draw

package
v1.3.4 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Jan 16, 2026 License: MIT Imports: 19 Imported by: 0

README

Draw

The draw package provides a Go API for creating 3D visualizations with Viam's motion tools. Build scenes with geometries, arrows, lines, points, models, and frame systems—then serialize them for rendering in the motion-tools visualizer.

Documentation

For complete API reference, see DOCS.md (auto-generated from source).

Quick Start

You can draw to the visualizer through the following methods:

  1. Creating a static snapshot for a scene.
  2. Drawing directly to a local instance of the visualizer with the draw client (documentation coming soon).
Rendering a snapshot

A snapshot is a static scene that can be rendered by providing it to an instance of the visualizer directly as a prop, or dragging and dropping a generated snapshot file into an instance of the visualizer.

1. Create a Snapshot

A Snapshot is a container for everything you want to visualize. Create one and add shapes to it:

package main

import (
    "fmt"
    "os"

    "github.com/golang/geo/r3"
    "github.com/viam-labs/motion-tools/draw"
    "go.viam.com/rdk/spatialmath"
)

func main() {
    // Custom camera position
    camera := draw.NewSceneCamera(
        r3.Vector{X: 2000, Y: 2000, Z: 2000},
        r3.Vector{X: 0, Y: 0, Z: 0},
        draw.WithAnimated(true),
    )

    // Create snapshot with custom settings
    snapshot := draw.NewSnapshot(
        draw.WithSceneCamera(camera),
        draw.WithGrid(true),
        draw.WithGridCellSize(250),
    )

    // Draw a box at the origin
    box, _ := spatialmath.NewBox(
        spatialmath.NewZeroPose(),
        r3.Vector{X: 100, Y: 100, Z: 100},
        "my-box",
    )
    snapshot.DrawGeometry(box, spatialmath.NewZeroPose(), "world", draw.NewColor(draw.WithName("red")))

    // Draw some points
    positions := []r3.Vector{
        {X: 200, Y: 0, Z: 0},
        {X: 200, Y: 100, Z: 0},
        {X: 200, Y: 100, Z: 100},
    }
    snapshot.DrawPoints("my-points", "world", spatialmath.NewZeroPose(), positions,
        draw.WithPointsColors(draw.NewColor(draw.WithName("blue"))))

    // Draw a line connecting points
    linePoints := []r3.Vector{
        {X: 0, Y: 0, Z: 200},
        {X: 100, Y: 100, Z: 200},
        {X: 200, Y: 0, Z: 200},
    }
    snapshot.DrawLine("my-line", "world", spatialmath.NewZeroPose(), linePoints,
        draw.WithLineWidth(3.0),
        draw.WithLineColors(draw.NewColor(draw.WithName("green")), nil))

    // Export to JSON for rendering
    jsonData, _ := snapshot.MarshalJSON()
    os.WriteFile("scene.json", jsonData, 0644)
    fmt.Println("Scene exported to scene.json")
}
2. Export Your Scene

Snapshots can be serialized in multiple formats:

// JSON (human-readable, good for debugging)
jsonData, err := snapshot.MarshalJSON()

// Binary protobuf (compact, efficient)
binaryData, err := snapshot.MarshalBinary()

// Gzip-compressed binary (smallest size)
gzipData, err := snapshot.MarshalBinaryGzip()
3. Render in the Visualizer

Any instance of the visualizer can accept snapshot files via drag-and-drop.

Rendering with the draw server

You can draw directly to a local visualizer using the draw client.

See the draw client docs

Documentation

Overview

Package draw provides a Go API for creating and managing 3D visualizations with Viam's motion tools. It supports various geometric primitives (arrows, lines, points, NURBS curves), 3D models, and frame systems, with flexible color management and scene configuration options. All shapes can be serialized to Protobuf for rendering.

Index

Constants

This section is empty.

Variables

View Source 
var (
	// DefaultArrowColor is the default color for arrows (green).
	DefaultArrowColor = NewColor(WithName("green"))

	// DefaultLineColor is the default color for lines (blue).
	DefaultLineColor = NewColor(WithName("blue"))

	// DefaultLinePointColor is the default color for points at line vertices (dark blue).
	DefaultLinePointColor = NewColor(WithName("darkblue"))

	// DefaultPointColor is the default color for point clouds (gray).
	DefaultPointColor = NewColor(WithName("gray"))
)

Default colors for various drawing primitives, as specified in drawing.proto.

