scan_model_viewer.py

# title: scan model viewer
# description: viewer for testing
# author: Taewook Kang
# date: 2023.11.12
# version: 0.1 (draft version. TBD)
# license: MIT license
# 
import glob, numpy as np, os, time, sys, io, json, subprocess, argparse, readline, glob, re, platform
import open3d as o3d, laspy
import open3d.visualization.gui as gui
import open3d.visualization.rendering as rendering
from scan_to_model_pipeline import scan_to_model_pipeline

isMacOS = (platform.system() == "Darwin")

class Settings:
	UNLIT = "defaultUnlit"
	LIT = "defaultLit"
	NORMALS = "normals"
	DEPTH = "depth"

	DEFAULT_PROFILE_NAME = "Bright day with sun at +Y [default]"
	POINT_CLOUD_PROFILE_NAME = "Cloudy day (no direct sun)"
	CUSTOM_PROFILE_NAME = "Custom"
	LIGHTING_PROFILES = {
		DEFAULT_PROFILE_NAME: {
			"ibl_intensity": 45000,
			"sun_intensity": 45000,
			"sun_dir": [0.577, -0.577, -0.577],
			# "ibl_rotation":
			"use_ibl": True,
			"use_sun": True,
		},
		"Bright day with sun at -Y": {
			"ibl_intensity": 45000,
			"sun_intensity": 45000,
			"sun_dir": [0.577, 0.577, 0.577],
			# "ibl_rotation":
			"use_ibl": True,
			"use_sun": True,
		},
		"Bright day with sun at +Z": {
			"ibl_intensity": 45000,
			"sun_intensity": 45000,
			"sun_dir": [0.577, 0.577, -0.577],
			# "ibl_rotation":
			"use_ibl": True,
			"use_sun": True,
		},
		"Less Bright day with sun at +Y": {
			"ibl_intensity": 35000,
			"sun_intensity": 50000,
			"sun_dir": [0.577, -0.577, -0.577],
			# "ibl_rotation":
			"use_ibl": True,
			"use_sun": True,
		},
		"Less Bright day with sun at -Y": {
			"ibl_intensity": 35000,
			"sun_intensity": 50000,
			"sun_dir": [0.577, 0.577, 0.577],
			# "ibl_rotation":
			"use_ibl": True,
			"use_sun": True,
		},
		"Less Bright day with sun at +Z": {
			"ibl_intensity": 35000,
			"sun_intensity": 50000,
			"sun_dir": [0.577, 0.577, -0.577],
			# "ibl_rotation":
			"use_ibl": True,
			"use_sun": True,
		},
		POINT_CLOUD_PROFILE_NAME: {
			"ibl_intensity": 60000,
			"sun_intensity": 50000,
			"use_ibl": True,
			"use_sun": False,
			# "ibl_rotation":
		},
	}

	DEFAULT_MATERIAL_NAME = "Polished ceramic [default]"
	PREFAB = {
		DEFAULT_MATERIAL_NAME: {
			"metallic": 0.0,
			"roughness": 0.7,
			"reflectance": 0.5,
			"clearcoat": 0.2,
			"clearcoat_roughness": 0.2,
			"anisotropy": 0.0
		},
		"Metal (rougher)": {
			"metallic": 1.0,
			"roughness": 0.5,
			"reflectance": 0.9,
			"clearcoat": 0.0,
			"clearcoat_roughness": 0.0,
			"anisotropy": 0.0
		},
		"Metal (smoother)": {
			"metallic": 1.0,
			"roughness": 0.3,
			"reflectance": 0.9,
			"clearcoat": 0.0,
			"clearcoat_roughness": 0.0,
			"anisotropy": 0.0
		},
		"Plastic": {
			"metallic": 0.0,
			"roughness": 0.5,
			"reflectance": 0.5,
			"clearcoat": 0.5,
			"clearcoat_roughness": 0.2,
			"anisotropy": 0.0
		},
		"Glazed ceramic": {
			"metallic": 0.0,
			"roughness": 0.5,
			"reflectance": 0.9,
			"clearcoat": 1.0,
			"clearcoat_roughness": 0.1,
			"anisotropy": 0.0
		},
		"Clay": {
			"metallic": 0.0,
			"roughness": 1.0,
			"reflectance": 0.5,
			"clearcoat": 0.1,
			"clearcoat_roughness": 0.287,
			"anisotropy": 0.0
		},
	}

