65
66namespace geometry {
67class Geometry3D;
68class LineSet;
69class PointCloud;
70class TriangleMesh;
71} // namespace geometry
72
73namespace visualization {
74namespace rendering {
75
77public:
78 // Note that the downsampled index buffer may be kBadId if a downsampled
79 // buffer was not requested, failed, or cannot be created (e.g. if not
80 // a point cloud).
81 using Buffers = std::tuple<VertexBufferHandle, // vertex buffer
82 IndexBufferHandle, // index buffer
83 IndexBufferHandle>; // downsampled buffer
85
86 static std::unique_ptr<GeometryBuffersBuilder> GetBuilder(
87 const geometry::Geometry3D& geometry);
88 static std::unique_ptr<GeometryBuffersBuilder> GetBuilder(
89 const t::geometry::Geometry& geometry);
90
91 virtual ~GeometryBuffersBuilder() = default;
92
93 virtual filament::RenderableManager::PrimitiveType GetPrimitiveType()
94 const = 0;
95
96 // Defaults to infinity (that is, no downsampling). If threshold is
97 // set and the number of points exceeds the threshold, ConstructBuffers()
98 // will return a downsampled index buffer. Certain builders may ignore
99 // this threshold.
100 virtual void SetDownsampleThreshold(size_t min_points) {
101 downsample_threshold_ = min_points;
102 }
103
104 // Instructs LineSetBuffersBuilder to build lines out of triangles for wide
105 // lines shader.
106 virtual void SetWideLines() { wide_lines_ = true; }
107
108 virtual void SetAdjustColorsForSRGBToneMapping(bool adjust) {
110 }
111
113 virtual filament::Box ComputeAABB() = 0;
114
115protected:
116 size_t downsample_threshold_ = SIZE_MAX;
117 bool wide_lines_ = false;
119
120 static void DeallocateBuffer(void* buffer, size_t size, void* user_ptr);
121
122 static IndexBufferHandle CreateIndexBuffer(size_t max_index,
123 size_t n_subsamples = SIZE_MAX);
124};
125
127public:
128 explicit TriangleMeshBuffersBuilder(const geometry::TriangleMesh& geometry);
129
130 filament::RenderableManager::PrimitiveType GetPrimitiveType()
131 const override;
132
133 Buffers ConstructBuffers() override;
134 filament::Box ComputeAABB() override;
135
136private:
137 const geometry::TriangleMesh& geometry_;
138};
139
141public:
142 explicit PointCloudBuffersBuilder(const geometry::PointCloud& geometry);
143
144 filament::RenderableManager::PrimitiveType GetPrimitiveType()
145 const override;
146
147 Buffers ConstructBuffers() override;
148 filament::Box ComputeAABB() override;
149
150private:
151 const geometry::PointCloud& geometry_;
152};
153
155public:
156 explicit LineSetBuffersBuilder(const geometry::LineSet& geometry);
157
158 filament::RenderableManager::PrimitiveType GetPrimitiveType()
159 const override;
160
161 Buffers ConstructBuffers() override;
162 filament::Box ComputeAABB() override;
163
164private:
165 Buffers ConstructThinLines();
166
167 const geometry::LineSet& geometry_;
168};
169
171public:
172 explicit TMeshBuffersBuilder(const t::geometry::TriangleMesh& geometry);
173
174 filament::RenderableManager::PrimitiveType GetPrimitiveType()
175 const override;
176
177 Buffers ConstructBuffers() override;
178 filament::Box ComputeAABB() override;
179
180private:
182};
183
185public:
186 explicit TPointCloudBuffersBuilder(const t::geometry::PointCloud& geometry);
187
188 filament::RenderableManager::PrimitiveType GetPrimitiveType()
189 const override;
190
191 Buffers ConstructBuffers() override;
192 filament::Box ComputeAABB() override;
193
194private:
195 t::geometry::PointCloud geometry_;
196};
197
199public:
200 explicit TLineSetBuffersBuilder(const t::geometry::LineSet& geometry);
201
202 filament::RenderableManager::PrimitiveType GetPrimitiveType()
203 const override;
204
205 Buffers ConstructBuffers() override;
206 filament::Box ComputeAABB() override;
207
208private:
211 void ConstructThinLines(uint32_t& n_vertices,
212 float** vertex_data,
213 uint32_t& n_indices,
214 uint32_t& indices_bytes,
215 uint32_t** line_indices);
218 void ConstructWideLines(uint32_t& n_vertices,
219 float** vertex_data,
220 uint32_t& n_indices,
221 uint32_t& indices_bytes,
222 uint32_t** line_indices);
223 t::geometry::LineSet geometry_;
224};
225
226} // namespace rendering
227} // namespace visualization
228} // namespace open3d
The base geometry class for 3D geometries.
Definition: Geometry3D.h:47
LineSet define a sets of lines in 3D. A typical application is to display the point cloud corresponde...
Definition: LineSet.h:48
A point cloud consists of point coordinates, and optionally point colors and point normals.
Definition: PointCloud.h:55
Triangle mesh contains vertices and triangles represented by the indices to the vertices.
Definition: TriangleMesh.h:54
The base geometry class.
Definition: Geometry.h:42
A LineSet contains points and lines joining them and optionally attributes on the points and lines.
Definition: LineSet.h:103
A point cloud contains a list of 3D points.
Definition: PointCloud.h:99
A triangle mesh contains vertices and triangles.
