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- I have searched for similar issues.
- For Python issues, I have tested with the latest development wheel.
- I have checked the release documentation and the latest documentation (for
mainbranch).
Proposed new feature or change
Good evening,
I wrote this code (with the help of deepseek) to create a controllable camera with touchpad. The local camera rotation has an issue where if you look down the controls reverse or start stuttering which we fixed by adding a limit. You can add this to documentations to help beginners. If you put the mouse somewhere on the screen it will start rotating towards that direction. If you use scroll up (swiping with two fingers on the touchpad) camera moves forward or scroll left and right for for sideways movement.
import open3d as o3d
import win32api
import win32gui
import win32con
import time
from typing import Optional, Tuple
import numpy as np
import numba
class Scene:
def __init__(self, point_cloud: Optional[o3d.geometry.PointCloud] = None, points: Optional[int] = None, colors: Optional[int] = None):
self.pcd: Optional[o3d.geometry.PointCloud] = None
self.window: Optional[o3d.visualization.VisualizerWithKeyCallback] = None
self.windowWidth: int = 800
self.windowHeight: int = 600
self.camera: Optional[Scene.Camera] = None
if point_cloud is not None:
self.pcd = point_cloud
elif points is not None and colors is not None:
self.createPointCloud(points, colors)
self.createWindow()
self.camera = Scene.Camera(self)
def createPointCloud(self, points: int, colors: int) -> None:
self.pcd = o3d.geometry.PointCloud()
self.pcd.points = o3d.utility.Vector3dVector(np.random.rand(points, 3))
self.pcd.colors = o3d.utility.Vector3dVector(np.random.rand(colors, 3))
def createWindow(self) -> None:
self.window = o3d.visualization.VisualizerWithKeyCallback()
self.window.create_window(width=self.windowWidth, height=self.windowHeight)
screenWidth = win32api.GetSystemMetrics(0)
screenHeight = win32api.GetSystemMetrics(1)
centerX = (screenWidth - self.windowWidth) // 2
centerY = (screenHeight - self.windowHeight) // 2
hwnd = win32gui.FindWindow(None, "Open3D")
if hwnd:
win32gui.SetWindowPos(hwnd, win32con.HWND_TOP, centerX, centerY, self.windowWidth, self.windowHeight, win32con.SWP_SHOWWINDOW)
if self.pcd:
self.window.add_geometry(self.pcd)
self.windowHeight -= 48
self.windowWidth -= 19
class Camera:
def __init__(self, scene: 'Scene'):
self.scene = scene
self.fps: float = 1 / 60
self.sensitivity: float = self.fps * 2
self.mouseLookX: float = 0
self.mouseLookY: float = 0
self.mouseScrollX: float = 0
self.mouseScrollY: float = 0
self.ctr = self.scene.window.get_view_control()
self.keyboard_controls = Scene.Camera.CameraKeyboardControls(self)
self.touchpad_controls = Scene.Camera.CameraTouchPadControls(self)
self.setRenderDistance(0.1, 1000)
self.angleX = 0
self.angleY = 0
self.flipped = False
def cameraFront(self, vec:np.array) -> None:
self.ctr.set_front(vec)
def cameraLookat(self, vec:np.array) -> None:
self.ctr.set_lookat(vec)
def cameraSetUp(self, vec:np.array) -> None:
self.ctr.set_up(vec)
def cameraSetZoom(self, zoom: float) -> None:
self.ctr.set_zoom(zoom)
def setRenderDistance(self, near: float, far: float) -> None:
self.ctr.set_constant_z_near(near)
self.ctr.set_constant_z_far(far)
def getOriginAndDirection(self) -> np.array:
extrinsicMatrix = self.ctr.convert_to_pinhole_camera_parameters().extrinsic
rotationMatrix = extrinsicMatrix[:3, :3]
origin = extrinsicMatrix[:3, 3]
rightDirection = origin+rotationMatrix[:, 0]
upDirection = origin+rotationMatrix[:, 1]
