`mrpt.viz`

Package Contents

class mrpt.viz.AssimpLoadFlags(value: int)

Members:

RealTimeFast

RealTimeQuality

RealTimeMaxQuality

FlipUVs

IgnoreMaterialColor

Verbose

property name: str

property value: int

FlipUVs: ClassVar[AssimpLoadFlags]

IgnoreMaterialColor: ClassVar[AssimpLoadFlags]

RealTimeFast: ClassVar[AssimpLoadFlags]

RealTimeMaxQuality: ClassVar[AssimpLoadFlags]

RealTimeQuality: ClassVar[AssimpLoadFlags]

Verbose: ClassVar[AssimpLoadFlags]

class mrpt.viz.CAnimatedAssimpModel

C++ API: class mrpt::viz::CAnimatedAssimpModel

Bases: CAssimpModel

Extension of CAssimpModel with skeletal animation support.

getAnimationCount() → int: Get number of animations in the model.

getAnimationDuration(anim_idx: int = 0) → float: Get animation duration in seconds.

getAnimationName(anim_idx: int) → str: Get animation name by index.

loadScene(file_name: str, flags: int = 4116) → None: Loads a 3D scene and extracts skeleton/animation data.

setActiveAnimation(anim_name: str) → None: Select which animation to play (by index).

setActiveAnimationByIndex(idx: int) → None: Select which animation to play (by index).

setAnimationTime(t_seconds: float) → None: Set current animation time in seconds. Updates all bone transforms for the active animation and rebuilds the mesh geometry with skinned positions.

setLooping(loop: bool) → None: Enable/disable animation looping.

class mrpt.viz.CArrow

C++ API: class mrpt::viz::CArrow

Bases: CVisualObject

A 3D arrow.

setArrowEnds(x0: float, y0: float, z0: float, x1: float, y1: float, z1: float) → None: Sets the arrow start (x0, y0, z0) and end (x1, y1, z1) points.

setHeadRatio(arg0: float) → None: Sets the length of the arrow head, relative to the arrow length.

setSmallRadius(arg0: float) → None: Sets the radius of the arrow body.

class mrpt.viz.CAssimpModel

C++ API: class mrpt::viz::CAssimpModel

Bases: CVisualObject

A 3D model loaded from any file format supported by the Assimp library.

loadScene(file_name: str, flags: int = 4116) → None: Loads a 3D scene from a file in any Assimp-supported format.

class mrpt.viz.CAxis(xmin: float = -1.0, ymin: float = -1.0, zmin: float = -1.0, xmax: float = 1.0, ymax: float = 1.0, zmax: float = 1.0, frequency: float = 1.0, lineWidth: float = 3.0, marks: bool = True)

C++ API: class mrpt::viz::CAxis

Bases: CVisualObject

Draw a 3D world axis, with coordinate marks at some regular interval.

enableTickMarks(arg0: bool) → None: Shows or hides the tick marks.

getFrequency() → float: Returns the spacing between tick marks.

getTextScale() → float: Returns the size of text labels.

setAxisLimits(arg0: float, arg1: float, arg2: float, arg3: float, arg4: float, arg5: float) → None: Sets the axis limits (xmin, ymin, zmin, xmax, ymax, zmax).

setFrequency(arg0: float) → None: Changes the frequency of the “ticks”.

setTextScale(arg0: float) → None: Sets the size of text labels (default: 0.25).

class mrpt.viz.CBox

C++ API: class mrpt::viz::CBox

CBox(corner1: mrpt.math.TPoint3D, corner2: mrpt.math.TPoint3D, is_wireframe: bool = False, lineWidth: float = 1.0)

Bases: CVisualObject

A solid or wireframe box, given its two opposite corners.

enableBoxBorder(arg0: bool) → None: Enable/disable drawing a border around solid boxes.

getBoxCorners() → tuple: Get the current box corners.

isWireframe() → bool: Returns true if wireframe mode is enabled.

setBoxBorderColor(color: mrpt.img.TColor) → None: Color of the box edges, drawn if enableBoxBorder()

setBoxCorners(arg0: mrpt.math.TPoint3D, arg1: mrpt.math.TPoint3D) → None: Set the position and size of the box, from two corners in 3D.

setWireframe(arg0: bool) → None: Sets wireframe rendering mode (true) or solid mode (false, default)

class mrpt.viz.CCamera

C++ API: class mrpt::viz::CCamera

Bases: CVisualObject

Defines the intrinsic and extrinsic camera coordinates from which to render a 3D scene.

