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Iridescence

Iridescence a light-weight visualization library for rapid prototyping of 3D algorithms. This library is designed for accelerating personal research and development projects (mainly focusing on point-cloud-related algorithms) and is NOT intended to be a general-purpose visualization library with rich rendering capabilities.

Build on Ubuntu 18.04 / 20.04 / 22.04

Features

What this library provides:

  • An easy-to-use 3D visualization framework (inpaticular suitable for rendering point clouds)
  • Tightly integrated Dear ImGui interfaces for rapid UI design

What this library does NOT provide:

  • Realistic rendering and shading
  • Rich textured 3D mesh rendering

Dependencies

Installation

# Install dependencies
sudo apt-get install -y libglm-dev libglfw3-dev libpng-dev libjpeg-dev libeigen3-dev

# Build and install Iridescence
git clone https://github.com/koide3/iridescence
mkdir iridescence/build && cd iridescence/build
cmake ..
make -j
sudo make install

# [Optional] Build and install python bindings
cd ..
sudo python3 setup.py install

# [Optional2] Install stubs for autocomplete
pip install pybind11-stubgen
cd ~/.local/lib/python3.10/site-packages
pybind11-stubgen -o . --ignore-invalid=all pyridescence

Docker

  • Build: docker build -t iridescence -f docker/ubuntu/Dockerfile .
  • Run: bash docker/run.sh iridescence

Use Iridescence in your cmake project

# Add FindIridescence.cmake to your project
wget -P path/to/your_project/cmake/ https://github.com/koide3/iridescence/raw/master/cmake/FindIridescence.cmake

# Make FindIridescence.cmake visible to your cmake project
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_LIST_DIR}/cmake")

# Find package
find_package(Iridescence REQUIRED)

# Add include dirs and link libraries
target_include_directories(your_program PUBLIC
  ${Iridescence_INCLUDE_DIRS}
)
target_link_libraries(your_program
  ${Iridescence_LIBRARIES}
)

Minimum example

C++: 

#include <glk/primitives/primitives.hpp>
#include <guik/viewer/light_viewer.hpp>

int main(int argc, char** argv) {
  // Create a viewer instance (global singleton)
  auto viewer = guik::LightViewer::instance();

  float angle = 0.0f;

  // Register a callback for UI rendering
  viewer->register_ui_callback("ui", [&]() {
    // In the callback, you can call ImGui commands to create your UI.
    // Here, we use "DragFloat" and "Button" to create a simple UI.
    ImGui::DragFloat("Angle", &angle, 0.01f);

    if (ImGui::Button("Close")) {
      viewer->close();
    }
  });

  // Spin the viewer until it gets closed
  while (viewer->spin_once()) {
    // Objects to be rendered are called "drawables" and managed with unique names.
    // Here, solid and wire spheres are registered to the viewer respectively with the "Rainbow" and "FlatColor" coloring schemes.
    // The "Rainbow" coloring scheme encodes the height of each fragment using the turbo colormap by default.
    Eigen::AngleAxisf transform(angle, Eigen::Vector3f::UnitZ());
    viewer->update_drawable("sphere", glk::Primitives::sphere(), guik::Rainbow(transform));
    viewer->update_drawable("wire_sphere", glk::Primitives::wire_sphere(), guik::FlatColor({0.1f, 0.7f, 1.0f, 1.0f}, transform));
  }

  return 0;
}

Python version 
#!/usr/bin/python3
import numpy
from scipy.spatial.transform import Rotation
from pyridescence import *

# Create a viewer instance (global singleton)
viewer = guik.LightViewer.instance()

angle = 0.0

# Define a callback for UI rendering
def ui_callback():
  # In the callback, you can call ImGui commands to create your UI.
  # Here, we use "DragFloat" and "Button" to create a simple UI.

  global angle
  _, angle = imgui.drag_float('angle', angle, 0.01)

  if imgui.button('close'):
    viewer.close()

# Register a callback for UI rendering
viewer.register_ui_callback('ui', ui_callback)

# Spin the viewer until it gets closed
while viewer.spin_once():
  # Objects to be rendered are called "drawables" and managed with unique names.
  # Here, solid and wire spheres are registered to the viewer respectively with the "Rainbow" and "FlatColor" coloring schemes.
  # The "Rainbow" coloring scheme encodes the height of each fragment using the turbo colormap by default.
  transform = numpy.identity(4)
  transform[:3, :3] = Rotation.from_rotvec([0.0, 0.0, angle]).as_matrix()
  viewer.update_drawable('sphere', glk.primitives.sphere(), guik.Rainbow(transform))
  viewer.update_drawable('wire_sphere', glk.primitives.wire_sphere(), guik.FlatColor(0.1, 0.7, 1.0, 1.0, transform))

example_01

Some use examples in my academic works

ral2021 iros2022

License

This package is released under the MIT license.