3D Viewer Module
3D Viewer uses Geomview
or Open Inventor
to display a 3D module of the world from which
one can see the virtually reconstructed scene of the world. Geomview
version of the viewer is an external Geomview module that communicates
to Geomview through stdin and stdout UNIX pipes. The viewer allows a user to
select from several different virtual cameras strategically placed
in the world to see the observer and target robots.
Current bugs or problems
- Geomview seg faults occasionally. Is this a internal Geomview bug
or is it because 3d Viewer is somehow causing Geomview to crash?
- How to synchronize data between Geomview and 3d Viewer to allow faster
communication between the two processes? Currently, a predetermined
delay is used for 3D Viewer to communicate to Geomview.
How to execute Geomview version of the module
- make sure both geomview and grip3dv executables are in your path.
On underdog, geomview is located in /usr/local/bin and grip3dv.sun4
is located in ~dlin/io/grip3dv. On SGI, geomview is located in
~dlin/others/Geomview, and grip3dv.iris4d is located in ~dlin/io/grip3dv.
Unix paths must be setup properly in order for geomview to work properly.
- copy ~dlin/.geomview into $HOME/.geomview.
- run geomview/3dv by typing 'geomview -nopanels -c "(emodule-run grip3dv.sun4)" -b 0.3 0.3 0.3' on underdog or 'geomview -nopanels -c "(emodule-run grip3dv.iris4d)" -b 0.3 0.3 0.3' on SGI workstation.
How to execute Open Inventor version of the module
- run ~dlin/io/gripIV/gripIV.iris4d [ server [ port ] ] on any SGI workstation
- 1/30/96 - Initial version
- 1/1/97 - Reimplement 3d viewer in Open Inventor.
- 10/9/97 - Added support for UDP connection
Ideas for improvement
- Integrate into GRIP program.
- Better setup for geomview instead of using .geomview file.
- How to run program from the web?
- Reimplement 3d viewer in VRML.
- Geomview/3dv is not very fast due to the asynchronous link between the
two processes. Using a model of about 1200 polygons, about 5-10 fps
is achieved on SGI and less than 1 fps on underdog.
David C Lin / email@example.com
Last modified: Thu Oct 9 19:07:47 1997