def initialize(self):
glutPositionWindow(0, 600)
GLRealtimeProgram.initialize(self)
colors = [(1, 0, 0), (0, 1, 0), (0, 0, 1), (1, 1, 0), (0, 1, 1), (1, 0, 1)]
for (i, cloud) in enumerate(self.clouds):
point_list = glGenLists(i + 1)
self.point_lists.append(point_list)
# compile the point cloud
glNewList(point_list, GL_COMPILE)
glDisable(GL_LIGHTING)
glBegin(GL_POINTS)
for point in cloud:
if len(point) == 2:
xyz = point[0]
rgb = point[1]
else:
xyz = point[:3]
if len(point) == 4:
rgb = point[3]
elif len(point) > 4:
rgb = point[3:6]
else:
rgb = None
if rgb is not None:
glColor3f(*map(lambda x: x / 255.0, rgb))
else:
glColor3f(*colors[i % len(colors)])
glVertex3f(*xyz[:3])
glEnd()
glEndList()
logging.debug("compiled {} points for cloud {}".format(len(cloud), i))
def initialize(self):
glutPositionWindow(0, 600)
GLRealtimeProgram.initialize(self)