View Source 
var (
	// DefaultModelScale is the default model scale (1.0, 1.0, 1.0 - no scaling).
	DefaultModelScale = r3.Vector{X: 1.0, Y: 1.0, Z: 1.0}

	// DefaultModelAnimationName is the default animation name (empty string means no animation).
	DefaultModelAnimationName = ""
)
View Source 
var (
	// DefaultNurbsDegree is the default polynomial degree for NURBS curves (cubic).
	DefaultNurbsDegree int32 = 3

	// DefaultNurbsWeight is the default weight value for NURBS control points.
	DefaultNurbsWeight = 1.0

	// DefaultNurbsColor is the default color for NURBS curves (cyan).
	DefaultNurbsColor = NewColor(WithName("cyan"))
)
View Source 
var (
	// DefaultSceneCamera is the default camera configuration with a perspective view from position
	// [3000, 3000, 3000]mm looking at the origin. Provides an isometric-style view of the scene.
	DefaultSceneCamera = SceneCamera{
		Position:          r3.Vector{X: 3000, Y: 3000, Z: 3000},
		LookAt:            r3.Vector{X: 0, Y: 0, Z: 0},
		Animated:          false,
		PerspectiveCamera: &drawv1.PerspectiveCamera{},
	}

	// DefaultGridEnabled specifies whether the grid is visible by default.
	DefaultGridEnabled = true
	// DefaultGridCellSize is the default grid cell size in millimeters (500mm = 0.5m).
	DefaultGridCellSize float32 = 500.0
	// DefaultGridSectionSize is the default grid section size in millimeters (10000mm = 10m).
	DefaultGridSectionSize float32 = 10000.0
	// DefaultGridFadeDistance is the default distance at which the grid fades out (25000mm = 25m).
	DefaultGridFadeDistance float32 = 25000.0
)
View Source 
var DefaultAlpha = uint8(255)

DefaultAlpha is the default alpha value (fully opaque).

View Source 
var (
	// DefaultLineWidth is the default line width in millimeters.
	DefaultLineWidth float32 = 5.0
)
View Source 
var (
	// DefaultPointSize is the default point size in millimeters.
	DefaultPointSize float32 = 10.0
)

Functions

func DrawFrameSystemGeometries 

func DrawFrameSystemGeometries(
	frameSystem *referenceframe.FrameSystem,
	inputs referenceframe.FrameSystemInputs,
	colors map[string]Color,
) (*drawv1.Transforms, error)

DrawFrameSystemGeometries renders all geometries in a frame system to the world frame. The colors map allows you to specify colors for specific frames by name; frames without specified colors inherit their parent's color or default to magenta. Returns the rendered transforms or an error if the frame system cannot be converted.

func DrawGeometries 

func DrawGeometries(geometriesInFrame *referenceframe.GeometriesInFrame, colors []Color) (*drawv1.Transforms, error)

DrawGeometries creates transforms for rendering multiple geometries, each with its own color. Returns an error if the number of colors doesn't match the number of geometries.

func DrawGeometry 

func DrawGeometry(
	id string,
	geometry spatialmath.Geometry,
	pose spatialmath.Pose,
	parent string,
	color Color,
) (*commonv1.Transform, error)

DrawGeometry creates a transform for rendering a single geometry with the specified id, pose, parent reference frame, and color. Returns an error if the metadata cannot be converted to a struct.

func MetadataToStruct 

func MetadataToStruct(metadata Metadata) (*structpb.Struct, error)

MetadataToStruct converts drawing Metadata to a Protocol Buffer structpb.Struct suitable for embedding in transforms. Colors are base64-encoded for efficient transmission. Returns an error if the metadata cannot be converted.

func NewTransform 

func NewTransform(
	id string,
	name string,
	parent string,
	pose spatialmath.Pose,
	geometry spatialmath.Geometry,
	metadata *structpb.Struct,
) (*commonv1.Transform, error)

NewTransform creates a Protocol Buffer Transform message representing an object in 3D space. The id can be empty (auto-generated UUID) or a valid UUID string. The geometry and metadata parameters are optional (can be nil). Returns an error if the id is not a valid UUID.

func WithAnimated 

func WithAnimated(animated bool) sceneCameraOption

WithAnimated creates a camera option that enables or disables camera rotation animation.

func WithArrows 

func WithArrows(arrows Arrows) drawShapeOption

WithArrows creates a shape option that configures the shape as an Arrows geometry.

func WithColorPalette added in v1.3.3 

func WithColorPalette(palette []Color, numPoses int) drawArrowsOption

func WithColors 

func WithColors[T ConfigurableColors](colors []Color) func(T)

WithColors creates a configuration option that sets colors for any type implementing ConfigurableColors.