	def __init__(self):
		self.mouse_model = gui.SceneWidget.Controls.ROTATE_CAMERA
		self.bg_color = gui.Color(1, 1, 1)
		self.show_skybox = False
		self.show_axes = False
		self.use_ibl = True
		self.use_sun = True
		self.new_ibl_name = None  # clear to None after loading
		self.ibl_intensity = 45000
		self.sun_intensity = 45000
		self.sun_dir = [0.577, -0.577, -0.577]
		self.sun_color = gui.Color(1, 1, 1)

		self.apply_material = True  # clear to False after processing
		self._materials = {
			Settings.LIT: rendering.MaterialRecord(),
			Settings.UNLIT: rendering.MaterialRecord(),
			Settings.NORMALS: rendering.MaterialRecord(),
			Settings.DEPTH: rendering.MaterialRecord()
		}
		self._materials[Settings.LIT].base_color = [0.9, 0.9, 0.9, 1.0]
		self._materials[Settings.LIT].shader = Settings.LIT
		self._materials[Settings.UNLIT].base_color = [0.9, 0.9, 0.9, 1.0]
		self._materials[Settings.UNLIT].shader = Settings.UNLIT
		self._materials[Settings.NORMALS].shader = Settings.NORMALS
		self._materials[Settings.DEPTH].shader = Settings.DEPTH
		self.material = self._materials[Settings.LIT]

	def set_material(self, name):
		self.material = self._materials[name]
		self.apply_material = True

	def apply_material_prefab(self, name):
		assert (self.material.shader == Settings.LIT)
		prefab = Settings.PREFAB[name]
		for key, val in prefab.items():
			setattr(self.material, "base_" + key, val)

	def apply_lighting_profile(self, name):
		profile = Settings.LIGHTING_PROFILES[name]
		for key, val in profile.items():
			setattr(self, key, val)

def convert_las_to_pcd(path):
	files = glob.glob(path)

	conda_env = 'venv_pcd'
	for index, infile in enumerate(files): 
		outfile = infile.replace('.las', '.pcd')
		print(outfile)
		command = f"conda activate {conda_env} && pdal translate {infile} {outfile}"
		subprocess.call(command, shell=True)

_model_index = 0
class AppWindow:
	MENU_OPEN = 1
	MENU_EXPORT = 2
	MENU_QUIT = 3
	MENU_PCD_PIPELINE = 10
	MENU_LOAD_PCD_SEGMENT = 11
	MENU_CONVERT_LAS_TO_PCD = 12
	MENU_SHOW_SETTINGS = 20
	MENU_SHOW_EXTENTS = 21
	MENU_ABOUT = 31

	DEFAULT_IBL = "default"

	MATERIAL_NAMES = ["Lit", "Unlit", "Normals", "Depth"]
	MATERIAL_SHADERS = [
		Settings.LIT, Settings.UNLIT, Settings.NORMALS, Settings.DEPTH
	]

	def __init__(self, width, height):
		self.settings = Settings()
		resource_path = gui.Application.instance.resource_path
		self.settings.new_ibl_name = resource_path + "/" + AppWindow.DEFAULT_IBL

		self.window = gui.Application.instance.create_window(
			"Open3D", width, height)
		w = self.window  # to make the code more concise

