Merge remote-tracking branch 'upstream/master' into aabb

isl-org · May 25, 2021 · 6339692 · 6339692
2 parents b2deefe + ff11ad2
commit 6339692
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diff --git a/README.md b/README.md
@@ -27,7 +27,6 @@ the open-source community.
 [![Ubuntu CI](https://github.com/intel-isl/Open3D/workflows/Ubuntu%20CI/badge.svg)](https://github.com/intel-isl/Open3D/actions?query=workflow%3A%22Ubuntu+CI%22)
 [![macOS CI](https://github.com/intel-isl/Open3D/workflows/macOS%20CI/badge.svg)](https://github.com/intel-isl/Open3D/actions?query=workflow%3A%22macOS+CI%22)
 [![Windows CI](https://github.com/intel-isl/Open3D/workflows/Windows%20CI/badge.svg)](https://github.com/intel-isl/Open3D/actions?query=workflow%3A%22Windows+CI%22)
-[![Build Status](https://travis-ci.org/intel-isl/Open3D.svg?branch=master)](https://travis-ci.org/intel-isl/)
 
 **Core features of Open3D include:**
 
@@ -49,12 +48,9 @@ Pre-built pip and conda packages support Ubuntu 18.04+, macOS 10.14+ and
 Windows 10 (64-bit) with Python 3.6, 3.7 and 3.8.
 
 ```bash
-# Install Open3D stable release with pip
+# Install Open3D stable release with pip (including in conda virtual environments)
 $ pip install open3d
 
-# Install Open3D stable release with Conda
-$ conda install -c open3d-admin -c conda-forge open3d
-
 # Test the installation
 $ python -c "import open3d as o3d; print(o3d)"
 
@@ -69,7 +65,7 @@ To compile Open3D from source, refer to
 
 Checkout the following links to get started with Open3D C++ API
 
-* [Compiling Open3D frrom source](http://www.open3d.org/docs/release/compilation.html)
+* [Compiling Open3D from source](http://www.open3d.org/docs/release/compilation.html)
 * [Open3D C++ API](http://www.open3d.org/docs/release/cpp_api.html)
 
 To use Open3D in your C++ project, checkout the following examples

diff --git a/cpp/open3d/pipelines/registration/ColoredICP.cpp b/cpp/open3d/pipelines/registration/ColoredICP.cpp
@@ -118,9 +118,22 @@ Eigen::Matrix4d TransformationEstimationForColoredICP::ComputeTransformation(
         const geometry::PointCloud &source,
         const geometry::PointCloud &target,
         const CorrespondenceSet &corres) const {
-    if (corres.empty() || !target.HasNormals() || !target.HasColors() ||
-        !source.HasColors()) {
-        return Eigen::Matrix4d::Identity();
+    if (corres.empty()) {
+        utility::LogError(
+                "No correspondences found between source and target "
+                "pointcloud.");
+    }
+    if (!target.HasNormals()) {
+        utility::LogError(
+                "ColoredICP requires target pointcloud to have normals.");
+    }
+    if (!target.HasColors()) {
+        utility::LogError(
+                "ColoredICP requires target pointcloud to have colors.");
+    }
+    if (!source.HasColors()) {
+        utility::LogError(
+                "ColoredICP requires source pointcloud to have colors.");
     }
 
     double sqrt_lambda_geometric = sqrt(lambda_geometric_);
@@ -228,9 +241,22 @@ RegistrationResult RegistrationColoredICP(
         double max_distance,
         const Eigen::Matrix4d &init /* = Eigen::Matrix4d::Identity()*/,
         const TransformationEstimationForColoredICP &estimation
-        /*TransformationEstimationForColoredICP()*/,
