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.

on Ubuntu 18.04 / 20.04 / 22.04

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 for details.

Dependencies

• GLFW (zlib/libpng license)
• gl3w (Public domain)
• Dear ImGui (MIT license)
• ImGuizmo (MIT license)
• implot (MIT license)
• Eigen (MPL2 license)
• portable-file-dialogs (WTFPL license)

Installation

# 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 bindingscd ..
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

Docker

• Build: docker build -t iridescence -f docker/ubuntu/Dockerfile .
• Run: bash docker/run.sh iridescence

Use Iridescence in your cmake project

# Find packagefind_package(IridescenceREQUIRED)
# Add include dirs and link librariesadd_executable(your_programsrc/your_program.cpp
)
target_link_libraries(your_programIridescence::Iridescence
)

Minimum example

C++:

#include<glk/primitives/primitives.hpp>
#include<guik/viewer/light_viewer.hpp>intmain(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 closedwhile (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));
}
return0;
}

Python version

#!/usr/bin/python3importnumpyfromscipy.spatial.transformimportRotationfrompyridescenceimport*# Create a viewer instance (global singleton)viewer=guik.LightViewer.instance()
angle=0.0# Define a callback for UI renderingdefui_callback():
# In the callback, you can call ImGui commands to create your UI.# Here, we use "DragFloat" and "Button" to create a simple UI.globalangle_, angle=imgui.drag_float('angle', angle, 0.01)
ifimgui.button('close'):
viewer.close()
# Register a callback for UI renderingviewer.register_ui_callback('ui', ui_callback)
# Spin the viewer until it gets closedwhileviewer.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 for details.

Some use examples in my academic works

License

This package is released under the MIT license.