setAzimuthDegrees(arg0: float) → None: Sets the camera azimuth angle, in degrees.

setElevationDegrees(arg0: float) → None: Sets the camera elevation angle, in degrees.

setZoomDistance(arg0: float) → None: Sets the camera distance to the point it looks at.

class mrpt.viz.CColorBar(colormap: int = 0, width: float = 0.2, height: float = 1.0, min_col: float = 0.0, max_col: float = 1.0, min_value: float = 0.0, max_value: float = 1.0, label_format: str = '%7.02f', label_font_size: float = 0.05000000074505806)

C++ API: class mrpt::viz::CColorBar

Bases: CVisualObject

A colorbar indicator. This class renders a colorbar as a 3D object, in the XY plane.

setColorAndValueLimits(col_min: float, col_max: float, value_min: float, value_max: float) → None: Sets the color range and the value range it represents.

setColormap(colormap: int) → None: Sets the colormap, as the integer value of a mrpt.img.TColormap.

class mrpt.viz.CCylinder

C++ API: class mrpt::viz::CCylinder

CCylinder(baseRadius: float, topRadius: float, height: float = 1.0, slices: int = 20)

Bases: CVisualObject

A cylinder or cone whose base lies in the XY plane.

getHeight() → float: Gets the cylinder’s height.

setHeight(arg0: float) → None: Changes cylinder’s height.

setRadii(arg0: float, arg1: float) → None: Sets both radii independently.

setRadius(arg0: float) → None: Sets both radii to a single value, configuring the object as a cylinder.

class mrpt.viz.CDisk

C++ API: class mrpt::viz::CDisk

CDisk(out_radius: float, in_radius: float, slices: int = 50)

Bases: CVisualObject

A planar disk in the XY plane.

property in_radius: float: Inner radius.

property out_radius: float: Outer radius.

setDiskRadius(out_radius: float, in_radius: float = 0.0) → None: Sets the outer and inner radii.

setSlicesCount(N: int) → None: Sets the number of slices (at least 3; default: 50).

class mrpt.viz.CEllipsoid2D

C++ API: class mrpt::viz::CEllipsoid2D

Bases: CVisualObject

A 2D ellipse on the XY plane, centered at the origin of this object pose.

setCovMatrix(arg0: mrpt.math.CMatrixDouble22) → None: Like setCovMatrixAndMean(), for mean=zero.

setQuantiles(arg0: float) → None: Changes the scale of the “sigmas” for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of “quantiles” q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.

class mrpt.viz.CEllipsoid3D

C++ API: class mrpt::viz::CEllipsoid3D

Bases: CVisualObject

A 3D ellipsoid, centered at zero with respect to this object pose.

set3DsegmentsCount(arg0: int) → None: The number of segments of a 3D ellipse (in both “axes”) (default=20)

setCovMatrix(arg0: mrpt.math.CMatrixDouble33) → None: Like setCovMatrixAndMean(), for mean=zero.

setQuantiles(arg0: float) → None: Changes the scale of the “sigmas” for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of “quantiles” q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.

class mrpt.viz.CEllipsoidInverseDepth2D

C++ API: class mrpt::viz::CEllipsoidInverseDepth2D

Bases: CVisualObject

An uncertainty ellipse of an (inverse range, yaw) variable, drawn in 2D Cartesian space.

getQuantiles() → float: Returns the number of sigmas of the drawn ellipse (see setQuantiles()).

getUnderflowMaxRange() → float: Returns the range used for points of the ellipsoid that fall in negative ranges.

setCovMatrix(arg0: mrpt.math.CMatrixDouble22) → None: Like setCovMatrixAndMean(), for mean=zero.

setQuantiles(q: float) → None: Changes the scale of the “sigmas” for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of “quantiles” q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.

setUnderflowMaxRange(maxRange: float) → None: Sets the range used for points of the ellipsoid that fall in negative ranges (default: 1e6).

class mrpt.viz.CEllipsoidInverseDepth3D

C++ API: class mrpt::viz::CEllipsoidInverseDepth3D

Bases: CVisualObject

An uncertainty ellipsoid of an (inverse range, yaw, pitch) variable, drawn in 3D Cartesian space.

getQuantiles() → float: Returns the number of sigmas of the drawn ellipsoid (see setQuantiles()).