+        /* = TransformationEstimationForColoredICP()*/,
         const ICPConvergenceCriteria
                 &criteria /* = ICPConvergenceCriteria()*/) {
+    if (!target.HasNormals()) {
+        utility::LogError(
+                "ColoredICP requires target pointcloud to have normals.");
+    }
+    if (!target.HasColors()) {
+        utility::LogError(
+                "ColoredICP requires target pointcloud to have colors.");
+    }
+    if (!source.HasColors()) {
+        utility::LogError(
+                "ColoredICP requires source pointcloud to have colors.");
+    }
+
     auto target_c = InitializePointCloudForColoredICP(
             target, geometry::KDTreeSearchParamHybrid(max_distance * 2.0, 30));
     return RegistrationICP(source, *target_c, max_distance, init, estimation,

diff --git a/cpp/open3d/visualization/gui/Button.cpp b/cpp/open3d/visualization/gui/Button.cpp
@@ -135,7 +135,8 @@ Widget::DrawResult Button::Draw(const DrawContext& context) {
     auto& frame = GetFrame();
     auto result = Widget::DrawResult::NONE;
 
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
 
     bool was_on = impl_->is_on_;
     if (was_on) {

diff --git a/cpp/open3d/visualization/gui/Checkbox.cpp b/cpp/open3d/visualization/gui/Checkbox.cpp
@@ -79,7 +79,8 @@ Size Checkbox::CalcPreferredSize(const LayoutContext& context,
 
 Widget::DrawResult Checkbox::Draw(const DrawContext& context) {
     auto& frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
     auto result = Widget::DrawResult::NONE;
 
     // ImGUI doesn't offer styling specific to checkboxes other than the

diff --git a/cpp/open3d/visualization/gui/ColorEdit.cpp b/cpp/open3d/visualization/gui/ColorEdit.cpp
@@ -75,7 +75,8 @@ Size ColorEdit::CalcPreferredSize(const LayoutContext& context,
 
 ColorEdit::DrawResult ColorEdit::Draw(const DrawContext& context) {
     auto& frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
 
     auto new_value = impl_->value_;
     DrawImGuiPushEnabledState();

diff --git a/cpp/open3d/visualization/gui/Combobox.cpp b/cpp/open3d/visualization/gui/Combobox.cpp
@@ -170,7 +170,8 @@ Combobox::DrawResult Combobox::Draw(const DrawContext& context) {
     bool did_open = false;
 
     auto& frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
 
     ImGui::PushStyleColor(
             ImGuiCol_Button,

diff --git a/cpp/open3d/visualization/gui/ImageWidget.cpp b/cpp/open3d/visualization/gui/ImageWidget.cpp
@@ -120,13 +120,16 @@ Widget::DrawResult ImageWidget::Draw(const DrawContext& context) {
     if (params.texture != visualization::rendering::TextureHandle::kBad) {
         ImTextureID image_id =
                 reinterpret_cast<ImTextureID>(params.texture.GetId());
-        ImGui::SetCursorScreenPos(ImVec2(params.pos_x, params.pos_y));
+        ImGui::SetCursorScreenPos(
+                ImVec2(params.pos_x, params.pos_y - ImGui::GetScrollY()));
         ImGui::Image(image_id, ImVec2(params.width, params.height),
                      ImVec2(params.u0, params.v0),
                      ImVec2(params.u1, params.v1));
     } else {
         // Draw error message if we don't have an image, instead of
         // quietly failing or something.
+        Rect frame = GetFrame();         // hide reference with a copy...
