https://github.com/flexrobotics/roboflex_visualization

Roboflex support for visualizing rgb and depth streams using SDL2.
https://github.com/flexrobotics/roboflex_visualization

roboflex sdl2

Last synced: 6 months ago
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Roboflex support for visualizing rgb and depth streams using SDL2.

• Host: GitHub
• URL: https://github.com/flexrobotics/roboflex_visualization
• Owner: flexrobotics
• License: mit
• Created: 2023-10-19T21:24:53.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-01-16T16:23:17.000Z (over 1 year ago)
• Last Synced: 2024-11-06T14:46:00.124Z (7 months ago)
• Topics: roboflex, sdl2
• Language: C++
• Homepage: https://github.com/flexrobotics/roboflex_visualization
• Size: 35.2 KB
• Stars: 2
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# roboflex.visualization

A thin wrapper of various display nodes over SDL2. For now just supplies

one node: RGBImageTV. It can display rgb tensors of the form (H,W,3) uint8.

## System requirements

* libsdl: SDL (Simple Directmedia Layer)

        # search for existing libsdl packages

        dpkg -l | grep sdl # -> shows nothing

        # install libsdl

        sudo apt-get install libsdl2-dev

        # search for existing libsdl packages again

        dpkg -l | grep sdl # -> shows:

        ii  libsdl2-2.0-0:amd64                        2.0.20+dfsg-2ubuntu1.22.04.1                                        amd64        Simple DirectMedia Layer

        ii  libsdl2-dev:amd64                          2.0.20+dfsg-2ubuntu1.22.04.1                                        amd64        Simple DirectMedia Layer development files

        THIS, for me on ubuntu22, puts headers in /usr/include/SDL2 and libs in /lib/x86_64-linux-gnu/libSDL2-2.0.so

        # to remove it:

        sudo apt-get -y purge libsdl2-dev

## Import

    import roboflex.visualization as rv

## Nodes 

There are three: **RGBImageTV**, **BlackAndWhiteTV**, and **DepthTV**

    # RGBImageTV will redraw rgb images at some

    # frequency (refresh rate). It will look into

    # all messages it receives - those that contain

    # the key "rgb", mapping to a (3,H,W) tensor

    # will be rendered. Messages get propagated.

    rgb_tv = rcw.RGBImageTV(

        # mandatory (refresh rate)

        frequency_hz: float,

        # optional; defaults are:

        width = 640,

        height = 480,

        image_key = "rgb",

        initial_pos = (-1, -1),

        mirror = False,

        debug = False,

        name = "RGBImageTV"

    )

    # must be started!

    rgb_tv.start()

    # BlackAndWhiteTV will redraw rgb images at some

    # frequency (refresh rate). It will look into

    # all messages it receives - those that contain

    # the key "ir1", mapping to a (H,W) tensor

    # will be rendered. Messages get propagated.

    black_and_white_tv = rcw.BlackAndWhiteTV(

        # mandatory (refresh rate)

        frequency_hz: float,

        # optional; defaults are:

        width = 640,

        height = 480,

        image_key = "ir1",

        initial_pos = (-1, -1),

        mirror = False,

        debug = False,

        name = "BlackAndWhiteTV"

    )

    # must be started!

    black_and_white_tv.start()

    # DepthTV will redraw depth images at some

    # frequency (refresh rate). It will look into

    # all messages it receives - those that contain

    # the key "depth", mapping to a (H,W) tensor

    # will be rendered. Messages get propagated.

    depth_tv = rcw.DepthTV(

        # mandatory (refresh rate)

        frequency_hz: float,

        # optional; defaults are:

        width = 640,

        height = 480,

        image_key = "depth",

        initial_pos = (-1, -1),

        mirror = False,

        debug = False,

        name = "RGBImageTV"

    )

    # must be started!

    depth_tv.start()