getUnderflowMaxRange() → float: Returns the range used for points of the ellipsoid that fall in negative ranges.

setCovMatrix(arg0: mrpt.math.CMatrixDouble33) → None: Like setCovMatrixAndMean(), for mean=zero.

setQuantiles(q: float) → None: Changes the scale of the “sigmas” for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of “quantiles” q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.

setUnderflowMaxRange(maxRange: float) → None: Sets the range used for points of the ellipsoid that fall in negative ranges (default: 1e6).

class mrpt.viz.CEllipsoidRangeBearing2D

C++ API: class mrpt::viz::CEllipsoidRangeBearing2D

Bases: CVisualObject

An uncertainty ellipse of a (range, bearing) variable, drawn in 2D Cartesian space.

getQuantiles() → float: Returns the number of sigmas of the drawn ellipse (see setQuantiles()).

setCovMatrix(arg0: mrpt.math.CMatrixDouble22) → None: Like setCovMatrixAndMean(), for mean=zero.

setQuantiles(q: float) → None: Changes the scale of the “sigmas” for drawing the ellipse/ellipsoid (default=3, ~97 or ~98% CI); the exact mathematical meaning is: This value of “quantiles” q should be set to the square root of the chi-squared inverse cdf corresponding to the desired confidence interval.

class mrpt.viz.CFrustum

C++ API: class mrpt::viz::CFrustum

CFrustum(near_distance: float, far_distance: float, horz_FOV_degrees: float, vert_FOV_degrees: float, lineWidth: float = 1.0, draw_lines: bool = True, draw_planes: bool = False)

Bases: CVisualObject

A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assymetric) field-of-view angles.

property far_plane: float: Distance to the far plane.

property horz_fov: float: Horizontal field of view, in degrees.

property near_plane: float: Distance to the near plane.

property vert_fov: float: Vertical field of view, in degrees.

setHorzFOV(fov_degrees: float) → None: Changes horizontal FOV (symmetric)

setNearFarPlanes(near: float, far: float) → None: Changes distance of near & far planes.

setPlaneColor(color: mrpt.img.TColor) → None: Sets the color of the planes (line color is set with setColor()).

setVertFOV(fov_degrees: float) → None: Changes vertical FOV (symmetric)

class mrpt.viz.CGridPlaneXY(xmin: float = -10.0, xmax: float = 10.0, ymin: float = -10.0, ymax: float = 10.0, z: float = 0.0, frequency: float = 1.0)

C++ API: class mrpt::viz::CGridPlaneXY

Bases: CVisualObject

A grid of lines over the XY plane.

setGridFrequency(arg0: float) → None: Sets the spacing between grid lines.

setPlaneLimits(xmin: float, xmax: float, ymin: float, ymax: float) → None: Sets the grid limits in x and y.

setPlaneZcoord(arg0: float) → None: Sets the grid height (z).

class mrpt.viz.CGridPlaneXZ(xmin: float = -10.0, xmax: float = 10.0, zmin: float = -10.0, zmax: float = 10.0, y: float = 0.0, frequency: float = 1.0)

C++ API: class mrpt::viz::CGridPlaneXZ

Bases: CVisualObject

A grid of lines over the XZ plane.

setGridFrequency(arg0: float) → None: Sets the spacing between grid lines.

setPlaneLimits(xmin: float, xmax: float, zmin: float, zmax: float) → None: Sets the grid limits in x and z.

setPlaneYcoord(arg0: float) → None: Sets the grid y coordinate.

class mrpt.viz.CLight

C++ API: class mrpt::viz::CLight

CLight(light: TLight)

Bases: CVisualObject

A light source placed in the scene graph: its position and direction are relative to the pose of this object and its parents. It is switched on and off with setVisibility().

property light: TLight: The light parameters, in the local frame of this object.

class mrpt.viz.CMesh(enable_transparency: bool = False, xMin: float = -1.0, xMax: float = 1.0, yMin: float = -1.0, yMax: float = 1.0)

C++ API: class mrpt::viz::CMesh

Bases: CVisualObject

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

enableColorFromZ(v: bool) → None: Enable color from Z height using HOT colormap

enableTransparency(v: bool) → None: Enables or disables transparency.

enableWireFrame(v: bool) → None: Shows the mesh as wireframe (true) or solid (false).

setGridLimits(xMin: float, xMax: float, yMin: float, yMax: float) → None: Sets the x and y limits of the grid.

