https://github.com/flexrobotics/roboflex_imgui
Roboflex visualizers and guis using IMGUI/IMPLOT
https://github.com/flexrobotics/roboflex_imgui
Last synced: 2 months ago
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Roboflex visualizers and guis using IMGUI/IMPLOT
- Host: GitHub
- URL: https://github.com/flexrobotics/roboflex_imgui
- Owner: flexrobotics
- License: mit
- Created: 2023-10-30T15:04:27.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2023-12-14T20:32:11.000Z (over 1 year ago)
- Last Synced: 2025-02-22T12:18:33.331Z (3 months ago)
- Language: C++
- Size: 158 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# roboflex_imgui
Roboflex visualizers and guis using IMGUI/IMPLOT
## System dependencies
Requires SDL and GLEW to be installed. More than likely, they already are installed in your distro. But if not:
apt-get install libsdl2-dev
apt-get install libglew-dev
# or maybe on mac:
brew install sdl2
brew install glew
brew install glfw
## pip install
pip install roboflex.imgui
## Import
import roboflex.imgui as rgu
## Nodes
There are two so far: **OneDTV** and **MetricsTelevision**
### OneDTV (One-Dimensional Television)
It expects to receive messages that contain a tensor under the key . That tensor needs to be of shape (C, S), where C is number of channels, and S is sequence length. In general, C should be small (< 20), and S large. Think multiple audio channels.
# all parameters optional: below are the defaults
visualizer = rgu.OneDTV(
data_key = "data",
sample_size = 4,
center_zero = True,
initial_size = (640, 220),
initial_pos = (-1, -1),
name = "OneDTV",
debug = False,
)
# must be started
visualizer.start()
# NOTE!!!
# On some systems, such as mac, it's bad news to
# run a UI on a non-main thread. So instead of
# calling start(), you can do this, which will
# run on the main thread. This call will block
# until the window is closed, in this case.
visualizer.run()
### MetricsTelevision
Real-time visualization of metrics data as published by `GraphRoot::start(profile=True)`. I.e., when you instantiate a `GraphRoot` (from roboflex core), make it the root of your graph, and call myroot.start(profile=True) on it, it will publish metrics messages. This is the node that can visualize those metrcs message.
# all parameters optional: below are the defaults
visualizer = rgu.MetricsTelevision(
window_title = "MetricsTelevision",
initial_size = (1580, 720),
initial_pos = (-1, -1),
name = "MetricsTelevision",
debug = False,
)
# must be started
visualizer.start()
# NOTE!!!
# On some systems, such as mac, it's bad news to
# run a UI on a non-main thread. So instead of
# calling start(), you can do this, which will
# run on the main thread. This call will block
# until the window is closed, in this case.
visualizer.run()
### Using MQTT in this case
MQTT is an ideal transport for metrics messages - they are small and infrequent. We provide helper functions in `metrics_central.py` to do so:
# give one of these to a GraphRoot as it's publisher node
pub = rgu.metrics_central.get_metrics_mqtt_publisher(
broker_address: str,
broker_port: int = 1883,
metrics_topic: str = "metrics",
)
# get a subscriber
sub = rgu.get_metrics_mqtt_subscriber(
broker_address: str,
broker_port: int = 1883,
metrics_topic: str = "metrics",
)
# get a visualizer
vis = rgu.get_metrics_visualizer(
broker_address: str,
broker_port: int = 1883,
metrics_topic: str = "metrics",
)
# connect the subscriber to the visualizer
sub > vis
# Here's a program that does it all - launches a MetricsVisualizer
# listening to some mqtt broker:port and topic.
python3 metrics_central.py