		# 3D widget
		self._scene = gui.SceneWidget()
		self._scene.scene = rendering.Open3DScene(w.renderer)
		self._scene.set_on_sun_direction_changed(self._on_sun_dir)
		em = w.theme.font_size
		separation_height = int(round(0.5 * em))
		self._settings_panel = gui.Vert(
			0, gui.Margins(0.25 * em, 0.25 * em, 0.25 * em, 0.25 * em))
		view_ctrls = gui.CollapsableVert("View controls", 0.25 * em,
										 gui.Margins(em, 0, 0, 0))

		self._arcball_button = gui.Button("Arcball")
		self._arcball_button.horizontal_padding_em = 0.5
		self._arcball_button.vertical_padding_em = 0
		self._arcball_button.set_on_clicked(self._set_mouse_mode_rotate)
		self._fly_button = gui.Button("Fly")
		self._fly_button.horizontal_padding_em = 0.5
		self._fly_button.vertical_padding_em = 0
		self._fly_button.set_on_clicked(self._set_mouse_mode_fly)
		self._model_button = gui.Button("Model")
		self._model_button.horizontal_padding_em = 0.5
		self._model_button.vertical_padding_em = 0
		self._model_button.set_on_clicked(self._set_mouse_mode_model)
		self._sun_button = gui.Button("Sun")
		self._sun_button.horizontal_padding_em = 0.5
		self._sun_button.vertical_padding_em = 0
		self._sun_button.set_on_clicked(self._set_mouse_mode_sun)
		self._ibl_button = gui.Button("Environment")
		self._ibl_button.horizontal_padding_em = 0.5
		self._ibl_button.vertical_padding_em = 0
		self._ibl_button.set_on_clicked(self._set_mouse_mode_ibl)
		view_ctrls.add_child(gui.Label("Mouse controls"))

		h = gui.Horiz(0.25 * em)  # row 1
		h.add_stretch()
		h.add_child(self._arcball_button)
		h.add_child(self._fly_button)
		h.add_child(self._model_button)
		h.add_stretch()
		view_ctrls.add_child(h)
		h = gui.Horiz(0.25 * em)  # row 2
		h.add_stretch()
		h.add_child(self._sun_button)
		h.add_child(self._ibl_button)
		h.add_stretch()
		view_ctrls.add_child(h)

		self._show_skybox = gui.Checkbox("Show skymap")
		self._show_skybox.set_on_checked(self._on_show_skybox)
		view_ctrls.add_fixed(separation_height)
		view_ctrls.add_child(self._show_skybox)

		self._bg_color = gui.ColorEdit()
		self._bg_color.set_on_value_changed(self._on_bg_color)

		grid = gui.VGrid(2, 0.25 * em)
		grid.add_child(gui.Label("BG Color"))
		grid.add_child(self._bg_color)
		view_ctrls.add_child(grid)

		self._show_axes = gui.Checkbox("Show axes")
		self._show_axes.set_on_checked(self._on_show_axes)
		view_ctrls.add_fixed(separation_height)
		view_ctrls.add_child(self._show_axes)

		self._profiles = gui.Combobox()
		for name in sorted(Settings.LIGHTING_PROFILES.keys()):
			self._profiles.add_item(name)
		self._profiles.add_item(Settings.CUSTOM_PROFILE_NAME)
		self._profiles.set_on_selection_changed(self._on_lighting_profile)
		view_ctrls.add_fixed(separation_height)
		view_ctrls.add_child(gui.Label("Lighting profiles"))
		view_ctrls.add_child(self._profiles)
		self._settings_panel.add_fixed(separation_height)
		self._settings_panel.add_child(view_ctrls)

		advanced = gui.CollapsableVert("Advanced lighting", 0,
									   gui.Margins(em, 0, 0, 0))
		advanced.set_is_open(False)

		self._use_ibl = gui.Checkbox("HDR map")
		self._use_ibl.set_on_checked(self._on_use_ibl)
		self._use_sun = gui.Checkbox("Sun")
		self._use_sun.set_on_checked(self._on_use_sun)
		advanced.add_child(gui.Label("Light sources"))
		h = gui.Horiz(em)
		h.add_child(self._use_ibl)
		h.add_child(self._use_sun)
		advanced.add_child(h)

		self._ibl_map = gui.Combobox()
		for ibl in glob.glob(gui.Application.instance.resource_path +
							 "/*_ibl.ktx"):