setZ(Z: numpy.ndarray) → None: Set height matrix (numpy float32 2D array)

class mrpt.viz.CMesh3D

C++ API: class mrpt::viz::CMesh3D

Bases: CVisualObject

A 3D mesh composed of triangles and/or quads. A typical usage example would be a 3D model of an object.

enableFaceNormals(v: bool) → None: Enables or disables computing normals per face.

enableShowEdges(v: bool) → None: Shows or hides the edges.

enableShowFaces(v: bool) → None: Shows or hides the faces.

enableShowVertices(v: bool) → None: Shows or hides the vertices.

loadMesh(vertices: numpy.ndarray, face_vertices: numpy.ndarray, verts_per_face: numpy.ndarray) → None: Load a mesh from numpy arrays: vertices (Nx3 float32), face_vertices (M,) int32, verts_per_face (F,) int32

class mrpt.viz.CMeshFast(enable_transparency: bool = False, xMin: float = -1.0, xMax: float = 1.0, yMin: float = -1.0, yMax: float = 1.0)

C++ API: class mrpt::viz::CMeshFast

Bases: CVisualObject

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

enableColorFromZ(v: bool, colormap: int = 4) → None: Enable color from Z height (colormap int)

enableTransparency(v: bool) → None: Enables or disables transparency.

setGridLimits(xmin: float, xmax: float, ymin: float, ymax: float) → None: Sets the x and y limits of the grid.

setZ(Z: numpy.ndarray) → None: Set height matrix (numpy float32 2D array)

class mrpt.viz.COctoMapVoxels

C++ API: class mrpt::viz::COctoMapVoxels

Bases: CVisualObject

Renders voxels, typically from a 3D octomap.

clear() → None: Clears everything.

enableCubeTransparency(enable: bool) → None: Enables or disables using the alpha channel of the voxel colors.

enableLights(enable: bool) → None: Can be used to enable/disable the effects of lighting in this object.

getVoxelCount(set_index: int) → int: Returns the total count of voxels in one voxel set.

getVoxelSetCount() → int: Returns the number of voxel sets.

push_back_Voxel(set_index: int, x: float, y: float, z: float, side: float, r: int = 200, g: int = 200, b: int = 200, a: int = 255) → None: Appends a voxel (center, side length and RGBA color) to a voxel set.

resizeVoxelSets(n: int) → None: Sets the number of voxel sets.

resizeVoxels(set_index: int, n: int) → None: Sets the number of voxels in one voxel set.

setVisualizationMode(mode: OctoMapVisualizationMode) → None: Select the visualization mode. To have any effect, this method has to be called before loading the octomap.

showGridLines(show: bool) → None: Shows/hides the grid lines.

showVoxels(voxel_set: int, show: bool) → None: Shows or hides the voxels of one voxel set.

showVoxelsAsPoints(enable: bool) → None: For quick renders: render voxels as points instead of cubes.

class mrpt.viz.COrbitCameraController

C++ API: class mrpt::viz::COrbitCameraController

Framework-agnostic orbit/pan/zoom camera controller.

azimuth_deg: float

elevation_deg: float

roll_deg: float

zoom: float

applyTo(cam: CCamera) → None: Writes the current orbit parameters into cam.

onMouseButton(x: int, y: int, button: int, down: bool) → None: Call on button press/release.

onMouseMove(x: int, y: int, buttons: int, modifiers: int) → None: Call on mouse-move events while any button is held.

onScroll(delta: float, modifiers: int) → None: Call on scroll-wheel events.

setAzimuthDegrees(deg: float) → None: Sets the camera azimuth angle, in degrees.

setCameraPointing(x: float, y: float, z: float) → None: Sets the point the camera looks at (x, y, z).

setElevationDegrees(deg: float) → None: Sets the camera elevation angle, in degrees.

setFrom(cam: CCamera) → None: Initialises the controller from an existing CCamera.

setZoomDistance(d: float) → None: Sets the camera distance to the point it looks at.

class mrpt.viz.CPointCloud

C++ API: class mrpt::viz::CPointCloud

Bases: CVisualObject

A cloud of points, all with the same color or each depending on its value along a particular coordinate axis.

clear() → None: Empty the list of points.

getPointSize() → float: Returns the rendered point size, in pixels.

insertPoint(x: float, y: float, z: float) → None: Adds a new point to the cloud.