func WithGrid 

func WithGrid(grid bool) sceneMetadataOption

WithGrid creates a metadata option that enables or disables the grid display.

func WithGridCellSize 

func WithGridCellSize(gridCellSize float32) sceneMetadataOption

WithGridCellSize creates a metadata option that sets the grid cell size in millimeters.

func WithGridFadeDistance 

func WithGridFadeDistance(gridFadeDistance float32) sceneMetadataOption

WithGridFadeDistance creates a metadata option that sets the distance at which the grid fades out in millimeters. Helps improve visibility at different scales.

func WithGridSectionSize 

func WithGridSectionSize(gridSectionSize float32) sceneMetadataOption

WithGridSectionSize creates a metadata option that sets the grid section size in millimeters. Sections are typically rendered with thicker or differently colored lines.

func WithHSV 

func WithHSV(h, s, v float32) colorOption

WithHSV creates a color option that sets the color from HSV values with full opacity (alpha=255). All parameters (h, s, v) should be in the range 0.0-1.0, where h is hue, s is saturation, and v is value/brightness.

func WithLine 

func WithLine(line Line) drawShapeOption

WithLine creates a shape option that configures the shape as a Line geometry.

func WithLineColors 

func WithLineColors(lineColor Color, pointColor *Color) drawLineOption

WithLineColors creates a line option that sets colors for the line segments and vertex points. If pointColor is nil, the line color is used for both.

func WithLineWidth 

func WithLineWidth(width float32) drawLineOption

WithLineWidth creates a line option that sets the line segment width in millimeters.

func WithMetadataColors 

func WithMetadataColors(colors ...Color) drawMetadataOption

WithMetadataColors creates a metadata option that sets the color list for the metadata.

func WithModel 

func WithModel(model Model) drawShapeOption

WithModel creates a shape option that configures the shape as a 3D Model geometry.

func WithModelAnimationName 

func WithModelAnimationName(animationName string) drawModelOption

WithModelAnimationName creates a model option that specifies which animation to play.

func WithModelAssetSizeBytes 

func WithModelAssetSizeBytes(sizeBytes uint64) drawModelAssetOption

WithModelAssetSizeBytes creates a model asset option that sets the file size in bytes.

func WithModelAssets 

func WithModelAssets(assets ...*ModelAsset) drawModelOption

WithModelAssets creates a model option that adds one or more assets to the model.

func WithModelScale 

func WithModelScale(scale r3.Vector) drawModelOption

WithModelScale creates a model option that sets the scaling factors for each axis.

func WithName 

func WithName(name string) colorOption

WithName creates a color option that sets the color using a standard web color name (e.g., "red", "blue", "magenta"). See https://www.w3.org/TR/SVG11/types.html#ColorKeywords for the complete list of supported color names.

func WithNurbs 

func WithNurbs(nurbs Nurbs) drawShapeOption

WithNurbs creates a shape option that configures the shape as a NURBS curve geometry.

func WithNurbsColors 

func WithNurbsColors(defaultColor Color, perPointColors ...Color) drawNurbsOption

WithNurbsColors creates a NURBS option that sets the color for the curve. If only defaultColor is provided, it applies to the entire curve. Note: Per-point colors are not currently supported in rendering.

func WithNurbsDegree 

func WithNurbsDegree(degree int32) drawNurbsOption

WithNurbsDegree creates a NURBS option that sets the polynomial degree of the curve. Higher degrees create smoother curves but require more control points.

func WithNurbsWeights 

func WithNurbsWeights(weights []float64) drawNurbsOption

WithNurbsWeights creates a NURBS option that sets the weight for each control point. Weights control the influence of each point on the curve (higher weights pull the curve closer).

func WithOrthographicCamera 

func WithOrthographicCamera(orthographicCamera *drawv1.OrthographicCamera) sceneCameraOption

WithOrthographicCamera creates a camera option that configures orthographic projection.

func WithPerArrowColors 

func WithPerArrowColors(colors ...Color) drawArrowsOption

WithPerArrowColors sets the color for each arrow.

func WithPerPointColors 

func WithPerPointColors(colors ...Color) drawPointsOption

WithPerPointColors creates a points option that sets the colors for each point.

func WithPerspectiveCamera 

func WithPerspectiveCamera(perspectiveCamera *drawv1.PerspectiveCamera) sceneCameraOption

WithPerspectiveCamera creates a camera option that configures perspective projection.

func WithPointSize 

func WithPointSize(size float32) drawLineOption

WithPointSize creates a line option that sets the size of vertex points in millimeters.

