# roboflex.visualization
A thin wrapper of various display nodes over SDL2. For now just supplies
one node: RGBImageTV. It can display rgb tensors of the form (H,W,3) uint8.
## System requirements
* libsdl: SDL (Simple Directmedia Layer)
# search for existing libsdl packages
dpkg -l | grep sdl # -> shows nothing
# install libsdl
sudo apt-get install libsdl2-dev
# search for existing libsdl packages again
dpkg -l | grep sdl # -> shows:
ii libsdl2-2.0-0:amd64 2.0.20+dfsg-2ubuntu1.22.04.1 amd64 Simple DirectMedia Layer
ii libsdl2-dev:amd64 2.0.20+dfsg-2ubuntu1.22.04.1 amd64 Simple DirectMedia Layer development files
THIS, for me on ubuntu22, puts headers in /usr/include/SDL2 and libs in /lib/x86_64-linux-gnu/libSDL2-2.0.so
# to remove it:
sudo apt-get -y purge libsdl2-dev
## Import
import roboflex.visualization as rv
## Nodes
There are two:
There is are three: **RGBImageTV**, **BlackAndWhiteTV**, and **DepthTV**
# RGBImageTV will redraw rgb images at some
# frequency (refresh rate). It will look into
# all messages it receives - those that contain
# the key "rgb", mapping to a (3,H,W) tensor
# will be rendered. Messages get propagated.
rgb_tv = rcw.RGBImageTV(
# mandatory (refresh rate)
frequency_hz: float,
# optional; defaults are:
width = 640,
height = 480,
image_key = "rgb",
initial_pos = (-1, -1),
mirror = False,
debug = False,
name = "RGBImageTV"
)
# must be started!
rgb_tv.start()
# BlackAndWhiteTV will redraw rgb images at some
# frequency (refresh rate). It will look into
# all messages it receives - those that contain
# the key "ir1", mapping to a (H,W) tensor
# will be rendered. Messages get propagated.
black_and_white_tv = rcw.BlackAndWhiteTV(
# mandatory (refresh rate)
frequency_hz: float,
# optional; defaults are:
width = 640,
height = 480,
image_key = "ir1",
initial_pos = (-1, -1),
mirror = False,
debug = False,
name = "BlackAndWhiteTV"
)
# must be started!
black_and_white_tv.start()
# DepthTV will redraw depth images at some
# frequency (refresh rate). It will look into
# all messages it receives - those that contain
# the key "depth", mapping to a (H,W) tensor
# will be rendered. Messages get propagated.
depth_tv = rcw.DepthTV(
# mandatory (refresh rate)
frequency_hz: float,
# optional; defaults are:
width = 640,
height = 480,
image_key = "depth",
initial_pos = (-1, -1),
mirror = False,
debug = False,
name = "RGBImageTV"
)
# must be started!
depth_tv.start()
Raw data
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