			self._ibl_map.add_item(os.path.basename(ibl[:-8]))
		self._ibl_map.selected_text = AppWindow.DEFAULT_IBL
		self._ibl_map.set_on_selection_changed(self._on_new_ibl)
		self._ibl_intensity = gui.Slider(gui.Slider.INT)
		self._ibl_intensity.set_limits(0, 200000)
		self._ibl_intensity.set_on_value_changed(self._on_ibl_intensity)
		grid = gui.VGrid(2, 0.25 * em)
		grid.add_child(gui.Label("HDR map"))
		grid.add_child(self._ibl_map)
		grid.add_child(gui.Label("Intensity"))
		grid.add_child(self._ibl_intensity)
		advanced.add_fixed(separation_height)
		advanced.add_child(gui.Label("Environment"))
		advanced.add_child(grid)

		self._sun_intensity = gui.Slider(gui.Slider.INT)
		self._sun_intensity.set_limits(0, 200000)
		self._sun_intensity.set_on_value_changed(self._on_sun_intensity)
		self._sun_dir = gui.VectorEdit()
		self._sun_dir.set_on_value_changed(self._on_sun_dir)
		self._sun_color = gui.ColorEdit()
		self._sun_color.set_on_value_changed(self._on_sun_color)
		grid = gui.VGrid(2, 0.25 * em)
		grid.add_child(gui.Label("Intensity"))
		grid.add_child(self._sun_intensity)
		grid.add_child(gui.Label("Direction"))
		grid.add_child(self._sun_dir)
		grid.add_child(gui.Label("Color"))
		grid.add_child(self._sun_color)
		advanced.add_fixed(separation_height)
		advanced.add_child(gui.Label("Sun (Directional light)"))
		advanced.add_child(grid)

		self._settings_panel.add_fixed(separation_height)
		self._settings_panel.add_child(advanced)

		material_settings = gui.CollapsableVert("Material settings", 0,
												gui.Margins(em, 0, 0, 0))

		self._shader = gui.Combobox()
		self._shader.add_item(AppWindow.MATERIAL_NAMES[0])
		self._shader.add_item(AppWindow.MATERIAL_NAMES[1])
		self._shader.add_item(AppWindow.MATERIAL_NAMES[2])
		self._shader.add_item(AppWindow.MATERIAL_NAMES[3])
		self._shader.set_on_selection_changed(self._on_shader)
		self._material_prefab = gui.Combobox()
		for prefab_name in sorted(Settings.PREFAB.keys()):
			self._material_prefab.add_item(prefab_name)
		self._material_prefab.selected_text = Settings.DEFAULT_MATERIAL_NAME
		self._material_prefab.set_on_selection_changed(self._on_material_prefab)
		self._material_color = gui.ColorEdit()
		self._material_color.set_on_value_changed(self._on_material_color)
		self._point_size = gui.Slider(gui.Slider.INT)
		self._point_size.set_limits(1, 10)
		self._point_size.set_on_value_changed(self._on_point_size)

		grid = gui.VGrid(2, 0.25 * em)
		grid.add_child(gui.Label("Type"))
		grid.add_child(self._shader)
		grid.add_child(gui.Label("Material"))
		grid.add_child(self._material_prefab)
		grid.add_child(gui.Label("Color"))
		grid.add_child(self._material_color)
		grid.add_child(gui.Label("Point size"))
		grid.add_child(self._point_size)
		material_settings.add_child(grid)

		self._settings_panel.add_fixed(separation_height)
		self._settings_panel.add_child(material_settings)
		w.set_on_layout(self._on_layout)
		w.add_child(self._scene)
		w.add_child(self._settings_panel)

		if gui.Application.instance.menubar is None:
			if isMacOS:
				app_menu = gui.Menu()
				app_menu.add_item("About", AppWindow.MENU_ABOUT)
				app_menu.add_separator()
				app_menu.add_item("Quit", AppWindow.MENU_QUIT)
			file_menu = gui.Menu()
			file_menu.add_item("Open...", AppWindow.MENU_OPEN)
			file_menu.add_item("Export Current Image...", AppWindow.MENU_EXPORT)
			if not isMacOS:
				file_menu.add_separator()
				file_menu.add_item("Quit", AppWindow.MENU_QUIT)
			file_process = gui.Menu()
			file_process.add_item("Run pipeline", AppWindow.MENU_PCD_PIPELINE)
			file_process.add_item("Convert LAS to PCD", AppWindow.MENU_CONVERT_LAS_TO_PCD)
			file_process.add_item("Load PCD segments", AppWindow.MENU_LOAD_PCD_SEGMENT)
			file_process.add_item("View Extents", AppWindow.MENU_SHOW_EXTENTS)
			settings_menu = gui.Menu()
			settings_menu.add_item("Lighting & Materials", AppWindow.MENU_SHOW_SETTINGS)
			settings_menu.set_checked(AppWindow.MENU_SHOW_SETTINGS, True)
			help_menu = gui.Menu()
			help_menu.add_item("About", AppWindow.MENU_ABOUT)