func WithPoints 

func WithPoints(points Points) drawShapeOption

WithPoints creates a shape option that configures the shape as a Points geometry.

func WithPointsSize 

func WithPointsSize(size float32) drawPointsOption

WithPointsSize creates a points option that sets the size of each point in millimeters.

func WithRGB 

func WithRGB(r, g, b uint8) colorOption

WithRGB creates a color option that sets RGB values with full opacity (alpha=255).

func WithRGBA 

func WithRGBA(rgba color.RGBA) colorOption

WithRGBA creates a color option that sets RGBA values from a standard library color.RGBA struct.

func WithRenderArmModels 

func WithRenderArmModels(renderArmModels drawv1.RenderArmModels) sceneMetadataOption

WithRenderArmModels creates a metadata option that controls how robot arm models are rendered. Options include showing models, colliders, or both.

func WithRenderShapes 

func WithRenderShapes(renderShapes []drawv1.RenderShapes) sceneMetadataOption

WithRenderShapes creates a metadata option that specifies which shape types to render. By default, all shape types (arrows, points, lines, models) are rendered.

func WithSceneCamera 

func WithSceneCamera(sceneCamera SceneCamera) sceneMetadataOption

WithSceneCamera creates a metadata option that sets the scene camera configuration.

func WithSceneLinePointSize 

func WithSceneLinePointSize(linePointSize float32) sceneMetadataOption

WithSceneLinePointSize creates a metadata option that sets the default size in millimeters for vertex points on lines (can be overridden per-object).

func WithSceneLineWidth 

func WithSceneLineWidth(lineWidth float32) sceneMetadataOption

WithSceneLineWidth creates a metadata option that sets the default line width in millimeters for all lines in the scene (can be overridden per-object).

func WithScenePointColor 

func WithScenePointColor(pointColor Color) sceneMetadataOption

WithScenePointColor creates a metadata option that sets the default point color for all points in the scene (can be overridden per-object).

func WithScenePointSize 

func WithScenePointSize(pointSize float32) sceneMetadataOption

WithScenePointSize creates a metadata option that sets the default point size in millimeters for all points in the scene (can be overridden per-object).

func WithSingleArrowColor 

func WithSingleArrowColor(color Color) drawArrowsOption

WithSingleArrowColor sets the color for all arrows.

func WithSinglePointColor 

func WithSinglePointColor(color Color) drawPointsOption

WithSinglePointColor creates a points option that sets the color for all points.

Types

type Arrows 

type Arrows struct {
	// Poses defines the position and orientation of each arrow to render.
	Poses []spatialmath.Pose

	// Colors specifies the color for each arrow. Can be a single color (applied to all arrows)
	// or one color per pose.
	Colors []Color
}

Arrows represents a set of directional arrows positioned at specific poses in 3D space. Each arrow visualizes orientation and position, useful for showing coordinate frames or directions.

func NewArrows 

func NewArrows(poses []spatialmath.Pose, options ...drawArrowsOption) (*Arrows, error)

NewArrows creates a new Arrows object from the given poses and optional configuration. Returns an error if the number of colors doesn't match the requirements (must be 1 or equal to number of poses).

func (Arrows) Draw 

func (arrows Arrows) Draw(name string, parent string, pose spatialmath.Pose) *Drawing

Draw creates a Drawing from this Arrows object, positioned at the given pose within the specified reference frame. The name identifies this drawing and parent specifies the reference frame it's attached to.

type BufferPackedEntry 

type BufferPackedEntry interface {
	~float32 | ~uint8
}

type BufferPacker 

type BufferPacker[T BufferPackedEntry] struct {
	// contains filtered or unexported fields
}

BufferPacker provides efficient direct buffer writing for numeric data. The type parameter T must be either float32 or uint8.

func NewBufferPacker 

func NewBufferPacker[T BufferPackedEntry](elementCount, fieldsPerElement int) *BufferPacker[T]

NewBufferPacker creates a new buffer packer with pre-allocated capacity for elementCount items, each with fieldsPerElement fields.

func (*BufferPacker[T]) Read 

func (packer *BufferPacker[T]) Read() []byte

Read returns the packed buffer as little-endian bytes. For uint8 buffers, returns the buffer directly. For float32 buffers, converts each value to its little-endian byte representation.

func (*BufferPacker[T]) Write 

func (packer *BufferPacker[T]) Write(values ...T)

Write appends values directly to the buffer at the current offset and advances the offset.