+        frame.y -= ImGui::GetScrollY();  // ... so we can adjust for scrolling
         const char* error_text = "  Error\nloading\n image";
         Color fg(1.0, 1.0, 1.0);
         ImGui::GetWindowDrawList()->AddRectFilled(

diff --git a/cpp/open3d/visualization/gui/Label.cpp b/cpp/open3d/visualization/gui/Label.cpp
@@ -133,7 +133,8 @@ Size Label::CalcPreferredSize(const LayoutContext& context,
 
 Widget::DrawResult Label::Draw(const DrawContext& context) {
     auto& frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
     ImGui::PushItemWidth(float(frame.width));
     bool is_default_color = (impl_->color_ == DEFAULT_COLOR);
     if (!is_default_color) {

diff --git a/cpp/open3d/visualization/gui/Layout.cpp b/cpp/open3d/visualization/gui/Layout.cpp
@@ -309,17 +309,29 @@ void Layout1D::Layout(const LayoutContext& context) {
                 }
             }
         }
-    } else if (num_grow > 0 && frame_size < total) {
-        auto total_excess = total - (frame_size - impl_->margins_.GetVert() -
-                                     total_spacing);
-        auto excess = total_excess / num_grow;
-        auto leftover = total_excess - excess * num_stretch;
-        for (size_t i = 0; i < major.size(); ++i) {
-            if (major[i] >= Widget::DIM_GROW) {
-                major[i] -= excess;
-                if (leftover > 0) {
-                    major[i] -= 1;
-                    leftover -= 1;
+    } else if (frame_size < total) {
+        int n_shrinkable = num_grow;
+        if (impl_->dir_ == VERT) {
+            for (auto child : GetChildren()) {
+                if (std::dynamic_pointer_cast<ScrollableVert>(child)) {
+                    n_shrinkable++;
+                }
+            }
+        }
+        if (n_shrinkable > 0) {
+            auto total_excess = total - (frame_size - total_spacing);
+            auto excess = total_excess / n_shrinkable;
+            auto leftover = total_excess - excess * num_stretch;
+            for (size_t i = 0; i < major.size(); ++i) {
+                if (major[i] >= Widget::DIM_GROW ||
+                    (impl_->dir_ == VERT &&
+                     std::dynamic_pointer_cast<ScrollableVert>(
+                             GetChildren()[i]) != nullptr)) {
+                    major[i] -= excess;
+                    if (leftover > 0) {
+                        major[i] -= 1;
+                        leftover -= 1;
+                    }
                 }
             }
         }
@@ -330,7 +342,9 @@ void Layout1D::Layout(const LayoutContext& context) {
     if (impl_->dir_ == VERT) {
         int minor = frame.width - impl_->margins_.GetHoriz();
         for (size_t i = 0; i < children.size(); ++i) {
-            children[i]->SetFrame(Rect(x, y, minor, major[i]));
+            int h = std::max(children[i]->CalcMinimumSize(context).height,
+                             major[i]);
+            children[i]->SetFrame(Rect(x, y, minor, h));
             y += major[i] + impl_->spacing_;
         }
     } else {
@@ -443,7 +457,8 @@ Widget::DrawResult CollapsableVert::Draw(const DrawContext& context) {
     bool was_open = impl_->is_open_;
 
     auto& frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
     ImGui::PushItemWidth(float(frame.width));
 
     auto padding = ImGui::GetStyle().FramePadding;
@@ -474,6 +489,49 @@ Widget::DrawResult CollapsableVert::Draw(const DrawContext& context) {
     }
     return result;
 }
+
+// ----------------------------------------------------------------------------
+struct ScrollableVert::Impl {
+    ImGuiID id_;
+};
+
+ScrollableVert::ScrollableVert() : ScrollableVert(0, Margins(), {}) {}
+
+ScrollableVert::ScrollableVert(int spacing /*= 0*/,
+                               const Margins& margins /*= Margins()*/)
+    : ScrollableVert(spacing, margins, {}) {}
+
+ScrollableVert::ScrollableVert(
+        int spacing,