			menu = gui.Menu()
			if isMacOS:
				menu.add_menu("Example", app_menu)
				menu.add_menu("File", file_menu)
				menu.add_menu("Settings", settings_menu)
			else:
				menu.add_menu("File", file_menu)
				menu.add_menu("Process", file_process)
				menu.add_menu("Settings", settings_menu)
				menu.add_menu("Help", help_menu)
			gui.Application.instance.menubar = menu

		w.set_on_menu_item_activated(AppWindow.MENU_OPEN, self._on_menu_open)
		w.set_on_menu_item_activated(AppWindow.MENU_EXPORT,
									 self._on_menu_export)
		w.set_on_menu_item_activated(AppWindow.MENU_QUIT, self._on_menu_quit)
		w.set_on_menu_item_activated(AppWindow.MENU_PCD_PIPELINE,
									 self._on_menu_pcd_pipeline)
		w.set_on_menu_item_activated(AppWindow.MENU_CONVERT_LAS_TO_PCD,
									 self._on_menu_convert_las_to_pcd) 
		w.set_on_menu_item_activated(AppWindow.MENU_LOAD_PCD_SEGMENT,
									 self._on_menu_load_pcd_segment) 
		w.set_on_menu_item_activated(AppWindow.MENU_SHOW_EXTENTS, 
									self._on_menu_show_extents)
		w.set_on_menu_item_activated(AppWindow.MENU_SHOW_SETTINGS,
									 self._on_menu_toggle_settings_panel)
		w.set_on_menu_item_activated(AppWindow.MENU_ABOUT, self._on_menu_about)
		# ----

		self._apply_settings()

	def _apply_settings(self):
		bg_color = [
			self.settings.bg_color.red, self.settings.bg_color.green,
			self.settings.bg_color.blue, self.settings.bg_color.alpha
		]
		self._scene.scene.set_background(bg_color)
		self._scene.scene.show_skybox(self.settings.show_skybox)
		self._scene.scene.show_axes(self.settings.show_axes)
		if self.settings.new_ibl_name is not None:
			self._scene.scene.scene.set_indirect_light(
				self.settings.new_ibl_name)
			self.settings.new_ibl_name = None
		self._scene.scene.scene.enable_indirect_light(self.settings.use_ibl)
		self._scene.scene.scene.set_indirect_light_intensity(
			self.settings.ibl_intensity)
		sun_color = [
			self.settings.sun_color.red, self.settings.sun_color.green,
			self.settings.sun_color.blue
		]
		self._scene.scene.scene.set_sun_light(self.settings.sun_dir, sun_color,
											  self.settings.sun_intensity)
		self._scene.scene.scene.enable_sun_light(self.settings.use_sun)

		if self.settings.apply_material:
			self._scene.scene.update_material(self.settings.material)
			self.settings.apply_material = False

		self._bg_color.color_value = self.settings.bg_color
		self._show_skybox.checked = self.settings.show_skybox
		self._show_axes.checked = self.settings.show_axes
		self._use_ibl.checked = self.settings.use_ibl
		self._use_sun.checked = self.settings.use_sun
		self._ibl_intensity.int_value = self.settings.ibl_intensity
		self._sun_intensity.int_value = self.settings.sun_intensity
		self._sun_dir.vector_value = self.settings.sun_dir
		self._sun_color.color_value = self.settings.sun_color
		self._material_prefab.enabled = (
			self.settings.material.shader == Settings.LIT)
		c = gui.Color(self.settings.material.base_color[0],
					  self.settings.material.base_color[1],
					  self.settings.material.base_color[2],
					  self.settings.material.base_color[3])
		self._material_color.color_value = c
		self._point_size.double_value = self.settings.material.point_size