setPointSize(pointSize: float) → None: Point size, in pixels

setPoints(arg0: numpy.ndarray) → None: Sets all points from a NumPy array of shape (N, 3).

class mrpt.viz.CPointCloudColoured

C++ API: class mrpt::viz::CPointCloudColoured

Bases: CVisualObject

A cloud of points, each one with an individual color (R,G,B,A).

clear() → None: Erase all the points.

getPointSize() → float: Returns the rendered point size, in pixels.

push_back(x: float, y: float, z: float, r: float = 1.0, g: float = 1.0, b: float = 1.0, a: float = 1.0) → None: Inserts a new point into the point cloud.

setPointSize(pointSize: float) → None: Point size, in pixels

size() → int: Return the number of points.

class mrpt.viz.CPolyhedron

C++ API: class mrpt::viz::CPolyhedron

Bases: CVisualObject

This class represents arbitrary polyhedra. The class includes a set of static methods to create common polyhedrons.

static CreateCuboctahedron(radius: float) → CPolyhedron: Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron).

static CreateDodecahedron(radius: float) → CPolyhedron: Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron).

static CreateHexahedron(radius: float) → CPolyhedron: Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron).

static CreateIcosahedron(radius: float) → CPolyhedron: Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron).

static CreateIcosidodecahedron(radius: float, type: bool = True) → CPolyhedron: Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron).

static CreateOctahedron(radius: float) → CPolyhedron: Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron).

static CreateTetrahedron(radius: float) → CPolyhedron: Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron).

static CreateTruncatedHexahedron(radius: float) → CPolyhedron: Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron).

static CreateTruncatedIcosahedron(radius: float) → CPolyhedron: Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons.

static CreateTruncatedOctahedron(radius: float) → CPolyhedron: Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron).

static CreateTruncatedTetrahedron(radius: float) → CPolyhedron: Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron).

class mrpt.viz.CSetOfLines

C++ API: class mrpt::viz::CSetOfLines

Bases: CVisualObject

A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z).

appendLine(x0: float, y0: float, z0: float, x1: float, y1: float, z1: float) → None
appendLine(arg0: mrpt.math.TSegment3D) → None: Appends a segment.

clear() → None: Clear the list of segments.

class mrpt.viz.CSetOfObjects

C++ API: class mrpt::viz::CSetOfObjects

Bases: CVisualObject

A group of 3D objects, placed relative to the pose of this object.

clear() → None: Removes all objects.

insert(obj: CVisualObject) → None: Adds an object to the set.

class mrpt.viz.CSetOfTexturedTriangles

C++ API: class mrpt::viz::CSetOfTexturedTriangles

Bases: CVisualObject

A set of textured triangles. This class can be used to draw any solid, arbitrarily complex object with textures.

clearTriangles() → None: Removes all triangles.

getTriangle(idx: int) → TTriangle: Returns the i-th triangle.

getTrianglesCount() → int: Returns the number of triangles.

insertTriangle(triangle: TTriangle) → None: Appends a triangle.

class mrpt.viz.CSetOfTriangles

C++ API: class mrpt::viz::CSetOfTriangles

Bases: CVisualObject

A set of colored triangles, able to draw any solid, arbitrarily complex object without textures.

clearTriangles() → None: Clear this object, removing all triangles.

getTriangle(idx: int) → TTriangle: Gets the i-th triangle.

getTrianglesCount() → int: Get triangle count.

insertTriangle(triangle: TTriangle) → None: Inserts a triangle into the set.

class mrpt.viz.CSimpleLine

C++ API: class mrpt::viz::CSimpleLine

Bases: CVisualObject

A line segment.

getLineEnd() → mrpt.math.TPoint3Df: Returns the line end point.

getLineStart() → mrpt.math.TPoint3Df: Returns the line start point.

setLineCoords(x0: float, y0: float, z0: float, x1: float, y1: float, z1: float) → None: Sets the line end points (x0, y0, z0, x1, y1, z1).

class mrpt.viz.CSkyBox

C++ API: class mrpt::viz::CSkyBox

Bases: CVisualObject

A Sky Box: 6 textures that are always rendered at “infinity” to give the impression of the scene to be much larger.

assignImage(face: CubeTextureFace, img: mrpt.img.CImage) → None: Assigns a texture. It is mandatory to assign all 6 faces before initializing/rendering the texture.

class mrpt.viz.CSphere(radius: float = 1.0, nDivs: int = 20)

