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Interactive & Asynchronous 3D Visualization Tool - Make 3D Vision and Robotics Development Easier.
Before compiling Vis, please make sure that the necessary dependencies have been installed. You can install the dependencies of Vis by following the instructions：
sudo apt-get install build-essential python3-dev cmake git libopenscenegraph-3.4-dev If the libopenscenegraph-3.4-dev is not available on your platform, an alternative is the default libopenscenegraph-dev supplied by your software mananger.
sudo apt install libopenscenegraph-devClone the repo.
git clone https://github.com/rvbust/Vis.gitCMake is being used to build Vis:
mkdir build
cd build
cmake ..
sudo make install -j If you want to use the its python API, put following line into your .bashrc
export PYTHONPATH="$PYTHONPATH:/opt/RVBUST/Vis/Python"Before install Vis, please make sure OSG is installed.
-
Download windows binary file
Click to Download OpenSceneGraph-3.4.1
Or you can compile OSG by yourself.
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Extract binary file and set the system path
Extra 7z file and set below parameters to System Parameters. Add
OSG_ROOTtopathOSG_ROOT = C:\OpenSceneGraph-3.4.1-VC2017-64-Release OSG_BIN_DIR = %OSG_ROOT%\bin OSG_INCLUDE_DIR = %OSG_ROOT%\include OSG_LIB_DIR = %OSG_ROOT%\lib
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Reboot your system.
python3 Setup.py install- Sharing the same scene from different Views.
# Sharing the scene means above two views are adding boxes in the same scene
from RVBUST import Vis
v1 = Vis.View("View1", shared = True) #< shared means sharing the scene or not.
v2 = Vis.View("View2", shared = True)
v1.Box((0,0,0), (1,1,1))
v2.Box((2,2,2), (1,1,1))- Not sharing the scene
# Below two views are adding boxes into different scenes
v1 = Vis.View("View1", shared = False) #< shared means sharing the scene or not.
v2 = Vis.View("View2", shared = False)
v1.Box((0,0,0), (1,1,1))
v2.Box((2,2,2), (1,1,1))Inside Vis, there's only one shared scene. So if you turn on sharing all scene will be added into the same one. The advantage is you could have multiple views for one scene. If you create a view without sharing the scene, it will be the only view that could be used on the its scene.
| Name | Description | image |
|---|---|---|
| Axes | Plot an Axes with translations and quaternions and set asis len and axis size. The unit of axis length is meters, and the unit of dimension is pixels. |  |
| Point | Plot point or points. Every 3 values is point position.The unit of size is pixels. |  |
| Line | Plot line or lines. lines.size() = line_num * 6. Every 6 values is two end points of a line. |  |
| Box | Plot a box with center position and extents. |  |
| Sphere | Plot a sphere with center position and radius. |  |
| Cone | Plot a cone with center, radius and hight. |  |
| Cylinder | Plot a cylinder with center position, radius and height. |  |
| Arrow | Plot an arrow with tail position, head position and radius. |  |
| Mesh | Plot a mesh with vertics and indices. |  |
| Plane | Plot a plane. |  |
It should be noted that the units used in Vis are all SI units, that is, the length is meters (m), and the angle units are radians (rad). In addition, for orientation, Vis uses quaternion, in the form of (ox, oy, oz, ow), the real part is the last element.
Vis supports common 3D model file formats, such as STL, DAE, 3DS, etc. Vis does not currently support exporting model files.
from RVBUST import Vis
v = Vis.View("Test")
### You can import multiple files at once and set their positions and rotations.
hs = v.Load(["BaseLink.stl","Link1.stl","Link2.stl","Link3.stl","Link4.stl","Link5.stl","Link6.stl"],
[[0.0,0,0],[0, 0, 0],[0.05, 0, 0.33],[0.05, 0, 0.66],[0.05, 0, 0.695],[0.385, 0, 0.695],[0.385, 0, 0.615]],
[[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0,0,0,1],[0, 0.707108, 0, 0.707105],[0, 0.707108, 0, 0.707105]])
Vis provides a variety of interactive APIs.
- Select
- IntersectorMode_Polytope
In IntersectorMode_Polytope mode, you can click on an object in the scene and highlight the selected object.
v.SetInterSectMode(IntersectorMode_Polytope)
- IntersectorMode_LineSegment
In IntersectorMode_LineSegment mode, you can select points on the surface of the object by ctrl+left-click and draw the axes.
v.SetInterSectMode(IntersectorMode_LineSegment)
hs=v.GetPickedPointAxes()
- IntersectorMode_Point
In IntersectorMode_Point mode, you can select a point in a set of points.
v.SetInterSectMode(IntersectorMode_Point)
hs=v.GetPickedPointAxes()
- IntersectorMode_Line
In IntersectorMode_Line mode, you can select the line segment drawn with View.Line(...).
v.SetInterSectMode(IntersectorMode_Line)
- Gizmo Gizmo is a tool that allow you to manipulate a geometry object(Rotate & translate at the moment).
from RVBUST import Vis
v = Vis.View("Test")
box = v.Box([0,0,0],[0.5,0.5,0.5])
axes = v.Axes([0,0,0],[0,0,0,1],1,1)
v.EnableGizmo(box,4)
v.SetGizmoDisplayScale(0.6)
Vis can set different log levels to view the corresponding information. The log levels are info, debug, warn, error:
# by default, the log level is error. If you want to change it, you could following function
# at any time:
Vis.SetLogLevel("debug")The following is a simple case of using Vis, a box of a given size is displayed in the Vis window, and the user can move the box in the window.
from RVBUST import Vis
from IPython import embed
# Show box in Vis
def ShowBox():
transparent_box = v.Box([-2, 0, 0], [0.5, 0.5, 0.5], [1, 0, 0, 0.5])
normal_box = v.Box([0, 2, 0], [0.5, 0.5, 0.5], [1, 0, 0])
# Move box with Gizmo
def MoveBox():
transparent_box = v.Box([-2, 0, 0], [0.5, 0.5, 0.5], [1, 0, 0, 0.5])
v.EnableGizmo(transparent_box, 4)
v.SetGizmoDisplayScale(2)
def Basic():
Vis.SetLogLevel("debug")
axes1 = v.Axes([0, 0, 0], [0, 0, 0, 1], 2, 1)
ShowBox()
MoveBox()
pass
if __name__ == "__main__":
cfg = Vis.ViewConfig()
cfg.x = 0
cfg.y = 40
cfg.width = 800
cfg.height = 600
cfg.name = "Basics"
v = Vis.View(cfg, False)
Basic()
v.Home()
from IPython.terminal import embed
ipshell=embed.InteractiveShellEmbed(config=embed.load_default_config())(local_ns=locals())