+        const Margins& margins,
+        const std::vector<std::shared_ptr<Widget>>& children)
+    : Vert(spacing, margins, children), impl_(new ScrollableVert::Impl) {
+    static int g_next_id = 1;
+    impl_->id_ = g_next_id++;
+}
+
+ScrollableVert::~ScrollableVert() {}
+
+Widget::DrawResult ScrollableVert::Draw(const DrawContext& context) {
+    auto& frame = GetFrame();
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
+    ImGui::PushStyleColor(ImGuiCol_FrameBg,
+                          ImGui::GetStyleColorVec4(ImGuiCol_WindowBg));
+    ImGui::PushStyleColor(ImGuiCol_Border,
+                          colorToImgui(Color(0.0f, 0.0f, 0.0f, 0.0f)));
+    ImGui::PushStyleColor(ImGuiCol_BorderShadow,
+                          colorToImgui(Color(0.0f, 0.0f, 0.0f, 0.0f)));
+
+    ImGui::BeginChildFrame(impl_->id_, ImVec2(frame.width, frame.height));
+    auto result = Super::Draw(context);
+    ImGui::EndChildFrame();
+
+    ImGui::PopStyleColor(3);
+
+    return result;
+}
+
 // ----------------------------------------------------------------------------
 std::shared_ptr<Layout1D::Fixed> Horiz::MakeFixed(int size) {
     return std::make_shared<Layout1D::Fixed>(size, HORIZ);

diff --git a/cpp/open3d/visualization/gui/Layout.h b/cpp/open3d/visualization/gui/Layout.h
@@ -179,6 +179,25 @@ class CollapsableVert : public Vert {
     std::unique_ptr<Impl> impl_;
 };
 
+/// This a vertical layout that scrolls if it is smaller than its contents
+class ScrollableVert : public Vert {
+    using Super = Vert;
+
+public:
+    ScrollableVert();
+    ScrollableVert(int spacing, const Margins& margins = Margins());
+    ScrollableVert(int spacing,
+                   const Margins& margins,
+                   const std::vector<std::shared_ptr<Widget>>& children);
+    virtual ~ScrollableVert();
+
+    Widget::DrawResult Draw(const DrawContext& context) override;
+
+private:
+    struct Impl;
+    std::unique_ptr<Impl> impl_;
+};
+
 /// Lays out widgets horizontally.
 class Horiz : public Layout1D {
 public:

diff --git a/cpp/open3d/visualization/gui/ListView.cpp b/cpp/open3d/visualization/gui/ListView.cpp
@@ -97,9 +97,14 @@ Size ListView::CalcPreferredSize(const LayoutContext &context,
     return Size(int(std::ceil(size.x + 2.0f * padding.x)), Widget::DIM_GROW);
 }
 
+Size ListView::CalcMinimumSize(const LayoutContext &context) const {
+    return Size(0, 3 * context.theme.font_size);
+}
+
 Widget::DrawResult ListView::Draw(const DrawContext &context) {
     auto &frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) + ImGui::GetScrollY()));
     ImGui::PushItemWidth(float(frame.width));
 
     ImGui::PushStyleColor(ImGuiCol_FrameBg,

diff --git a/cpp/open3d/visualization/gui/ListView.h b/cpp/open3d/visualization/gui/ListView.h
@@ -54,6 +54,8 @@ class ListView : public Widget {
     Size CalcPreferredSize(const LayoutContext& context,
                            const Constraints& constraints) const override;
 
+    Size CalcMinimumSize(const LayoutContext& context) const override;
+
     DrawResult Draw(const DrawContext& context) override;
 
     /// Calls onValueChanged(const char *selectedText, bool isDoubleClick)

diff --git a/cpp/open3d/visualization/gui/Materials/unlitLine.mat b/cpp/open3d/visualization/gui/Materials/unlitLine.mat
@@ -19,23 +19,27 @@ material {
 
 vertex {
     void materialVertex(inout MaterialVertexInputs material) {
-        float4 pos = getPosition();
-        float4 next = getCustom0();
         float4 resolution = getResolution();
         float aspect = resolution.x / resolution.y;
+        float4 pos = getPosition();
+        // next.xyz is the position of the end of the line used to compute the direction of
+        // the line.
+        // next.w is the sign of the direction perpendicular to the line along which the
+        // vertex will be moved to create the line's width.