C++ API: class mrpt::viz::CSphere

Bases: CVisualObject

A solid or wire-frame sphere.

getRadius() → float: Returns the sphere radius.

setNumberDivs(arg0: int) → None: Sets the number of slices and stacks used to render the sphere.

setRadius(arg0: float) → None: Sets the sphere radius.

class mrpt.viz.CText

C++ API: class mrpt::viz::CText

CText(text: str)

Bases: CVisualObject

A 2D text label at a 3D position, always facing the camera.

getString() → str: Return the current text associated to this label.

setFont(arg0: str, arg1: int) → None: Sets the font among “sans”, “serif”, “mono”.

setString(arg0: str) → None: Sets the text to display.

class mrpt.viz.CText3D(text: str = '', fontName: str = 'sans', scale: float = 1.0)

C++ API: class mrpt::viz::CText3D

Bases: CVisualObject

A 3D text (rendered with OpenGL primitives), with selectable font face and drawing style.

getString() → str: Returns the currently text associated to this object.

setString(arg0: str) → None: Sets the displayed string.

class mrpt.viz.CTexturedPlane(x_min: float = -1.0, x_max: float = 1.0, y_min: float = -1.0, y_max: float = 1.0)

C++ API: class mrpt::viz::CTexturedPlane

Bases: CVisualObject

A 2D plane in the XY plane with a texture image.

enableLighting(enable: bool = True) → None: Enables or disables lighting on the plane.

getPlaneCorners() → tuple: Get the coordinates of the four corners that define the plane on the XY plane.

setPlaneCorners(xMin: float, xMax: float, yMin: float, yMax: float) → None: Set the coordinates of the four corners that define the plane on the XY plane.

setTextureRepeat(repeatX: float, repeatY: float) → None: Set the number of times the texture repeats in each direction.

class mrpt.viz.CVectorField2D

C++ API: class mrpt::viz::CVectorField2D

Bases: CVisualObject

A 2D vector field representation, consisting of points and arrows drawn on a plane (invisible grid).

clear() → None: Clear the matrices.

setGridCenterAndCellSize(cx: float, cy: float, cell_x: float, cell_y: float) → None: Set the coordinates of the grid on where the vector field will be drawn by setting its center and the cell size.

setGridLimits(xmin: float, xmax: float, ymin: float, ymax: float) → None: Set the coordinates of the grid on where the vector field will be drawn using x-y max and min values.

setPointColor(R: float, G: float, B: float, A: float = 1.0) → None: Set the point color in the range [0,1].

setVectorField(vx: numpy.ndarray, vy: numpy.ndarray) → None: Sets the vector components at each grid cell, as 2D float arrays of equal shape.

setVectorFieldColor(R: float, G: float, B: float, A: float = 1.0) → None: Set the arrow color in the range [0,1].

class mrpt.viz.CVectorField3D

C++ API: class mrpt::viz::CVectorField3D

Bases: CVisualObject

A 3D vector field representation, consisting of points and arrows drawn at any spatial position.

clear() → None: Clear the matrices.

setMaxSpeedForColor(s: float) → None: Set the max speed associated for the color map ( m_still_color, m_maxspeed_color)

setPointColor(R: float, G: float, B: float, A: float = 1.0) → None: Set the point color in the range [0,1].

setPointCoordinates(px: numpy.ndarray, py: numpy.ndarray, pz: numpy.ndarray) → None: Sets the point coordinates, as 2D float arrays of equal shape.

setVectorField(vx: numpy.ndarray, vy: numpy.ndarray, vz: numpy.ndarray) → None: Sets the vector components at each point, as 2D float arrays of equal shape.

setVectorFieldColor(R: float, G: float, B: float, A: float = 1.0) → None: Set the arrow color in the range [0,1].

class mrpt.viz.CubeTextureFace(value: int)

Members:

LEFT

RIGHT

TOP

BOTTOM

FRONT

BACK

property name: str

property value: int

BACK: ClassVar[CubeTextureFace]

BOTTOM: ClassVar[CubeTextureFace]

FRONT: ClassVar[CubeTextureFace]

LEFT: ClassVar[CubeTextureFace]

RIGHT: ClassVar[CubeTextureFace]

TOP: ClassVar[CubeTextureFace]

class mrpt.viz.OctoMapVisualizationMode(value: int)

Members:

