Hi dear developpers of rvbust/vis,

When loading an OBJ model file, I encounter a problem that the loaded coordinate of the model is different from the original coordinate of the model.

The left picture shows the loaded model by default, with no changing on its position and rotation, while the rotation seems incorrect. Could you please help me figure it out?

Many thanks!

你们好，我是 Windows 用户，按照 readme 所说执行 python Setup.py install 后，跑如下例子失败。

from RVBUST import Vis  # No module named 'RVBUST'
v1 = Vis.View("View1", shared = True)

使用如下代码是 OK 的：

import PyVis as Vis
v1 = Vis.View("View1", shared = True)

Hi dear developpers of rvbust/vis,

Thanks for open-sourcing such a fantastic tool! It helps a lot for our research. May I ask that if it supports loading pointcloud data, or if you are planning to do so? Because many of our research will incorporate point cloud information.

Best wishes, haoshu

add Mesh smoothing by merge adjacent faces exceeding given crease angle.

When outlining extruded polygons, only draw a post outline if the angle between the adjoining faces exceeds this value. This has the effect of only outlining corners that are sufficiently “sharp”.

The branch is to resolve the issue that it occurs error prompt when exiting Vis (It only occurs when employing RobotVis). Here is the error prompt in RobotVis:

反复创建、关闭不共享场景的Vis，会造成程序崩溃，具体复现场景和错误信息如下：

复现场景1

from RVBUST import Vis
import time
def TestOnce():
    v1 = Vis.View("abc", shared=False)
    v1.Sphere(center=[0, 0, 0], radius=0.3)

    time.sleep(1)
    v1.Close()
    return True

v2 = Vis.View("RobotVis")
for i in range(100):
    TestOnce()

错误信息：

double free or corruption (out)
Aborted

复现场景2

from RVBUST import Vis
import time

class Plotter():
    def __init__(self, name, shared=False):
        self.m_view = Vis.View(name, shared)

    def PlotSphere(self, radius):
        self.m_view.Sphere(center=[0, 0, 0], radius=radius)

    def ClearVis(self):
        self.m_view.Clear()

    def CloseVis(self):
        self.m_view.Close()

def TestOnce(shared):
    plotter = Plotter("abc", shared)
    plotter.PlotSphere(radius=0.3)
    time.sleep(1)
    plotter.ClearVis()
    plotter.CloseVis()
    return True

if __name__ == "__main__":
    v2 = Vis.View("RobotVis")

    for i in range(100):
        TestOnce(False)

错误信息为：

[xcb] Unknown sequence number while processing queue
[xcb] Most likely this is a multi-threaded client and XInitThreads has not been called
[xcb] Aborting, sorry about that.
python3: ../../src/xcb_io.c:263: poll_for_event: Assertion `!xcb_xlib_threads_sequence_lost' failed.
Aborted

但是存在以下两种情况，连续运行100次，未发生崩溃：

1. shared=True;
2. 不在函数中构造另一个Vis，代码如下：

from RVBUST import Vis
import time

v2 = Vis.View("RobotVis")
for i in range(100):
    v1 = Vis.View("abc", shared=False)
    v1.Sphere(center=[0, 0, 0], radius=0.3)

    time.sleep(1)
    v1.Close()

    Handle Load(const std::string &fname);
    std::vector<Handle> Load(const std::vector<std::string> &fnames);

    Handle Load(const std::string &fname, const std::array<float, 3> &pos,
                const std::array<float, 4> &quat);
    std::vector<Handle> Load(const std::vector<std::string> &fnames,
                             const std::vector<std::array<float, 3>> &trans,
                             const std::vector<std::array<float, 4>> &quats);

目前的load的函数未发现有scale类似的参数，请问如何实现加载模型的时候的尺寸缩放问题？