def main():
# Create OpenGL window in single line
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.AxisDirection.AxisY))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
dcam.SetHandler(handler)
# Data logger object
log = pangolin.DataLog()
# Optionally add named labels
labels = ['sin(t)', 'cos(t)', 'sin(t)+cos(t)']
log.SetLabels(labels)
# OpenGL 'view' of data. We might have many views of the same data.
tinc = 0.03
plotter = pangolin.Plotter(log, 0.0, 6.0 * np.pi / tinc, -2.0, 2.0,
np.pi / (6 * tinc), 0.5)
plotter.SetBounds(0.05, 0.3, 0.0, 0.4)
plotter.Track('$i')
# Add some sample annotations to the plot
plotter.AddMarker(pangolin.Marker.Vertical, -1000,
pangolin.Marker.LessThan,
pangolin.Colour.Blue().WithAlpha(0.2))
plotter.AddMarker(pangolin.Marker.Horizontal, 100,
pangolin.Marker.GreaterThan,
pangolin.Colour.Red().WithAlpha(0.2))
plotter.AddMarker(pangolin.Marker.Horizontal, 10, pangolin.Marker.Equal,
pangolin.Colour.Green().WithAlpha(0.2))
pangolin.DisplayBase().AddDisplay(plotter)
t = 0
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# Plot line
log.Log(np.sin(t), np.cos(t), np.sin(t) + np.cos(t))
t += tinc
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
dcam.Activate(scam)
# Render OpenGL 3D Cube
pangolin.glDrawColouredCube()
pangolin.FinishFrame()
def viewer_init(self):
w, h = (1024, 768)
f = 2000 #420
pangolin.CreateWindowAndBind("Visual Odometry Trajectory Viewer", w, h)
gl.glEnable(
gl.GL_DEPTH_TEST
) #prevents point overlapping issue, check out fake-stereo's issues for more info
# Projection and ModelView Matrices
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(w, h, f, f, w // 2, h // 2, 0.1, 100000),
pangolin.ModelViewLookAt(0, -50.0, -10.0, 0.0, 0.0, 0.0, 0.0, -1.0,
0.0)) #pangolin.AxisDirection.AxisY))
self.handler = pangolin.Handler3D(self.scam)
# 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)
self.dcam.Activate()
#Image viewport
self.dimg = pangolin.Display('image')
self.dimg.SetBounds(0, self.h_i / h, 1 - self.w_i / w, 1.0, -w / h)
self.dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
self.texture = pangolin.GlTexture(self.w_i, self.h_i, gl.GL_RGB, False,
0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
self.img = np.ones((self.h_i, self.w_i, 3), 'uint8') * 255
# Translation error graph
self.log = pangolin.DataLog()
self.labels = ['error_t', 'error_r'] #, "error_euclidean"]
self.log.SetLabels(self.labels)
self.plotter = pangolin.Plotter(self.log, 0.0, 1500, -1500, 2500, 10,
0.5)
self.plotter.SetBounds(0.0, self.h_i / h, 0.0, 1 - self.w_i / w,
-w / h)
self.plotter.Track("$i", "")
pangolin.DisplayBase().AddDisplay(self.plotter)
self.errorlog_r, self.errorlog_t = [], []
def main():
# Create OpenGL window in single line
pangolin.CreateWindowAndBind('Main', 640, 480)
# Data logger object
log = pangolin.DataLog()
# Optionally add named labels
labels = ['sin(t)', 'cos(t)', 'sin(t)+cos(t)']
log.SetLabels(labels)
# OpenGL 'view' of data. We might have many views of the same data.
tinc = 0.03
plotter = pangolin.Plotter(log, 0.0, 4.0 * np.pi / tinc, -2.0, 2.0,
np.pi / (4 * tinc), 0.5)
plotter.SetBounds(0.0, 1.0, 0.0, 1.0)
plotter.Track('$i')
# Add some sample annotations to the plot
plotter.AddMarker(pangolin.Marker.Vertical, -1000,
pangolin.Marker.LessThan,
pangolin.Colour.Blue().WithAlpha(0.2))
plotter.AddMarker(pangolin.Marker.Horizontal, 100,
pangolin.Marker.GreaterThan,
pangolin.Colour.Red().WithAlpha(0.2))
plotter.AddMarker(pangolin.Marker.Horizontal, 10, pangolin.Marker.Equal,
pangolin.Colour.Green().WithAlpha(0.2))
pangolin.DisplayBase().AddDisplay(plotter)
t = 0
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
log.Log(np.sin(t), np.cos(t), np.sin(t) + np.cos(t))
t += tinc
pangolin.FinishFrame()
def main():
pangolin.ParseVarsFile('app.cfg')
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000),
pangolin.ModelViewLookAt(0, 0.5, -3, 0, 0, 0,
pangolin.AxisDirection.AxisY))
handler3d = pangolin.Handler3D(scam)
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 180 / 640., 1.0, -640.0 / 480.0)
# dcam.SetBounds(pangolin.Attach(0.0), pangolin.Attach(1.0),
# pangolin.Attach.Pix(180), pangolin.Attach(1.0), -640.0/480.0)
dcam.SetHandler(pangolin.Handler3D(scam))
panel = pangolin.CreatePanel('ui')
panel.SetBounds(0.0, 1.0, 0.0, 180 / 640.)
button = pangolin.VarBool('ui.Button', value=False, toggle=False)
checkbox = pangolin.VarBool('ui.Checkbox', value=False, toggle=True)
float_slider = pangolin.VarFloat('ui.Float', value=3, min=0, max=5)
float_log_slider = pangolin.VarFloat('ui.Log_scale var',
value=3,
min=1,
max=1e4,
logscale=True)
int_slider = pangolin.VarInt('ui.Int', value=2, min=0, max=5)
int_slave_slider = pangolin.VarInt('ui.Int_slave', value=2, toggle=False)
save_window = pangolin.VarBool('ui.Save_Window', value=False, toggle=False)
save_cube = pangolin.VarBool('ui.Save_Cube', value=False, toggle=False)
record_cube = pangolin.VarBool('ui.Record_Cube', value=False, toggle=False)
def reset():
#float_slider.SetVal(0.5)
print('You typed ctrl-r or pushed reset')
# Reset = SetVarFunctor(float_slider, 0.5)
# reset = pangolin.VarFunc('ui.Reset', reset)
# pangolin.RegisterKeyPressCallback(int(pangolin.PANGO_CTRL) + ord('r'), reset) # segfault
# pangolin.RegisterKeyPressCallback(int(pangolin.PANGO_CTRL) + ord('b'), pangolin.SetVarFunctorFloat('ui.Float', 4.5)) # segfault
# pangolin.RegisterKeyPressCallback(int(pangolin.PANGO_CTRL) + ord('b'), SetVarFunctor(float_slider, 4.5)) # segfault
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
if pangolin.Pushed(button):
print('You Pushed a button!')
if checkbox.Get():
int_slider.SetVal(int(float_slider))
int_slave_slider.SetVal(int_slider)
if pangolin.Pushed(save_window):
pangolin.SaveWindowOnRender("window")
if pangolin.Pushed(save_cube):
pangolin.SaveWindowOnRender("cube")
if pangolin.Pushed(record_cube):
pangolin.DisplayBase().RecordOnRender(
"ffmpeg:[fps=50,bps=8388608,unique_filename]//screencap.avi")
dcam.Activate(scam)
gl.glColor3f(1.0, 1.0, 1.0)
pangolin.glDrawColouredCube()
pangolin.FinishFrame()