open3d visualizer 基礎表示

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import open3d as o3d
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
import platform


class MainWindow_o3d:
    def __init__(self):
        self._id = 0
        self.window = gui.Application.instance.create_window("open3d visualizer example", 1024, 768)
        self.scene = gui.SceneWidget()
        self.scene.scene = rendering.Open3DScene(self.window.renderer)
        self.scene.scene.set_background([1, 1, 1, 1])
        self.scene.scene.scene.set_sun_light(
            [-1, -1, -1],  # direction
            [1, 1, 1],  # color
            100000)  # intensity
        self.scene.scene.scene.enable_sun_light(True)
        bbox = o3d.geometry.AxisAlignedBoundingBox([-10, -10, -10],
                                                   [10, 10, 10])
        self.scene.setup_camera(60, bbox, [0, 0, 0])

        self.window.add_child(self.scene)

        # 図形描画
        self.func_draw_test()

    def func_draw_test(self):
        self.scene.scene.clear_geometry()  # 画面クリア

        # 点の座標データ
        points = [[0, 0, 0], [10, 10, 10]]
        colors = [[1, 0, 0], [0, 0, 1]]  # 赤、青

        # 点群オブジェクトの作成
        pcd = o3d.geometry.PointCloud()
        pcd.points = o3d.utility.Vector3dVector(points)
        pcd.colors = o3d.utility.Vector3dVector(colors)

        # シーンに点群を追加
        material = rendering.MaterialRecord()
        material.shader = "defaultUnlit"
        self.scene.scene.add_geometry("Points", pcd, material)

        # --- 面の追加 ---
        # 面1 (XY平面) の頂点
        vertices_plane1 = [[0, 0, 0], [10, 0, 0], [10, 10, 0], [0, 10, 0]]
        triangles_plane1 = [[0, 1, 2], [2, 3, 0]]  # 頂点のインデックスで面を作る
        colors_plane1 = [[0, 1, 0]]  # 緑

        # 面1の作成
        mesh_plane1 = o3d.geometry.TriangleMesh()
        mesh_plane1.vertices = o3d.utility.Vector3dVector(vertices_plane1)
        mesh_plane1.triangles = o3d.utility.Vector3iVector(triangles_plane1)
        mesh_plane1.paint_uniform_color(colors_plane1[0])

        # 面2 (YZ平面) の頂点
        vertices_plane2 = [[0, 0, 0], [0, 10, 0], [0, 10, 10], [0, 0, 10]]
        triangles_plane2 = [[0, 1, 2], [2, 3, 0]]
        colors_plane2 = [[0, 0, 1]]  # 青

        # 面2の作成
        mesh_plane2 = o3d.geometry.TriangleMesh()
        mesh_plane2.vertices = o3d.utility.Vector3dVector(vertices_plane2)
        mesh_plane2.triangles = o3d.utility.Vector3iVector(triangles_plane2)
        mesh_plane2.paint_uniform_color(colors_plane2[0])

        # シーンに面を追加
        self.scene.scene.add_geometry("Plane1", mesh_plane1, material)
        self.scene.scene.add_geometry("Plane2", mesh_plane2, material)

        # --- XYZ軸の追加 ---
        # 軸の長さ
        axis_length = 15.0

        # 座標軸を生成
        axes = o3d.geometry.TriangleMesh.create_coordinate_frame(size=axis_length)

        # シーンに軸を追加
        self.scene.scene.add_geometry("Axes", axes, material)


def main():
    gui.Application.instance.initialize()
    MainWindow_o3d()
    gui.Application.instance.run()


if __name__ == "__main__":
    main()