type Color 

type Color struct {
	// R is the red channel value (0-255).
	R uint8 `json:"r"`
	// G is the green channel value (0-255).
	G uint8 `json:"g"`
	// B is the blue channel value (0-255).
	B uint8 `json:"b"`
	// A is the alpha (transparency) channel value (0-255, where 0 is fully transparent and 255 is fully opaque).
	A uint8 `json:"a"`
}

Color represents an RGBA color with 8-bit channels (0-255 range).

func NewColor 

func NewColor(options ...colorOption) Color

NewColor creates a new Color with the given options. If no options are provided, returns black with full opacity (0, 0, 0, 255).

func (Color) SetAlpha 

func (color Color) SetAlpha(alpha uint8) Color

SetAlpha returns a new Color with the specified alpha value, preserving the RGB values.

func (Color) SetRGB 

func (color Color) SetRGB(r, g, b uint8) Color

SetRGB returns a new Color with the specified RGB values, preserving the original alpha value.

func (Color) SetRGBA 

func (color Color) SetRGBA(r, g, b, a uint8) Color

SetRGBA returns a new Color with all RGBA values set.

func (Color) ToHex 

func (color Color) ToHex() string

type ColorChooser 

type ColorChooser struct {
	// contains filtered or unexported fields
}

ColorChooser cycles through a list of colors, useful for automatically assigning different colors to multiple objects. Each call to Next() returns the next color in sequence, wrapping around to the start.

func NewDefaultColorChooser 

func NewDefaultColorChooser() ColorChooser

NewDefaultColorChooser creates a ColorChooser populated with all standard web color names.

func (ColorChooser) Next 

func (chooser ColorChooser) Next() Color

Next returns the next color in the sequence, cycling back to the first color after reaching the end.

type ConfigurableColors 

type ConfigurableColors interface {
	// SetColors replaces the current colors with the provided list.
	SetColors([]Color)
}

ConfigurableColors is an interface for types that can have their colors configured.

type DrawColorsConfig 

type DrawColorsConfig struct {
	// contains filtered or unexported fields
}

DrawColorsConfig stores color configuration for drawable objects.

func NewDrawColorsConfig 

func NewDrawColorsConfig(colors ...Color) DrawColorsConfig

NewDrawColorsConfig creates a new color configuration with the given colors.

func (*DrawColorsConfig) SetColors 

func (config *DrawColorsConfig) SetColors(colors []Color)

SetColors replaces the current colors with the provided list.

type Drawable 

type Drawable interface {
	// Draw creates a Drawing of this object with the given name, parent reference frame, and pose.
	Draw(name string, parent string, pose spatialmath.Pose) *Drawing
}

Drawable is an interface for types that can create a Drawing representation of themselves.

type Drawing 

type Drawing struct {
	Name     string
	Parent   string
	Pose     spatialmath.Pose
	Shape    Shape
	Metadata Metadata
}

Drawing represents a complete drawable object in 3D space, consisting of a Shape positioned at a Pose within a reference frame (Parent), along with associated Metadata like colors.

func NewDrawing 

func NewDrawing(
	name string,
	parent string,
	pose spatialmath.Pose,
	shape Shape,
	metadata Metadata,
) *Drawing

NewDrawing creates a new Drawing with the specified name, parent reference frame, pose, shape, and metadata.

func (Drawing) ToProto 

func (drawing Drawing) ToProto() *drawv1.Drawing

ToProto converts the Drawing to a Protocol Buffer drawv1.Drawing message for serialization.

type Line 

type Line struct {
	// Positions defines the vertices of the line in sequence.
	Positions []r3.Vector

	// LineWidth specifies the thickness of the line segments in millimeters (default: 5mm).
	LineWidth float32

	// PointSize specifies the size of points rendered at each vertex in millimeters (default: 10mm).
	PointSize float32

	// LineColor is the color used for rendering the line segments (default: blue).
	LineColor Color

	// PointColor is the color used for rendering the vertex points (default: dark blue).
	PointColor Color
}

Line represents a polyline (connected line segments) in 3D space, with optional visible points at each vertex. Useful for drawing paths, trajectories, or connected geometric shapes.

func NewLine 

func NewLine(positions []r3.Vector, options ...drawLineOption) (*Line, error)

NewLine creates a new Line from the given vertex positions and optional configuration. Returns an error if there are fewer than 2 positions or if the point size is non-positive.

func (Line) Draw 

func (line Line) Draw(
	name string,
	parent string,
	pose spatialmath.Pose,
) *Drawing

Draw creates a Drawing from this Line object, positioned at the given pose within the specified reference frame. The name identifies this drawing and parent specifies the reference frame it's attached to.