	def _on_layout(self, layout_context):
		r = self.window.content_rect
		self._scene.frame = r
		width = 17 * layout_context.theme.font_size
		height = min(
			r.height,
			self._settings_panel.calc_preferred_size(
				layout_context, gui.Widget.Constraints()).height)
		self._settings_panel.frame = gui.Rect(r.get_right() - width, r.y, width,
											  height)

	def _set_mouse_mode_rotate(self):
		self._scene.set_view_controls(gui.SceneWidget.Controls.ROTATE_CAMERA)

	def _set_mouse_mode_fly(self):
		self._scene.set_view_controls(gui.SceneWidget.Controls.FLY)

	def _set_mouse_mode_sun(self):
		self._scene.set_view_controls(gui.SceneWidget.Controls.ROTATE_SUN)

	def _set_mouse_mode_ibl(self):
		self._scene.set_view_controls(gui.SceneWidget.Controls.ROTATE_IBL)

	def _set_mouse_mode_model(self):
		self._scene.set_view_controls(gui.SceneWidget.Controls.ROTATE_MODEL)

	def _on_bg_color(self, new_color):
		self.settings.bg_color = new_color
		self._apply_settings()

	def _on_show_skybox(self, show):
		self.settings.show_skybox = show
		self._apply_settings()

	def _on_show_axes(self, show):
		self.settings.show_axes = show
		self._apply_settings()

	def _on_use_ibl(self, use):
		self.settings.use_ibl = use
		self._profiles.selected_text = Settings.CUSTOM_PROFILE_NAME
		self._apply_settings()

	def _on_use_sun(self, use):
		self.settings.use_sun = use
		self._profiles.selected_text = Settings.CUSTOM_PROFILE_NAME
		self._apply_settings()

	def _on_lighting_profile(self, name, index):
		if name != Settings.CUSTOM_PROFILE_NAME:
			self.settings.apply_lighting_profile(name)
			self._apply_settings()

	def _on_new_ibl(self, name, index):
		self.settings.new_ibl_name = gui.Application.instance.resource_path + "/" + name
		self._profiles.selected_text = Settings.CUSTOM_PROFILE_NAME
		self._apply_settings()

	def _on_ibl_intensity(self, intensity):
		self.settings.ibl_intensity = int(intensity)
		self._profiles.selected_text = Settings.CUSTOM_PROFILE_NAME
		self._apply_settings()

	def _on_sun_intensity(self, intensity):
		self.settings.sun_intensity = int(intensity)
		self._profiles.selected_text = Settings.CUSTOM_PROFILE_NAME
		self._apply_settings()

	def _on_sun_dir(self, sun_dir):
		self.settings.sun_dir = sun_dir
		self._profiles.selected_text = Settings.CUSTOM_PROFILE_NAME
		self._apply_settings()

	def _on_sun_color(self, color):
		self.settings.sun_color = color
		self._apply_settings()

	def _on_shader(self, name, index):
		self.settings.set_material(AppWindow.MATERIAL_SHADERS[index])
		self._apply_settings()

	def _on_material_prefab(self, name, index):
		self.settings.apply_material_prefab(name)
		self.settings.apply_material = True
		self._apply_settings()

	def _on_material_color(self, color):
		self.settings.material.base_color = [
			color.red, color.green, color.blue, color.alpha
		]
		self.settings.apply_material = True
		self._apply_settings()

	def _on_point_size(self, size):
		self.settings.material.point_size = int(size)
		self.settings.apply_material = True
		self._apply_settings()

