FramesViewer

A simple live 6D frames viewer

fv.mp4

Installation

You may have to sudo get install freeglut3-dev

pip install FramesViewer

or

pip3 install -e .

Example :

from FramesViewer import Viewer
import FramesViewer.utils as utils
import time

fv = Viewer()
fv.start()

# Frames
frame1 = utils.make_pose([0.15, 0.15, 0], [45, 0, 0])
frame2 = utils.make_pose([0.15, 0.15, 0.15], [0, 90, 45])
frame3 = frame2.copy()

fv.push_frame(frame1, "frame1", [1, 0, 0])
fv.push_frame(frame2, "frame2", [0, 1, 0])

fv.push_link("frame1", "frame2", color=(1, 0, 0))

fv.push_frame(frame3, "frame3")
fv.delete_frame("frame3")

fv.create_points_List("a", size=10, color=(1, 0, 0))

# verts = [[0, 0, 0], [1, 0, 0], [1, 1, 0]]
# fv.createMesh("test", verts=verts)

# Points
for i in range(10):
    for j in range(10):
        for z in range(10):
            fv.push_point("a", [i*0.1, j*0.1, z*0.1])

# An infinite loop is needed to keep the viewer thread alive.
while True:
    frame2 = utils.translate_absolute(frame2, [0, 0.0005, 0])
    frame2 = utils.rotate_in_self(frame2, [0.5, 0.5, 0.5])
    fv.push_frame(frame2, "frame2", [0, 1, 0])
    time.sleep(0.01)

Once fv.start() is called, the viewer runs in a separate thread.

You can then dynamically call fv.push_frame(...) to add, update or remove frames.