type Metadata 

type Metadata struct {
	Colors []Color
}

Metadata stores additional rendering information for a Drawing, such as colors for the shape's components.

func NewMetadata 

func NewMetadata(options ...drawMetadataOption) Metadata

NewMetadata creates a new Metadata with the given options. If no options are provided, returns empty metadata.

func StructToMetadata 

func StructToMetadata(structPb *structpb.Struct) (Metadata, error)

func (*Metadata) SetColors 

func (metadata *Metadata) SetColors(colors []Color)

func (Metadata) ToProto 

func (metadata Metadata) ToProto() *drawv1.Metadata

ToProto converts the Metadata to a Protocol Buffer drawv1.Metadata message for serialization.

type Model 

type Model struct {
	// Assets contains the model files and associated resources (textures, etc.).
	Assets []*ModelAsset

	// Scale specifies the scaling factors for each axis (default: [1.0, 1.0, 1.0]).
	Scale r3.Vector

	// AnimationName specifies which animation to play (empty string means no animation).
	AnimationName string
}

Model represents a 3D model in various formats (GLB, GLTF, PLY, PCD, etc.). Models can have multiple assets (textures, meshes) and support animations and scaling.

func NewModel 

func NewModel(options ...drawModelOption) (*Model, error)

NewModel creates a new Model with the given options. Returns an error if no assets are provided or if the scale values are non-positive.

func (Model) Draw 

func (model Model) Draw(name string, parent string, pose spatialmath.Pose) *Drawing

Draw creates a Drawing from this Model object, positioned at the given pose within the specified reference frame. The name identifies this drawing and parent specifies the reference frame it's attached to.

type ModelAsset 

type ModelAsset struct {
	MimeType    string
	SizeBytes   *uint64
	URLContent  *string
	DataContent *[]byte
}

ModelAsset represents a 3D model asset that can be loaded from either a URL or binary data. Common formats include GLB, GLTF, PLY, and PCD files.

func NewBinaryModelAsset 

func NewBinaryModelAsset(mimeType string, binaryContent []byte, options ...drawModelAssetOption) (*ModelAsset, error)

NewBinaryModelAsset creates a ModelAsset from binary data (e.g., an embedded file or loaded file). Common MIME types include "model/gltf-binary" for GLB files. Returns an error if the binary content is empty.

func NewURLModelAsset 

func NewURLModelAsset(mimeType string, url string, options ...drawModelAssetOption) (*ModelAsset, error)

NewURLModelAsset creates a ModelAsset that references a 3D model from a URL. Common MIME types include "model/gltf-binary" for GLB files. Returns an error if the URL is empty.

type Nurbs 

type Nurbs struct {
	// ControlPoints defines the poses that influence the curve's shape.
	ControlPoints []spatialmath.Pose

	// Knots is the knot vector that determines parameter values along the curve.
	// Length must equal len(ControlPoints) + Degree + 1.
	Knots []float64

	// Degree specifies the polynomial degree of the curve (default: 3 for cubic).
	Degree int32

	// Weights controls the influence of each control point on the curve.
	// Defaults to 1.0 for each control point (uniform weighting).
	Weights []float64

	// Color specifies the rendering color for the curve.
	Color Color
}

Nurbs represents a Non-Uniform Rational B-Spline (NURBS) curve in 3D space. NURBS curves are defined by control points, weights, a knot vector, and a polynomial degree. They are commonly used to represent smooth, curved paths and surfaces.

func NewNurbs 

func NewNurbs(controlPoints []spatialmath.Pose, knots []float64, options ...drawNurbsOption) (*Nurbs, error)

NewNurbs creates a new NURBS curve with the given control points, knot vector, and options. Returns an error if control points or knots are empty, if the degree is non-positive, if the weights don't match the number of control points, or if the knot vector length is incorrect (must be len(controlPoints) + degree + 1).

func (Nurbs) Draw 

func (nurbs Nurbs) Draw(
	name string,
	parent string,
	pose spatialmath.Pose,
) *Drawing

Draw creates a Drawing from this NURBS object, positioned at the given pose within the specified reference frame. The name identifies this drawing and parent specifies the reference frame it's attached to.

type Points 

type Points struct {
	// Positions defines the location of each point.
	Positions []r3.Vector

	// PointSize specifies the size of each point in millimeters (default: 10mm).
	PointSize float32

	// Colors specifies the color for each point. Can be a single color (applied to all points)
	// or one color per point.
	Colors []Color
}

Points represents a point cloud or set of discrete points in 3D space. Useful for visualizing sensor data, waypoints, or sparse 3D data.