Definition: TriangleMesh.h:111
Definition: FilamentGeometryBuffersBuilder.h:76
std::tuple< VertexBufferHandle, IndexBufferHandle, IndexBufferHandle > Buffers
Definition: FilamentGeometryBuffersBuilder.h:83
bool adjust_colors_for_srgb_tonemapping_
Definition: FilamentGeometryBuffersBuilder.h:118
static void DeallocateBuffer(void *buffer, size_t size, void *user_ptr)
Definition: FilamentGeometryBuffersBuilder.cpp:288
virtual void SetAdjustColorsForSRGBToneMapping(bool adjust)
Definition: FilamentGeometryBuffersBuilder.h:108
std::uint32_t IndexType
Definition: FilamentGeometryBuffersBuilder.h:84
static std::unique_ptr< GeometryBuffersBuilder > GetBuilder(const geometry::Geometry3D &geometry)
Definition: FilamentGeometryBuffersBuilder.cpp:219
bool wide_lines_
Definition: FilamentGeometryBuffersBuilder.h:117
size_t downsample_threshold_
Definition: FilamentGeometryBuffersBuilder.h:116
virtual void SetWideLines()
Definition: FilamentGeometryBuffersBuilder.h:106
static IndexBufferHandle CreateIndexBuffer(size_t max_index, size_t n_subsamples=SIZE_MAX)
Definition: PointCloudBuffers.cpp:108
virtual void SetDownsampleThreshold(size_t min_points)
Definition: FilamentGeometryBuffersBuilder.h:100
virtual filament::RenderableManager::PrimitiveType GetPrimitiveType() const =0
Definition: FilamentGeometryBuffersBuilder.h:154
filament::RenderableManager::PrimitiveType GetPrimitiveType() const override
Definition: LineSetBuffers.cpp:105
LineSetBuffersBuilder(const geometry::LineSet &geometry)
Definition: LineSetBuffers.cpp:102
Buffers ConstructBuffers() override
Definition: LineSetBuffers.cpp:245
filament::Box ComputeAABB() override
Definition: LineSetBuffers.cpp:368
Definition: FilamentGeometryBuffersBuilder.h:140
Buffers ConstructBuffers() override
Definition: PointCloudBuffers.cpp:179
filament::RenderableManager::PrimitiveType GetPrimitiveType() const override
Definition: PointCloudBuffers.cpp:174
filament::Box ComputeAABB() override
Definition: PointCloudBuffers.cpp:285
PointCloudBuffersBuilder(const geometry::PointCloud &geometry)
Definition: PointCloudBuffers.cpp:170
Definition: FilamentGeometryBuffersBuilder.h:198
Buffers ConstructBuffers() override
Definition: LineSetBuffers.cpp:569
filament::RenderableManager::PrimitiveType GetPrimitiveType() const override
Definition: LineSetBuffers.cpp:421
filament::Box ComputeAABB() override
Definition: LineSetBuffers.cpp:651
TLineSetBuffersBuilder(const t::geometry::LineSet &geometry)
Definition: LineSetBuffers.cpp:384
Definition: FilamentGeometryBuffersBuilder.h:170
Buffers ConstructBuffers() override
Definition: TriangleMeshBuffers.cpp:633
filament::RenderableManager::PrimitiveType GetPrimitiveType() const override
Definition: TriangleMeshBuffers.cpp:629
filament::Box ComputeAABB() override
Definition: TriangleMeshBuffers.cpp:829
TMeshBuffersBuilder(const t::geometry::TriangleMesh &geometry)
Definition: TriangleMeshBuffers.cpp:584
Definition: FilamentGeometryBuffersBuilder.h:184
Buffers ConstructBuffers() override
Definition: PointCloudBuffers.cpp:356
filament::Box ComputeAABB() override
Definition: PointCloudBuffers.cpp:487
filament::RenderableManager::PrimitiveType GetPrimitiveType() const override
Definition: PointCloudBuffers.cpp:351
TPointCloudBuffersBuilder(const t::geometry::PointCloud &geometry)
Definition: PointCloudBuffers.cpp:308
Definition: FilamentGeometryBuffersBuilder.h:126
filament::Box ComputeAABB() override
Definition: TriangleMeshBuffers.cpp:568
Buffers ConstructBuffers() override
Definition: TriangleMeshBuffers.cpp:434
TriangleMeshBuffersBuilder(const geometry::TriangleMesh &geometry)
Definition: TriangleMeshBuffers.cpp:425
filament::RenderableManager::PrimitiveType GetPrimitiveType() const override
Definition: TriangleMeshBuffers.cpp:429
int size
Definition: FilePCD.cpp:59
const char const char value recording_handle imu_sample recording_handle uint8_t size_t data_size k4a_record_configuration_t config target_format k4a_capture_t capture_handle k4a_imu_sample_t imu_sample playback_handle k4a_logging_message_cb_t void min_level device_handle k4a_imu_sample_t timeout_in_ms capture_handle capture_handle capture_handle image_handle temperature_c k4a_image_t image_handle uint8_t image_handle image_handle image_handle image_handle uint32_t
Definition: K4aPlugin.cpp:567
REHandle< EntityType::IndexBuffer > IndexBufferHandle
Definition: RendererHandle.h:158
REHandle< EntityType::VertexBuffer > VertexBufferHandle
Definition: RendererHandle.h:157
Definition: PinholeCameraIntrinsic.cpp:35