	def _on_menu_open(self):
		dlg = gui.FileDialog(gui.FileDialog.OPEN, "Choose file to load",
							 self.window.theme)
		dlg.add_filter(
			".ply .stl .fbx .obj .off .gltf .glb",
			"Triangle mesh files (.ply, .stl, .fbx, .obj, .off, "
			".gltf, .glb)")
		dlg.add_filter(
			".xyz .xyzn .xyzrgb .ply .pcd .pts",
			"Point cloud files (.xyz, .xyzn, .xyzrgb, .ply, "
			".pcd, .pts)")
		dlg.add_filter(".ply", "Polygon files (.ply)")
		dlg.add_filter(".stl", "Stereolithography files (.stl)")
		dlg.add_filter(".fbx", "Autodesk Filmbox files (.fbx)")
		dlg.add_filter(".obj", "Wavefront OBJ files (.obj)")
		dlg.add_filter(".off", "Object file format (.off)")
		dlg.add_filter(".gltf", "OpenGL transfer files (.gltf)")
		dlg.add_filter(".glb", "OpenGL binary transfer files (.glb)")
		dlg.add_filter(".xyz", "ASCII point cloud files (.xyz)")
		dlg.add_filter(".xyzn", "ASCII point cloud with normals (.xyzn)")
		dlg.add_filter(".xyzrgb",
					   "ASCII point cloud files with colors (.xyzrgb)")
		dlg.add_filter(".pcd", "Point Cloud Data files (.pcd)")
		dlg.add_filter(".pts", "3D Points files (.pts)")
		dlg.add_filter("", "All files")

		# A file dialog MUST define on_cancel and on_done functions
		dlg.set_on_cancel(self._on_file_dialog_cancel)
		dlg.set_on_done(self._on_load_dialog_done)
		self.window.show_dialog(dlg)

	def _on_file_dialog_cancel(self):
		self.window.close_dialog()

	def _on_load_dialog_done(self, filename):
		self.window.close_dialog()
		self._scene.scene.clear_geometry()
		self.load(filename)

	def _on_menu_export(self):
		dlg = gui.FileDialog(gui.FileDialog.SAVE, "Choose file to save",
							 self.window.theme)
		dlg.add_filter(".png", "PNG files (.png)")
		dlg.set_on_cancel(self._on_file_dialog_cancel)
		dlg.set_on_done(self._on_export_dialog_done)
		self.window.show_dialog(dlg)

	def _on_export_dialog_done(self, filename):
		self.window.close_dialog()
		frame = self._scene.frame
		self.export_image(filename, frame.width, frame.height)

	def _on_menu_quit(self):
		gui.Application.instance.quit()

	class args_param:
		input = './input/OTP_EPSG26910_5703_38_-122_ca_sunrise_memorial.las'
		output = './output/opt/sunrise.las'
		pipeline = 'pipeline.json'

	def _on_menu_pcd_pipeline(self):
		# argparser.add_argument("--input", default="./input/belleview_group.las", required=False, help="Input file name")
		# argparser.add_argument("--output", default="./output/belleview/belleview.las", required=False, help="Output file name")
		# argparser.add_argument("--input", default="./input/downsampledlesscloudEURO3.las", required=False, help="Input file name")
		# argparser.add_argument("--output", default="./output/euro3/EURO3.las", required=False, help="Output file name")
		# argparser.add_argument("--input", default="./input/OTP_EPSG26910_5703_38_-122_ca_sunrise_memorial.las", required=False, help="Input file name")
		# argparser.add_argument("--output", default="./output/opt/sunrise.las", required=False, help="Output file name")
		args = args_param() # TBD. should be modified by user. just test.
		outputs_result = scan_to_model_pipeline(args)

	def _on_menu_convert_las_to_pcd(self):
		convert_las_to_pcd('./output/belleview/*.las')

	def _on_menu_load_pcd_segment(self):
		outputs_result = glob.glob('./output/belleview_pcd/*.pcd')
		# outputs_result = []
		# outputs_result.append('./output/opt/sunrise_csf_ground_1.00.pcd')
		# outputs_result2 = glob.glob('./output/opt/*.ply')
		''' outputs_result.append('./output/opt/sunrise_csf_non_ground_1.00_cluster_0_footprint_0_geo.ply')
		outputs_result.append('./output/opt/sunrise_csf_non_ground_1.00_cluster_1_footprint_1_geo.ply')
		outputs_result.append('./output/opt/sunrise_csf_non_ground_1.00_cluster_2_footprint_2_geo.ply')
		outputs_result.append('./output/opt/sunrise_csf_non_ground_1.00_cluster_8_footprint_3_geo.ply')
		outputs_result.append('./output/opt/sunrise_csf_non_ground_1.00_cluster_10_footprint_4_geo.ply') '''