forwardDirection = origin-rotationMatrix[:, 2]
return np.array([origin,rightDirection,upDirection,forwardDirection])
def getCameraForwardVector(self,):
extrinsicMatrix = self.ctr.convert_to_pinhole_camera_parameters().extrinsic
forwardVector = extrinsicMatrix[2, :3]
return forwardVector / np.linalg.norm(forwardVector)
def getCameraPitch(self):
extrinsicMatrix = self.ctr.convert_to_pinhole_camera_parameters().extrinsic
rotationMatrix = extrinsicMatrix[:3, :3]
pitch = np.arcsin(-rotationMatrix[2, 1]) # Simplified for this example
return pitch
def flipCameraUpsideDown(self):
cameraParam = self.ctr.convert_to_pinhole_camera_parameters()
extrinsicMatrix = cameraParam.extrinsic
flip_matrix = np.array([
[1, 0, 0, 0],
[0, -1, 0, 0],
[0, 0, -1, 0],
[0, 0, 0, 1]
])
rotate_y_matrix = np.array([
[-1, 0, 0, 0],
[0, 1, 0, 0],
[0, 0, -1, 0],
[0, 0, 0, 1]
])
combined_matrix = np.dot(rotate_y_matrix, flip_matrix)
cameraParam.extrinsic = np.dot(combined_matrix, extrinsicMatrix)
self.ctr.convert_from_pinhole_camera_parameters(cameraParam)
self.flipped = not self.flipped
class CameraKeyboardControls:
def __init__(self, camera: 'Scene.Camera'):
self.camera = camera
key_actions = {
ord('A'): lambda vis: self.key_callback(vis, ord('A')),
32: lambda vis: self.key_callback(vis, 32), # Space bar key
}
for key, action in key_actions.items():
self.camera.scene.window.register_key_callback(key, action)
def key_callback(self, vis, key_code: int) -> bool:
if key_code == ord('W'):
""
elif key_code == 32:
self.camera.flipCameraUpsideDown()
return False
class CameraTouchPadControls:
def __init__(self, camera: 'Scene.Camera'):
self.camera = camera
self.camera.scene.window.register_mouse_move_callback(self.on_mouse_move)
self.camera.scene.window.register_mouse_scroll_callback(self.on_mouse_scroll)
def on_mouse_move(self, obj, x: int, y: int) -> None:
if x > self.camera.scene.windowWidth / 2:
self.camera.mouseLookX = (x-(self.camera.scene.windowWidth/2))*self.camera.sensitivity
else:
self.camera.mouseLookX = -((self.camera.scene.windowWidth/2)-x)*self.camera.sensitivity
if y > self.camera.scene.windowHeight / 2:
self.camera.mouseLookY = (y-(self.camera.scene.windowHeight/2))*self.camera.sensitivity
else:
self.camera.mouseLookY = -((self.camera.scene.windowHeight/2)-y)*self.camera.sensitivity
def on_mouse_scroll(self, obj, x: int, y: int) -> None:
self.camera.mouseScrollX += x*self.camera.sensitivity/10
self.camera.mouseScrollY -= y*self.camera.sensitivity/10
# Example usage
scene2 = Scene(o3d.geometry.PointCloud(o3d.io.read_point_cloud(o3d.data.PLYPointCloud().path)))
PITCH_LIMIT_MIN = np.radians(-60) # -70 degrees
PITCH_LIMIT_MAX = np.radians(60) # 70 degrees
while True:
scene2.window.poll_events()
scene2.window.update_renderer()
current = scene2.camera.getCameraPitch()
print(current*180/np.pi)
if (scene2.camera.flipped) :
if current < PITCH_LIMIT_MIN and scene2.camera.mouseLookY>0: scene2.camera.mouseLookY = 0
if current > PITCH_LIMIT_MAX and scene2.camera.mouseLookY<0: scene2.camera.mouseLookY = 0
else:
if current < PITCH_LIMIT_MIN and scene2.camera.mouseLookY<0: scene2.camera.mouseLookY = 0
if current > PITCH_LIMIT_MAX and scene2.camera.mouseLookY>0: scene2.camera.mouseLookY = 0
scene2.camera.ctr.camera_local_translate(scene2.camera.mouseScrollY, scene2.camera.mouseScrollX, 0)
scene2.camera.ctr.camera_local_rotate(scene2.camera.mouseLookX,scene2.camera.mouseLookY)
time.sleep(scene2.camera.fps)
References
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Additional information
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