def main():
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100),
pangolin.ModelViewLookAt(-2, 2, -2, 0, 0, 0, pangolin.AxisY))
tree = pangolin.Renderable()
tree.Add(pangolin.Axis())
# Create Interactive View in window
handler = pangolin.SceneHandler(tree, scam)
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
dcam.SetHandler(handler)
def draw(view):
view.Activate(scam)
tree.Render()
dcam.SetDrawFunction(draw)
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# or
# dcam.Activate(scam)
# tree.Render()
pangolin.FinishFrame()
def run(self):
pangolin.CreateWindowAndBind(self.win_name, 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 1000),
pangolin.ModelViewLookAt(2, -10, -30, 0, 0, 0, pangolin.AxisNegY))
self.tree = pangolin.Renderable()
self.tree.Add(pangolin.Axis())
self.handler = pangolin.SceneHandler(self.tree, self.scam)
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
self.dcam.SetHandler(self.handler)
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
self.dcam.Activate(self.scam)
self.tree.Render()
self.data_lock.acquire()
if self.poses:
gl.glPointSize(5)
gl.glColor3f(*self.cam_color)
for pose in self.poses:
pangolin.DrawPoints(pose[1].T)
if self.map_pts is not None:
gl.glPointSize(2)
gl.glColor3f(*self.map_pts_color)
pangolin.DrawPoints(self.map_pts)
if self.new_pts_obs is not None:
cur_pos = self.poses[-1]
cam_centers = np.repeat(cur_pos[1].T,
self.new_pts_obs.shape[0],
axis=0)
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLines(cam_centers, self.new_pts_obs)
self.data_lock.release()
time.sleep(0.02)
pangolin.FinishFrame()
def __init__(self):
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 520, 520, 320, 240, 0.2, 200),
pangolin.ModelViewLookAt(0, 1, -3, 0, 0, 0, pangolin.AxisY))
self.tree = pangolin.Renderable()
self.tree.Add(pangolin.Axis())
handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
self.dcam.SetHandler(handler)
self.dcam.SetDrawFunction(self._draw)
self.pts_prev = [0, 0, 0]
def view(self):
pangolin.CreateWindowAndBind('Viewer', 1024, 768)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
viewpoint_x = 0
viewpoint_y = -7
viewpoint_z = -18
viewpoint_f = 1000
proj = pangolin.ProjectionMatrix(1024, 768, viewpoint_f, viewpoint_f,
512, 389, 0.1, 300)
look_view = pangolin.ModelViewLookAt(viewpoint_x, viewpoint_y,
viewpoint_z, 0, 0, 0, 0, -1, 0)
# Camera Render Object (for view / scene browsing)
scam = pangolin.OpenGlRenderState(proj, look_view)
# Add named OpenGL viewport to window and provide 3D Handler
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 175 / 1024., 1.0, -1024 / 768.)
dcam.SetHandler(pangolin.Handler3D(scam))
# image
width, height = 376, 240
dimg = pangolin.Display('image')
dimg.SetBounds(0, height / 768., 0.0, width / 1024., 1024 / 768.)
dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
texture = pangolin.GlTexture(width, height, gl.GL_RGB, False, 0,
gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
image = np.ones((height, width, 3), 'uint8')
# axis
axis = pangolin.Renderable()
axis.Add(pangolin.Axis())
trajectory = DynamicArray()
camera = None
image = None
while not pangolin.ShouldQuit():
if not self.pose_queue.empty():
while not self.pose_queue.empty():
pose = self.pose_queue.get()
trajectory.append(pose[:3, 3])
camera = pose
if not self.image_queue.empty():
while not self.image_queue.empty():
img = self.image_queue.get()
img = img[::-1, :, ::-1]
img = cv2.resize(img, (width, height))
image = img.copy()
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
dcam.Activate(scam)
# draw axis
axis.Render()
# draw current camera
if camera is not None:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawCameras(np.array([camera]), 0.5)
# show trajectory
if len(trajectory) > 0:
gl.glPointSize(2)
gl.glColor3f(0.0, 0.0, 0.0)
pangolin.DrawPoints(trajectory.array())
# show image
if image is not None:
texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
pangolin.FinishFrame()