RobotsViz

[WIP]

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

Dependencies

• Eigen 3
• OpenCV
• RobotsIO
• VTK

Optional

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

• SuperimposeMesh
• YARP

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)