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https://github.com/koide3/iridescence
3D visualization library for rapid prototyping of 3D algorithms
https://github.com/koide3/iridescence
imgui localization mapping opengl point-cloud slam visualization
Last synced: 3 days ago
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3D visualization library for rapid prototyping of 3D algorithms
- Host: GitHub
- URL: https://github.com/koide3/iridescence
- Owner: koide3
- License: mit
- Created: 2020-08-14T16:24:07.000Z (over 4 years ago)
- Default Branch: master
- Last Pushed: 2024-12-14T02:52:31.000Z (11 days ago)
- Last Synced: 2024-12-15T11:03:45.373Z (10 days ago)
- Topics: imgui, localization, mapping, opengl, point-cloud, slam, visualization
- Language: C++
- Homepage: https://koide3.github.io/iridescence/
- Size: 2.61 MB
- Stars: 321
- Watchers: 8
- Forks: 35
- Open Issues: 16
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
**Iridescence** is 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.
[](https://github.com/koide3/iridescence/actions/workflows/build.yml) on Ubuntu 20.04 / 22.04 / 24.04
## 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
See **[documentation](https://koide3.github.io/iridescence/)** for details.
## Dependencies
- [GLFW](https://www.glfw.org/) ([zlib/libpng license](https://www.glfw.org/license.html))
- [gl3w](https://github.com/skaslev/gl3w) ([Public domain](https://github.com/skaslev/gl3w/blob/master/UNLICENSE))
- [Dear ImGui](https://github.com/ocornut/imgui) ([MIT license](https://github.com/ocornut/imgui/blob/master/LICENSE.txt))
- [ImGuizmo](https://github.com/CedricGuillemet/ImGuizmo) ([MIT license](https://github.com/CedricGuillemet/ImGuizmo/blob/master/LICENSE))
- [implot](https://github.com/epezent/implot) ([MIT license](https://github.com/epezent/implot/blob/master/LICENSE))
- [Eigen](https://eigen.tuxfamily.org/index.php) ([MPL2 license](https://www.mozilla.org/en-US/MPL/2.0/))
- [portable-file-dialogs](https://github.com/samhocevar/portable-file-dialogs) ([WTFPL license](https://github.com/samhocevar/portable-file-dialogs/blob/main/COPYING))
## Installation
### Install from source
```bash
# 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 --recursive
mkdir iridescence/build && cd iridescence/build
cmake ..
make -j
sudo make install
# [Optional] Build and install python bindings
cd ..
pip install .
# [Optional2] Install stubs for autocomplete
pip install pybind11-stubgen
cd ~/.local/lib/python3.12/site-packages
pybind11-stubgen -o . --ignore-invalid=all pyridescence
```
### Install from [PPA](https://github.com/koide3/ppa) [AMD64, ARM64]
#### Ubuntu 24.04
```bash
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2404/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2404 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list
sudo apt update && sudo apt install -y libiridescence-dev
```
#### Ubuntu 22.04
```bash
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2204/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2204 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list
sudo apt update && sudo apt install -y libiridescence-dev
```
#### Ubuntu 20.04
```bash
curl -s --compressed "https://koide3.github.io/ppa/ubuntu2004/KEY.gpg" | gpg --dearmor | sudo tee /etc/apt/trusted.gpg.d/koide3_ppa.gpg >/dev/null
echo "deb [signed-by=/etc/apt/trusted.gpg.d/koide3_ppa.gpg] https://koide3.github.io/ppa/ubuntu2004 ./" | sudo tee /etc/apt/sources.list.d/koide3_ppa.list
sudo apt update && sudo apt install -y libiridescence-dev
```
## Use Iridescence in your cmake project
```cmake
# Find package
find_package(Iridescence REQUIRED)
# Add include dirs and link libraries
add_executable(your_program
src/your_program.cpp
)
target_link_libraries(your_program
Iridescence::Iridescence
)
```
## Minimum example
C++:
```cpp
#include
#include
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
```py
#!/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))
```
See **[documentation](https://koide3.github.io/iridescence/)** for details.
## Some use examples in my academic works
## License
This package is released under the MIT license.