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RobotsViz

[WIP]

Small C++ library for representing meshes and point clouds in a VTK viewer.

Dependencies

Optional

If the following are enabled, some functionalities related to the iCub robot and/or YARP are also available.

Installation

git clone https://github.com/xenvre/robots-viz.git
cd robots-viz
mkdir build
cd build
cmake -DCMAKE_PREFIX_PATH=<installation_path> [-DUSE_YARP=ON] [-DUSE_SUPERIMPOSE=ON] ../
make install

In order to use the library within a CMake project

find_package(RobotsViz REQUIRED)
(...)
target_link_libraries(... RobotsViz::RobotsViz ...)

Classes

  • VtkContainer: hosts the main VTK threaded viewer and a variable number of VtkContent-s;
  • VtkContent: abstract class for a content to be displayed;
  • VtkPointCloud: point cloud obtained from the depth channel of a RobotsIO::Camera::Camera;
  • VtkMeshOBJ: mesh obtained from a OBJ file;
  • VtkiCubHand: visualization of the iCubHand (requires YARP)
  • SIiCubHand: rendering of the contour of a iCubHand according to the point of view of a RobotsIO::Camera::Camera (requires YARP and SuperimposeMesh)