pyViz3D: A lightweight point cloud visualization library in python

pyViz3D is a lightweight OpenGL-based Point Cloud visualization library, which is primarly designed for research and debug purposes.

Utilization

from viz3d.window import OpenGLWindow 
from viz3d.engineprocess import *

window = OpenGLWindow()
window.init()               # Starts the engine in a new process 

pc = np.random.randn(100, 3).astype(np.float32)
color = np.random.rand(100, 3).astype(np.float32)

window.set_pointcloud(0, pc, color)  # Sets a colored point cloud model for id=0 

... 

window.close(force=True)                       # Closes the window (forcing the process to close)

Navigation in the Window

The user can navigate in the window with a First Person Camera, which has the following key binding:

| Key Pressed | Action *(IF THE CAMERA IS ACTIVATED)| | --- | --- | | Z | move Forward | | S | move Backward | | Q | move Left | | D | move Right | | R | move Up | | F | move Down | | A | rotate clockwise in roll | | E | rotate counter-clockwise in roll | | SHIFT | Accelerate camera motion x 10, while the key is pressed |

| Mouse Action | Action | | --- | --- | | Right Click | Activate/Deactivate the Camera | | Move the cursor away from the center | yaw, pitch orientation changes IF THE CAMERA IS ACTIVATED |

To Install the pyViz3d as a python module:

pip install .

TODOS

• [ ] Switch from pygame to glfw
• [ ] Improve the camera
• [ ] Improve the documentation
• [ ] Robustify the suppression of the engine process if the origin process dies unexpectedly