+        float4 next = getCustom0();
 
         // Project current vertex and next vertex to screen
-        float4 projected_pos = getClipFromWorldMatrix() * float4(pos.xyz - getWorldOffset(), 1.0);
-        float4 projected_next = getClipFromWorldMatrix() * float4(next.xyz - getWorldOffset(), 1.0);
+        float4 world_pos = getWorldFromModelMatrix() * pos;
+        float4 world_pos_next = getWorldFromModelMatrix() * float4(next.xyz, 1.0);
+        float4 projected_pos = getClipFromWorldMatrix() * world_pos;
+        float4 projected_next = getClipFromWorldMatrix() * world_pos_next;
         float2 screen_pos = projected_pos.xy / projected_pos.w;
-        screen_pos.x *= aspect;
         float2 screen_next = projected_next.xy / projected_next.w;
-        screen_next.x *= aspect;
 
         // now compute offset for the desired line width
         float2 dir = normalize(screen_next - screen_pos);
         float4 normal = float4(-dir.y, dir.x, 0.0, 1.0);
-        normal.xy *= (materialParams.lineWidth * resolution.z * 0.5);
+        normal.xy *= (materialParams.lineWidth * resolution.z * 0.5 * aspect);
         normal *= getClipFromViewMatrix();
         normal.xy *= projected_pos.w;
 

diff --git a/cpp/open3d/visualization/gui/NumberEdit.cpp b/cpp/open3d/visualization/gui/NumberEdit.cpp
@@ -135,7 +135,8 @@ Size NumberEdit::CalcPreferredSize(const LayoutContext& context,
 
 Widget::DrawResult NumberEdit::Draw(const DrawContext& context) {
     auto& frame = GetFrame();
-    ImGui::SetCursorScreenPos(ImVec2(float(frame.x), float(frame.y)));
+    ImGui::SetCursorScreenPos(
+            ImVec2(float(frame.x), float(frame.y) - ImGui::GetScrollY()));
 
     ImGui::PushStyleVar(ImGuiStyleVar_FrameRounding,
                         0.0);  // macOS doesn't round text edit borders

diff --git a/cpp/open3d/visualization/gui/SceneWidget.cpp b/cpp/open3d/visualization/gui/SceneWidget.cpp
@@ -122,8 +122,6 @@ class RotateIBLInteractor : public SceneWidget::MouseInteractor {
         return *ibl_.get();
     }
 
-    void ShowSkybox(bool is_on) { ibl_->ShowSkybox(is_on); }
-
     void SetOnChanged(std::function<void(const rendering::Camera::Transform&)>
                               on_changed) {
         on_rotation_changed_ = on_changed;
@@ -629,8 +627,6 @@ class Interactors {
         sun_->SetOnSunLightChanged(onChanged);
     }
 
-    void ShowSkybox(bool isOn) { ibl_->ShowSkybox(isOn); }
-
     void SetSunInteractorEnabled(bool enable) {
         sun_interactor_enabled_ = enable;
     }
@@ -925,10 +921,6 @@ void SceneWidget::SetOnSunDirectionChanged(
     });
 }
 
-void SceneWidget::ShowSkybox(bool is_on) {
-    impl_->controls_->ShowSkybox(is_on);
-}
-
 void SceneWidget::SetSunInteractorEnabled(bool enable) {
     impl_->controls_->SetSunInteractorEnabled(enable);
 }

diff --git a/cpp/open3d/visualization/gui/SceneWidget.h b/cpp/open3d/visualization/gui/SceneWidget.h
@@ -123,8 +123,6 @@ class SceneWidget : public Widget {
     /// only needed if other things need to be updated (like a UI).
     void SetOnSunDirectionChanged(
             std::function<void(const Eigen::Vector3f&)> on_dir_changed);
-    /// Enables showing the skybox while in skybox ROTATE_IBL mode.
-    void ShowSkybox(bool is_on);
 
     void SetScene(std::shared_ptr<rendering::Open3DScene> scene);
     std::shared_ptr<rendering::Open3DScene> GetScene() const;