func NewPoints 

func NewPoints(positions []r3.Vector, options ...drawPointsOption) (*Points, error)

NewPoints creates a new Points object from the given positions and optional configuration. Returns an error if positions are empty, if the point size is non-positive, or if the number of colors doesn't match requirements (must be 1 or equal to number of positions).

func (Points) Draw 

func (points Points) Draw(
	name string,
	parent string,
	pose spatialmath.Pose,
) *Drawing

Draw creates a Drawing from this Points object, positioned at the given pose within the specified reference frame. The name identifies this drawing and parent specifies the reference frame it's attached to.

type SceneCamera 

type SceneCamera struct {
	// Position is the camera location in millimeters (world coordinates).
	Position r3.Vector
	// LookAt is the point the camera is aimed at in millimeters (world coordinates).
	LookAt r3.Vector
	// Animated enables camera rotation animation when true.
	Animated bool
	// PerspectiveCamera configures perspective projection (objects appear smaller with distance).
	PerspectiveCamera *drawv1.PerspectiveCamera
	// OrthographicCamera configures orthographic projection (parallel projection, no perspective).
	OrthographicCamera *drawv1.OrthographicCamera
}

SceneCamera configures the viewpoint for rendering a 3D scene. Supports both perspective and orthographic projection modes. Exactly one of PerspectiveCamera or OrthographicCamera must be set.

func NewSceneCamera 

func NewSceneCamera(position r3.Vector, lookAt r3.Vector, options ...sceneCameraOption) SceneCamera

NewSceneCamera creates a new camera configuration with the specified position and look-at point (both in millimeters). By default, creates a perspective camera.

func (*SceneCamera) ToProto 

func (camera *SceneCamera) ToProto() *drawv1.SceneCamera

ToProto converts the SceneCamera to its Protocol Buffer representation for serialization.

type SceneMetadata 

type SceneMetadata struct {
	SceneCamera      SceneCamera
	Grid             bool
	GridCellSize     float32
	GridSectionSize  float32
	GridFadeDistance float32
	PointSize        float32
	PointColor       Color
	LineWidth        float32
	LinePointSize    float32
	RenderArmModels  drawv1.RenderArmModels
	RenderShapes     []drawv1.RenderShapes
}

SceneMetadata contains global configuration for rendering a 3D scene, including camera settings, grid display options, default rendering styles, and visibility flags for different shape types.

func NewSceneMetadata 

func NewSceneMetadata(options ...sceneMetadataOption) SceneMetadata

NewSceneMetadata creates a new scene metadata configuration with sensible defaults (grid enabled, perspective camera, etc.) that can be customized with options.

func (*SceneMetadata) ToProto 

func (metadata *SceneMetadata) ToProto() *drawv1.SceneMetadata

ToProto converts the SceneMetadata to its Protocol Buffer representation for serialization.

func (*SceneMetadata) Validate 

func (metadata *SceneMetadata) Validate() error

Validate checks that all scene metadata values are valid. Returns an error if any values are out of acceptable ranges (e.g., negative sizes) or invalid enum values.

type Shape 

type Shape struct {
	Center spatialmath.Pose
	Label  string
	Arrows *Arrows
	Line   *Line
	Points *Points
	Model  *Model
	Nurbs  *Nurbs
	// contains filtered or unexported fields
}

Shape represents a drawable geometric shape or object in 3D space. A Shape contains exactly one geometry type (Arrows, Line, Points, Model, or Nurbs), positioned at Center with a Label.

func NewShape 

func NewShape(center spatialmath.Pose, label string, option drawShapeOption) Shape

NewShape creates a new Shape with the given center pose, label, and geometry option. The option must be one of WithArrows, WithLine, WithPoints, WithModel, or WithNurbs.

func (Shape) ToProto 

func (shape Shape) ToProto() *drawv1.Shape

ToProto converts the shape to a drawv1.Shape message

Returns the drawv1.Shape message

type Snapshot 

type Snapshot struct {
	// contains filtered or unexported fields
}

Snapshot represents a snapshot of a world state

func NewSnapshot 

func NewSnapshot(sceneOptions ...sceneMetadataOption) *Snapshot

NewSnapshot creates a new snapshot with a unique UUID

func (*Snapshot) DrawArrows 

func (snapshot *Snapshot) DrawArrows(
	name string,
	parent string,
	pose spatialmath.Pose,
	poses []spatialmath.Pose,
	options ...drawArrowsOption,
) error

