So far the main methods for visualizing stokesim have been the log plotter plugin, the stokesros plugin's RViz display, and the Unity plugin. Plotting is pretty minimal, RViz is kind of abstract, and Unity is rather heavyweight. A simple built-in scene generation (i.e. not a plugin) would be nice to have. The Env could be given a Lighting object, and then a Camera sensor type can use Octree and Lighting information to render an image, which can be made streamable for realtime sims. The intent would be to have something that can very simply (and with no extreme dependencies) render an image of the physical environment as dictated by the Octree (which will also dictate collisions) and a Lighting class. Simply for visualization and perhaps crude classical computer vision, not competing with the Unity plugin for photo-realistic environments that support generalizable machine learning.
So far the main methods for visualizing stokesim have been the log plotter plugin, the stokesros plugin's RViz display, and the Unity plugin. Plotting is pretty minimal, RViz is kind of abstract, and Unity is rather heavyweight. A simple built-in scene generation (i.e. not a plugin) would be nice to have. The Env could be given a Lighting object, and then a Camera sensor type can use Octree and Lighting information to render an image, which can be made streamable for realtime sims. The intent would be to have something that can very simply (and with no extreme dependencies) render an image of the physical environment as dictated by the Octree (which will also dictate collisions) and a Lighting class. Simply for visualization and perhaps crude classical computer vision, not competing with the Unity plugin for photo-realistic environments that support generalizable machine learning.