FIXED : All voxels have the same fixed color

COLOR_FROM_HEIGHT : Color voxels by height

COLOR_FROM_OCCUPANCY : Color by occupancy probability

TRANSPARENCY_FROM_OCCUPANCY : Transparency from occupancy

TRANS_AND_COLOR_FROM_OCCUPANCY : Both transparency and color from occupancy

COLOR_FROM_RGB_DATA : Use per-voxel stored RGB

property name: str

property value: int

COLOR_FROM_HEIGHT: ClassVar[OctoMapVisualizationMode]

COLOR_FROM_OCCUPANCY: ClassVar[OctoMapVisualizationMode]

COLOR_FROM_RGB_DATA: ClassVar[OctoMapVisualizationMode]

FIXED: ClassVar[OctoMapVisualizationMode]

TRANSPARENCY_FROM_OCCUPANCY: ClassVar[OctoMapVisualizationMode]

TRANS_AND_COLOR_FROM_OCCUPANCY: ClassVar[OctoMapVisualizationMode]

class mrpt.viz.Scene

C++ API: class mrpt::viz::Scene

A 3D scene: one or more viewports, each with a set of objects to render.

clear(createMainViewport: bool = True) → None: Removes all objects (and viewports), then re-creates the main viewport

createViewport(name: str) → Viewport: Creates a new viewport with the given name, and returns it.

getViewport(name: str = 'main') → Viewport: Returns the viewport with the given name (default: “main”), or None.

insert(arg0: CVisualObject) → None: Insert a new object into the scene, in the given viewport (by default, into the “main” viewport).

class mrpt.viz.TLight

C++ API: struct mrpt::viz::TLight

A single light source (directional, point, or spot).

property cast_shadows: bool: Whether this Point/Spot light casts shadows (cube shadow map, default: False).

property range: float: Maximum reach of Point/Spot lights [m], where the light fades to zero (0=unlimited).

attenuation_constant: float

attenuation_linear: float

attenuation_quadratic: float

diffuse: float

direction: mrpt.math.TPoint3Df

position: mrpt.math.TPoint3Df

specular: float

spot_inner_cutoff_deg: float

spot_outer_cutoff_deg: float

type: TLightType

static Directional(dir: mrpt.math.TPoint3Df, r: float = 1.0, g: float = 1.0, b: float = 1.0, diffuse: float = 0.800000011920929, specular: float = 0.949999988079071) → TLight: Factory: creates a directional light.

class mrpt.viz.TLightType(value: int)

Members:

Directional

Point

Spot

property name: str

property value: int

Directional: ClassVar[TLightType]

Point: ClassVar[TLightType]

Spot: ClassVar[TLightType]

class mrpt.viz.TTriangle

C++ API: struct mrpt::viz::TTriangle

TTriangle(p1: mrpt.math.TPoint3Df, p2: mrpt.math.TPoint3Df, p3: mrpt.math.TPoint3Df)

A triangle (float coordinates) with RGBA colors (u8) and UV (texture coordinates) for each vertex.

vertices: list[TTriangleVertex]

computeNormals() → None: Compute the three normals from the cross-product of “v01 x v02”.

class mrpt.viz.TTriangleVertex

One vertex of a TTriangle: position, color, normal and texture coordinates.

setColor(color: mrpt.img.TColor) → None: Set vertex color from TColor

class mrpt.viz.Viewport

C++ API: class mrpt::viz::Viewport

A viewport within a Scene, containing a set of OpenGL objects to render.

property name: str: Returns the name of the viewport.

clear() → None: Removes all objects.

getCamera() → CCamera: Returns the camera of this viewport.

insert(obj: CVisualObject) → None: Adds an object to the viewport.

setCustomBackgroundColor(arg0: mrpt.img.TColorf) → None: Defines the viewport background color.

setViewportPosition(arg0: float, arg1: float, arg2: float, arg3: float) → None: Change the viewport position and dimension on the rendering window.

mrpt.viz.create_point_cloud(pts_array, color=(255, 255, 255)): Returns a CPointCloud with the points of an (N, 3) array, in one color (R, G, B, 0-255).

mrpt.viz.posePDF2opengl(pdf: mrpt.poses.CPosePDF) → CSetOfObjects
mrpt.viz.posePDF2opengl(pdf: mrpt.poses.CPose3DPDF) → CSetOfObjects: Returns a 3D representation of a 3D pose PDF (ellipsoids, particles, …)

mrpt.viz

Package Contents

`mrpt.viz`