		for output_fname in outputs_result:
			self.load(output_fname)

	def _on_menu_show_extents(self):
		bounds = self._scene.scene.bounding_box
		self._scene.setup_camera(5, bounds, bounds.get_center()) # 60, bounds, bounds.get_center())
	
	def _on_menu_toggle_settings_panel(self):
		self._settings_panel.visible = not self._settings_panel.visible
		gui.Application.instance.menubar.set_checked(
			AppWindow.MENU_SHOW_SETTINGS, self._settings_panel.visible)

	def _on_menu_about(self):
		em = self.window.theme.font_size
		dlg = gui.Dialog("About")

		# Add the text
		dlg_layout = gui.Vert(em, gui.Margins(em, em, em, em))
		dlg_layout.add_child(gui.Label("Open3D GUI Example"))

		ok = gui.Button("OK")
		ok.set_on_clicked(self._on_about_ok)

		h = gui.Horiz()
		h.add_stretch()
		h.add_child(ok)
		h.add_stretch()
		dlg_layout.add_child(h)

		dlg.add_child(dlg_layout)
		self.window.show_dialog(dlg)

	def _on_about_ok(self):
		self.window.close_dialog()

	def load(self, path):
		global _model_index

		print(path)
		ext = os.path.splitext(path)[1]

		geometry = None
		geometry_type = o3d.io.read_file_geometry_type(path)

		mesh = None
		if geometry_type & o3d.io.CONTAINS_TRIANGLES:
			mesh = o3d.io.read_triangle_model(path)
		if mesh is None:
			print("[Info]", path, "appears to be a point cloud")
			cloud = None
			try:
				if ext == '.las' or ext == '.laz':
					inFile = laspy.read(path)
					points = inFile.points
					xyz = np.vstack((inFile.x, inFile.y, inFile.z)).transpose()
					if inFile.header.point_format.id != 1:
						rgb = np.vstack((points.red, points.green, points.blue)).transpose()

					cloud = o3d.geometry.PointCloud()
					cloud.points = o3d.utility.Vector3dVector(xyz)
					if inFile.header.point_format.id != 1:
						cloud.colors = o3d.utility.Vector3dVector(rgb / 255.0)
				else:
					cloud = o3d.io.read_point_cloud(path)
			except Exception:
				pass
			if cloud is not None:
				print("[Info] Successfully read", path)
				if not cloud.has_normals():
					cloud.estimate_normals()
				cloud.normalize_normals()
				geometry = cloud
			else:
				print("[WARNING] Failed to read points", path)

		if geometry is not None or mesh is not None:
			try:
				if mesh is not None:
					# Triangle model
					self._scene.scene.add_model(f"__model{_model_index}__", mesh)
				else:
					# Point cloud
					self._scene.scene.add_geometry(f"__model{_model_index}__", geometry,
												   self.settings.material)
				_model_index = _model_index + 1
				bounds = self._scene.scene.bounding_box
				self._scene.setup_camera(5, bounds, bounds.get_center()) # 60, bounds, bounds.get_center())
			except Exception as e:
				print(e)
	

	def export_image(self, path, width, height):

		def on_image(image):
			img = image

			quality = 9  # png
			if path.endswith(".jpg"):
				quality = 100
			o3d.io.write_image(path, img, quality)

		self._scene.scene.scene.render_to_image(on_image)


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

	w = AppWindow(1024, 768)
	w.window.title = "PCD segmentation processing"

	if len(sys.argv) > 1:
		path = sys.argv[1]
		if os.path.exists(path):			
			w.load(path)
		else:
			w.window.show_message_box("Error",
									  "Could not open file '" + path + "'")

	gui.Application.instance.run()

if __name__ == "__main__":
	main()