def __init__(self, W, H):

sdl2.ext.init()

self.W = W

self.H = H

self.window = sdl2.ext.Window("SLAM", size=(W, H))

self.window.show()

def draw(self, img):

events = sdl2.ext.get_events()

for event in events:

if event.type == sdl2.SDL_QUIT:

exit(0)

surf = sdl2.ext.pixels3d(self.window.get_surface())

surf[:, :, 0:3] = img.swapaxes(0, 1)

def __init__(self):

self.state = None

self.state = None

self.q = Queue()

self.vp = Process(target=self.viewer_thread, args=(self.q,))

self.vp.daemon = True

self.vp.start()

def viewer_thread(self, q):

self.viewer_init(1024, 768)

while True:

self.viewer_refresh(q)

# from py_pangolin:

def viewer_init(self, w, h):

pangolin.CreateWindowAndBind('Map Viewer', w, h)

gl.glEnable(gl.GL_DEPTH_TEST)

self.scam = pangolin.OpenGlRenderState(

pangolin.ProjectionMatrix(w, h, 420, 420, w // 2, h // 2, 0.2, 10000),

pangolin.ModelViewLookAt(0, -10, -8,

0, 0, 0,

0, -1, 0))

self.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, w / h)

self.dcam.SetHandler(self.handler)

# hack to avoid small Pangolin, no idea why it's *2

self.dcam.Resize(pangolin.Viewport(0, 0, w * 2, h * 2))

self.dcam.Activate()

def viewer_refresh(self, q):

while not q.empty():

self.state = q.get()

gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)

gl.glClearColor(0.0, 0.0, 0.0, 1.0)

self.dcam.Activate(self.scam)

if self.state is not None:

if self.state[0].shape[0] >= 2:

# draw poses

gl.glColor3f(0.0, 1.0, 0.0)

pangolin.DrawCameras(self.state[0][:-1])

if self.state[0].shape[0] >= 1:

# draw current pose as yellow

gl.glColor3f(1.0, 1.0, 0.0)

pangolin.DrawCameras(self.state[0][-1:])

if self.state[1].shape[0] != 0:

# draw keypoints

gl.glPointSize(5)

gl.glColor3f(1.0, 0.0, 0.0)

pangolin.DrawPoints(self.state[1], self.state[2])

pangolin.FinishFrame()

def draw(self, mapp):

if self.q is None:

return

poses, pts, colors = [], [], []

for f in mapp.frames:

# invert pose for display only

poses.append(np.linalg.inv(f.pose))

for p in mapp.points:

pts.append(p.loc)

colors.append(p.color)