slamd 2.1.13

Python bindings for SlamDunk

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SlamDunk is a powerful and user-friendly Python library for making 3D and 2D visualizations for prototyping, data exploration, and algorithm development.

It is lightweight, built using OpenGL and ImGui.

Examples

Hello world

Here is a simple "hello world" program for a SlamDunk visualization.

import slamd

if __name__ == "__main__":
    vis = slamd.Visualizer("Hello world")

    scene = vis.scene("scene")

    scene.set_object("/origin", slamd.geom.Triad())

    vis.hang_forever()

Running this program results in the following interactive visualization:

This example highlights the main components of SlamDunk.

The Visualizer object maintains the state of the visualization, and starts a TCP server that the visualization window connects to.

By default, it spawns a window process that reads from it and displays the visualizations. You can opt out of this with the spawn argument, and control the port with the port argument. In this case, you can start a window with the slamd-window executable:

slamd-window --port [port] --ip [ip]

This client-server architecture allows launching a visualizer a remote server, and connecting to it on your local machine.

A Scene object represents and contains a tree of 3D objects, accessed by paths like /comp1/comp2/comp3. 3D poses and Geometry objects can be assigned with the set_transform and set_object methods.

Geometry objects represent the objects that are displayed in the scene.

Multiple scenes

SlamDunk uses ImGui to allow multiple sub-windows with floating and docking support inside the SlamDunk viewer. The following example illustrates creating two windows, each showing its own scene.

import slamd
import numpy as np

if __name__ == "__main__":
    vis = slamd.Visualizer("two windows")

    scene1 = vis.scene("scene 1")
    scene2 = vis.scene("scene 2")

    scene1.set_object("/box", slamd.geom.Box())

    scene2.set_object("/origin", slamd.geom.Triad())

    scene2.set_object("/ball", slamd.geom.Sphere(2.0))

    sphere_transform = np.identity(4, dtype=np.float32)
    sphere_transform[:, 3] = np.array([5.0, 1.0, 2.0, 1.0])

    scene2.set_transform("/ball", sphere_transform)

    vis.hang_forever()

The resulting window looks like this:

The windows are fully controllable - you can drag them around, make tabs, use them in floating mode, or dock them to the sides like you see in the screenshot. All of this is supported by ImGui.

Here is a slightly more elaborate example of something you can do with SlamDunk:

Or this one:

Supported geometry primitives

3D

• Camera Frustums (with optional image) (slamd.geom.CameraFrustum)
• Arrows/Vectors (slamd.geom.Arrows)
• Arbitrary meshes (slamd.geom.Mesh)
• Planes (slamd.geom.Plane)
• Point Clouds (slamd.geom.PointCloud)
• Piecewise linear curves (slamd.geom.PolyLine)
• Spheres (slamd.geom.Sphere)
• Triads/reference frames (slamd.geom.Triad)

2D

• Images (slamd.geom2d.Image)
• Points (slamd.geom2d.Points)
• Piecewise linear curves (slamd.geom2d.PolyLine)
• Circles (slamd.geom2d.Circles)

Further reading

The examples in python_examples showcase some more features of SlamDunk. Some examples are canvases for 2D visualizations and lots of additional geometry primitives such as point clouds, meshes, camera frustums, etc.

Installation

Wheels are available on PyPi, so you can simply

pip install slamd

Contributions

All contributions and feedback are welcome and appreciated!