Recommended NonBlocking Visualizer?

[mconway2579]

I have seen the Non blocking visualization tutorial here and the visulization examples here. I want to be able to use 3d_label from O3DVisualizer as well as interactively maneuver the camera and add/update/remove pointclouds, bounding boxes, coordinate frames, and 3d labels all without using any blocking calls.

I currently have the following for a minimal example that is definitely not using the library as intended.

Any help getting the functionality would be appreciated.

import open3d as o3d
from open3d.visualization import gui, rendering
import threading
import time
import numpy as np

box = o3d.geometry.TriangleMesh.create_box(width=1.0, height=1.0, depth=1.0)
sphere = o3d.geometry.TriangleMesh.create_sphere(radius=0.5)
cylinder = o3d.geometry.TriangleMesh.create_cylinder(radius=0.5, height=1.0)
shapes = [box, sphere, cylinder]

def get_shape():
    mesh = shapes[np.random.randint(0, len(shapes))]
    pcd = mesh.sample_points_uniformly(number_of_points=1000)
    rx, ry, rz = np.random.uniform(0, 2*np.pi, size=3)
    R = o3d.geometry.get_rotation_matrix_from_xyz((rx, ry, rz))
    t = np.random.uniform(-1, 1, size=3)
    T = np.eye(4)
    T[:3, :3] = R
    T[:3, 3] = t
    pcd.transform(T)
    return pcd

class Open3dWindow:
     def __init__(self):
        self.app = gui.Application.instance
        self.vis = None
        def gui_thread(self):
            self.app.initialize()
            self.vis = o3d.visualization.O3DVisualizer("VisionPipe GUI", 1024, 768)
            self.vis.show_settings = True
            self.app.add_window(self.vis)
            #while self.app.run_one_tick():
            #    time.sleep(0.02)
            self.app.run()
            self.vis.close()
            self.app.quit()

        self.gui_thread = threading.Thread(target=gui_thread, args=(self,))
        self.gui_thread.start()
        self.camera_frame = o3d.geometry.TriangleMesh.create_coordinate_frame(size=0.2, origin=[0, 0, 0])
        while self.vis is None:
            time.sleep(0.1)
        self.vis.add_geometry("CameraFrame", self.camera_frame)


if __name__ == "__main__":
    window = Open3dWindow()
    options = ["add", "remove", "update"]
    dict_shapes = {}
    for i in range(100):
        time.sleep(1)
        change = np.random.choice(options)
        print(f"Change: {change}")
        if change == "add":
            pcd = get_shape()
            name = f"Shape_{i}"
            dict_shapes[name] = pcd
            window.vis.add_geometry(name, pcd)
        elif change == "remove" and dict_shapes:
            name = np.random.choice(list(dict_shapes.keys()))
            window.vis.remove_geometry(name)
        elif change == "update" and dict_shapes:
            name = np.random.choice(list(dict_shapes.keys()))
            new_pcd = get_shape()
            new_pcd = dict_shapes[name] + new_pcd
            window.vis.remove_geometry(name)
            window.vis.add_geometry(name, new_pcd)
            dict_shapes[name] += new_pcd
        window.vis.clear_3d_labels()
        for name, pcd in dict_shapes.items():
            center = pcd.get_center()
            window.vis.add_3d_label(center, name)
        rx, ry, rz = np.random.uniform(0, 2*np.pi, size=3)
        R = o3d.geometry.get_rotation_matrix_from_xyz((rx, ry, rz))
        t = np.random.uniform(-1, 1, size=3)
        T = np.eye(4)
        T[:3, :3] = R
        T[:3, 3] = t
        window.camera_frame.transform(T)