Awesome Robot Visualizer

A small 3D visualization library with minimal overhead.

Publications

The ideas behind this code are published under:

Wahrmann, Daniel; Hildebrandt, Arne-Christoph; Bates, Tamas; Wittmann, Robert; Sygulla, Felix; Seiwald, Philipp; Rixen, Daniel: Vision-Based 3D Modeling of Unknown Dynamic Environments for Real-Time Humanoid Navigation. International Journal of Humanoid Robotics Vol. 16 No. 01, 2019

Videos

The results of these algorithms can be seen on: Vision System of Humanoid Robot LOLA

Dependencies

To compile the library, you need Python, GLM (which you can apt-get install), and GLFW3 (which you might need to build from source depending on your platform).

To compile the samples, you will also need PCL and OpenCV. If you want to directly compile PCL for C++11 (needed for lepp and am2b-ar), follow the instructions on lepp's wiki:

https://gitlab.lrz.de/AMCode/lepp3/wikis/Installation%20Instructions

To build the documentation you will also need cldoc

A script is provided in /scripts/install_dependencies.sh which can be used to automatically fetch and install the necessary dependencies on Ubuntu-based platforms:

install_dependencies.sh
    Installs the minimum dependencies necessary to build the library

install_dependencies.sh all
    Installs all dependencies necessary to build the library, the samples, and the documentation EXCEPT for PCL,
    which should be compiled according to the instructions above

Build Instructions

Once the minimum necessary dependencies have been installed, you should be able to build and install the library without any trouble using CMake.

    cd <ARVisulizer-root-dir>
    mkdir build
    cd build
    cmake ..
    make
    sudo make install

To build the documentation, ensure you have the necessary dependencies, then enable the documentation target by setting ARVIS_BUILD_DOCS to True, using an application like ccmake, cmake-gui, or directly from the commandline:

    cmake -DARVIS_BUILD_DOCS=True ..
    make documentation

The generated documentation will be in <build-directory>/docs

Similarly, if you wish NOT to build the samples (which are enabled by default), you can set ARVIS_BUILD_SAMPLES to False (do this if you don't have PCL installed, e.g. the control pc).

Usage

After building and installing the library, you should be able to use it without any trouble in other CMake-based projects. Use find_package(am2b-arvis CONFIG REQUIRED) to get the paths necessary for building:

am2b-arvis_LIBRARY      :  Path to the shared library object you need to link against
am2b-arvis_LIBRARY_DIR  :  Path to the directory containing the shared library
am2b-arvis_INCLUDE_DIR  :  Path to the header files you need to compile against

Your CMakeLists.txt should probably look something like this:

    cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
    
    project(myProject)
    
    find_package(am2b-arvis CONFIG REQUIRED)
    
    add_executable(myProgram main.cpp)
    target_link_libraries(myProgram ${am2b-arvis_LIBRARY})

The ARVisualizer class can then be found by including <am2b-arvis/ARVisualizer.hpp>:

    #include <am2b-arvis/ARVisualizer.hpp>

    int main(void)
    {
        ar::ARVisualizer visualizer;
        visualizer.Start();

        visualizer.Add(ar::Sphere( ... ));

        ...
    }

The visualizer supports some mouse and keyboard shortcuts which can be applied to any visualization instance:

      Left Mouse : Rotate camera around its current position
     Right Mouse : Pan camera (movement relative to image plane)
Left+Right Mouse : Rotate camera around a point in space (set with Orbit Radius in camera GUI)
    Middle Mouse : Move camera forward and backward (movement relative to image plane)
     Mouse Wheel : Camera Zoom in and out
       'W/S/A/D' : Move camera horizontally
           'Q/E' : Move camera vertically
         'Z/Y/X' : Roll camera around its forward axis
             '1' : Render meshes as shaded Triangles (default)
             '2' : Render meshes as wireframes
             '3' : Render meshes as points (one point per vertex)