DrawArrows draws arrows to the snapshot

  • name is the name of the arrows
  • parent is the parent of the arrows
  • pose is the pose of the arrows
  • poses are the poses of the arrows
  • options are the options for the arrows
  • Returns an error if the arrows cannot be drawn

func (*Snapshot) DrawFrame 

func (snapshot *Snapshot) DrawFrame(
	id string,
	name string,
	parent string,
	pose spatialmath.Pose,
	geometry spatialmath.Geometry,
	metadata *structpb.Struct,
) error

DrawFrame draws a frame transform to the snapshot

  • id is the ID of the frame
  • name is the name of the frame
  • parent is the parent of the frame
  • pose is the pose of the frame
  • geometry is the geometry of the frame
  • metadata is visualizer metadata for the frame
  • Returns an error if the frame transform cannot be drawn

func (*Snapshot) DrawFrameSystemGeometries 

func (snapshot *Snapshot) DrawFrameSystemGeometries(
	frameSystem *referenceframe.FrameSystem,
	inputs referenceframe.FrameSystemInputs,
	colors map[string]Color,
) error

DrawFrameSystemGeometries draws the geometries of a frame system in the world frame to the snapshot

  • frameSystem is the frame system to draw
  • inputs are the inputs to the frame system
  • colors are the colors to use for the frame system geometries, mapped by frame name
  • Returns an error if the frame system geometries cannot be drawn

func (*Snapshot) DrawGeometry 

func (snapshot *Snapshot) DrawGeometry(
	geometry spatialmath.Geometry,
	pose spatialmath.Pose,
	parent string,
	color Color,
) error

DrawGeometry draws a geometry to the snapshot

  • geometry is the geometry to draw
  • pose is the pose of the geometry
  • parent is the parent of the geometry
  • color is the color of the geometry
  • Returns an error if the geometry cannot be drawn

func (*Snapshot) DrawLine 

func (snapshot *Snapshot) DrawLine(
	name string,
	parent string,
	pose spatialmath.Pose,
	points []r3.Vector,
	options ...drawLineOption,
) error

DrawLine draws a line to the snapshot

  • name is the name of the line
  • parent is the parent of the line
  • pose is the pose of the line
  • points are the points of the line
  • options are the options for the line
  • Returns an error if the line cannot be drawn

func (*Snapshot) DrawModel 

func (snapshot *Snapshot) DrawModel(
	name string,
	parent string,
	pose spatialmath.Pose,
	options ...drawModelOption,
) error

DrawModelFromURL draws a model from a URL to the snapshot

  • name is the name of the model
  • parent is the parent of the model
  • pose is the pose of the model
  • options are the options for the model
  • Returns an error if the model cannot be drawn

func (*Snapshot) DrawPoints 

func (snapshot *Snapshot) DrawPoints(
	name string,
	parent string,
	pose spatialmath.Pose,
	positions []r3.Vector,
	options ...drawPointsOption,
) error

DrawPoints draws a set of points to the snapshot

  • name is the name of the points
  • parent is the parent of the points
  • pose is the pose of the points
  • positions are the positions of the points
  • options are the options for the points
  • Returns an error if the points cannot be drawn

func (*Snapshot) Drawings 

func (snapshot *Snapshot) Drawings() []*Drawing

Drawings returns the drawings of the snapshot

func (*Snapshot) MarshalBinary 

func (snapshot *Snapshot) MarshalBinary() ([]byte, error)

MarshalBinary marshals a snapshot to binary protobuf format

func (*Snapshot) MarshalBinaryGzip 

func (snapshot *Snapshot) MarshalBinaryGzip() ([]byte, error)

MarshalBinaryGzip marshals a snapshot to gzip-compressed binary protobuf format

func (*Snapshot) MarshalJSON 

func (snapshot *Snapshot) MarshalJSON() ([]byte, error)

MarshalJSON marshals a snapshot to JSON

func (*Snapshot) SceneMetadata 

func (snapshot *Snapshot) SceneMetadata() SceneMetadata

SceneMetadata returns the scene metadata of the snapshot

func (*Snapshot) ToProto 

func (snapshot *Snapshot) ToProto() *drawv1.Snapshot

ToProto converts the snapshot to a protobuf message

func (*Snapshot) Transforms 

func (snapshot *Snapshot) Transforms() []*commonv1.Transform

Transforms returns the transforms of the snapshot

func (*Snapshot) UUID 

func (snapshot *Snapshot) UUID() []byte

UUID returns the UUID of the snapshot

func (*Snapshot) Validate 

func (snapshot *Snapshot) Validate() error

Validate validates a snapshot

Source Files

View all Source files

Directories

Path Synopsis

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.