A fast OpenGL-based 6D frames viewer with Python bindings.
This is a re-implementation of https://github.com/apirrone/FramesViewer in rust with python bindings. Absolutely everything has been done by Cursor editor (https://www.cursor.com/) with Claude 3.5 sonnet
- Python >= 3.7
- Rust toolchain (install via rustup)
- OpenGL development libraries
# Ubuntu/Debian
sudo apt-get install libgl1-mesa-dev
# Fedora
sudo dnf install mesa-libGL-devel
# Arch Linux
sudo pacman -S mesa- numpy
- setuptools >= 64
- setuptools-rust >= 1.5.2
- wheel
# Create and activate a virtual environment (optional but recommended)
python -m venv venv
source venv/bin/activate # or `vf new frames_viewer_rs` if using virtualfish
# Install the package
pip install -e .from frames_viewer import Viewer
import numpy as np
import time
# Create and start the viewer
fv = Viewer()
fv.start() # pops the viewer window in a separate thread
# Create a transformation matrix (4x4)
frame1 = np.eye(4, dtype=np.float32)
frame1[:3, 3] = [0.0, 0.1, 0.1] # position in meters
try:
while True:
# Animate the frame
frame1[:3, 3][0] = 0.1 * np.sin(2 * np.pi * 1.0 * time.time())
# Push the frame to the viewer
fv.push_frame(frame1, "frame1")
time.sleep(0.01)
except KeyboardInterrupt:
fv.stop()- Real-time visualization of multiple coordinate frames
- Metric units (meters)
- Smooth animations
- Interactive camera controls:
- Left mouse button: Orbit
- Middle mouse button: Pan
- Mouse wheel: Zoom
- Grid visualization in XY, XZ, and YZ planes with 10cm spacing
- Color-coded axes (Red: X, Green: Y, Blue: Z)
To contribute to the project:
# Clone the repository
git clone https://github.com/apirrone/frames_viewer_rs.git
cd frames_viewer_rs
# Create a virtual environment
python -m venv venv
source venv/bin/activate # or use virtualfish
# Install in development mode
pip install -e .MIT