robokudo.vis.o3d_visualizer¶

Open3D-based visualization for RoboKudo pipelines.

This module provides 3D visualization capabilities for RoboKudo pipelines using Open3D. It handles:

3D geometry visualization
Point cloud rendering
Camera control
Coordinate frame display
Window management

Classes¶

`O3DVisualizer`	Open3D-based visualizer for 3D geometry data.
`Viewer3D`	Open3D viewer wrapper for 3D visualization.

Module Contents¶

class robokudo.vis.o3d_visualizer.O3DVisualizer(*args: typing_extensions.Any, **kwargs: typing_extensions.Any)¶

Bases: robokudo.vis.visualizer.Visualizer, robokudo.vis.visualizer.Visualizer.Observer

Open3D-based visualizer for 3D geometry data.

This class provides visualization of 3D geometry data from pipeline annotators using Open3D windows. It supports:

3D geometry visualization
Point cloud rendering
Camera control
Coordinate frame display
Shared visualization state

Note

This Visualizer works with a shared state and needs notifications

viewer3d: typing_extensions.Optional[Viewer3D] = None¶: Open3D viewer instance

notify(observable: robokudo.vis.visualizer.Visualizer.Observable, *args: typing_extensions.Any, **kwargs: typing_extensions.Any) → None¶

Handle notification of state changes.

Parameters:: observable – The object that sent the notification

tick() → None¶

Update the visualization display.

This method:

Initializes viewer if needed
Gets current annotator outputs
Updates display if needed
Handles viewer lifecycle

Returns:: False if visualization should terminate, True otherwise

window_title() → str¶: Get the window title for this visualizer.

class robokudo.vis.o3d_visualizer.Viewer3D(title: str)¶

Bases: object

Open3D viewer wrapper for 3D visualization.

This class wraps the Open3D visualization functionality to provide:

Window management
Geometry updates
Camera control
Coordinate frame display

first_cloud: bool = True¶: Flag indicating if this is the first cloud being displayed

CLOUD_NAME: str = 'Viewer3D'¶: Name identifier for the point cloud

rk_logger: logging.Logger = None¶: Logger instance

main_vis: open3d.visualization.O3DVisualizer¶: Open3D visualizer instance

visualized_geometries: typing_extensions.List[str] = []¶: List of the names of the currently visualized geometries

tick() → typing_extensions.Any¶

Update the viewer display.

Returns:: False if visualization should terminate, True otherwise

update_cloud(geometries: typing_extensions.Optional[typing_extensions.Union[open3d.geometry.Geometry, typing_extensions.Dict, typing_extensions.List]]) → None¶

Update the displayed geometries.

This method updates the Open3D visualizer based on the outputs of the annotators. For the first update, it also sets up the camera and coordinate frame.

Parameters:: geometries – Geometries to display. Can be:

Note

The dict format follows Open3D’s draw() convention. See: https://github.com/isl-org/Open3D/blob/master/examples/python/visualization/draw.py