def refresh(self, q):
"""Refresh the display if there is new data
:q: TODO
:returns: TODO
"""
while not q.empty():
self.message = q.get()
if self.message is not None:
map_points, poses, colors = self.message
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 poses is not None:
if poses.shape[0] >= 2:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(poses[0:-1, :])
gl.glColor3f(1.0, 1.0, 0.0)
pangolin.DrawCameras(poses[-1:, :])
if map_points is not None and colors is not None:
if map_points.shape[0] != 0:
gl.glPointSize(3)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(map_points, colors)
pangolin.FinishFrame()
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 viewer_refresh(self, data):
top = None
# get poses
while not data.empty():
top = data.get()
if top is None:
return
self.frames = top[0]
self.points = top[1]
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)
# draw all poses
if self.frames is not None:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.frames[:-1])
# draw world coordinates
if self.points is not None and self.points.shape[0] > 0:
colors = np.zeros((len(self.points), 3))
colors[:, 1] = 1 - self.points[:, 0] / 10.0
colors[:, 2] = 1 - self.points[:, 1] / 10.0
colors[:, 0] = 1 - self.points[:, 2] / 10.0
gl.glPointSize(2)
gl.glColor3f(0.0, 0.0, 1.0)
# # uncomment to draw points
# pangolin.DrawPoints(self.points, colors)
pangolin.FinishFrame()
def viewer_refresh(self, q):
while not q.empty():
self.data = 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)
# drawing begins here
# self.pose[2, 3] = self.pose[2, 3] - 0.1
# self.poses.append(np.linalg.inv(self.pose))
if self.data is not None:
gl.glLineWidth(3)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.data[0])
if len(self.data) > 1:
gl.glPointSize(5)
points = self.data[1]
colors = self.data[2]
pangolin.DrawPoints(points, colors)
pangolin.FinishFrame()
def viewer_refresh(self, q):
if self.state is None or 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:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state[0][:-1])
if self.state[0].shape[0] >= 1:
gl.glColor3f(1.0, 1.0, 0.0)
pangolin.DrawCameras(self.state[0][-1:])
if self.state[1].shape[0] != 0:
gl.glPointSize(2)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.state[1], self.state[2])
pangolin.FinishFrame()
def viewer_refresh(self, q):
if self.state is None or not q.empty():
self.state = q.get()
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)
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state[0])
gl.glPointSize(2)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.state[1])
pangolin.FinishFrame()
def main():
w, h = 640, 480
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Create Interactive View in window
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))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, w/h)
dcam.SetHandler(handler)
# hack to avoid small Pangolin, no idea why it's *2
dcam.Resize(pangolin.Viewport(0,0,w*2,h*2))
dcam.Activate()
poses = []
# pose = np.hstack((np.identity(3), np.zeros((3,1))))
pose = np.identity(4)
poses.append(np.linalg.inv(pose))
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.0, 0.0, 0.0, 1.0)
dcam.Activate(scam)
pose[2, 3] = pose[2, 3] - 1
poses.append(np.linalg.inv(pose))
print(poses[-1])
gl.glLineWidth(3)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(poses)
# pangolin.DrawCamera(pose)
time.sleep(0.2)
# pangolin.DrawCameras(np.linalg.inv(poses[-1]))
# pangolin.DrawCameras(np.stack(poses, axis=0))
# print(np.stack(poses,axis=2).shape)
pangolin.FinishFrame()
def viewer_refresh(self, q):
if self.state is None or not q.empty():
self.state = q.get()
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# gl.glClearColor(1.0, 1.0, 1.0, 1.0)
gl.glClearColor(0.0, 0.0, 0.0, 1.0)
self.dcam.Activate(self.scam)
# draw poses
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state[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 main():
pango.CreateWindowAndBind('frustrum render', 640, 480)
# Projection and ModelView Matrices
scam = pango.OpenGlRenderState(
pango.ProjectionMatrix(640, 480, 2000, 2000, 320, 240, 0.1, 5000),
pango.ModelViewLookAt(0, -50, -10, 0, 0, 0, 0, -1,
0)) #pango.AxisDirection.AxisY))
handler = pango.Handler3D(scam)
# Interactive View in Window
disp_cam = pango.CreateDisplay()
disp_cam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
disp_cam.SetHandler(handler)
# create and append pose matrices for cameras
pose = np.identity(4)
poses = []
for i in range(3):
poses.append(np.linalg.inv(pose))
pose[2, 3] -= 1
while not pango.ShouldQuit():
# Clear screen
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.15, 0.15, 0.15, 0.0)
disp_cam.Activate(scam)
# Render Cameras
gl.glLineWidth(2)
gl.glColor3f(1.0, 0.0, 1.0)
pango.DrawCamera(poses[0])
gl.glColor3f(0.2, 1.0, 0.2)
pango.DrawCameras(poses[1:-1])
gl.glColor3f(1.0, 1.0, 1.0)
pango.DrawCamera(poses[-1])
# End frame update
pango.FinishFrame()
def render_map(self, q):
if (self.currState is None) or (not q.empty()):
self.currState = q.get()
# Extract points and poses
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)
# Draw poses
#gl.glPointSize(10)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawCameras(self.currState[0])
# Draw points
gl.glPointSize(2)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawPoints(self.currState[1])
pangolin.FinishFrame()
def refresh(self):
#clear and activate screen
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.15, 0.15, 0.15, 0.0)
#gl.glClearColor(1.0, 1.0, 1.0, 0.0)
self.dcam.Activate(self.scam)
# render
gl.glLineWidth(1)
# render cameras
if len(self.nodes) > 1:
gl.glColor3f(1.0, 1.0, 1.0)
pango.DrawCameras(self.nodes)
# render edges
if len(self.edges) > 1:
gl.glColor3f(0.0, 0.8, 0.5)
pango.DrawLines(self.edges[:, 0, :-1, -1], self.edges[:, 1, :-1,
-1])
pango.FinishFrame()
def draw(self):
q = self.q
self.draw_init()
while not pangolin.ShouldQuit():
try:
while not q.empty():
state = q.get()
if state is not None:
self.cams.append(state[0])
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)
# Draw cam
gl.glLineWidth(2)
gl.glColor3f(0.0, 1.0, 0.0)
# pangolin.DrawCamera(state[0], 0.5, 0.75, 0.8)
pangolin.DrawCameras(self.cams)
pangolin.FinishFrame()
except:
continue
def viewer_refresh(self, q):
if self.state is None or not q.empty():
self.state = q.get()
# turn state into points
#ppts = np.array([d[:3, 3] for d in self.state[0]])
spts = np.array(self.state[1])
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)
# draw poses
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state[0])
#draw keypoints
gl.glPointSize(2)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(spts)
pangolin.FinishFrame()
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)
panel = pangolin.CreatePanel('menu')
panel.SetBounds(0.5, 1.0, 0.0, 175 / 1024.)
# checkbox
m_follow_camera = pangolin.VarBool('menu.Follow Camera',
value=True,
toggle=True)
m_show_points = pangolin.VarBool('menu.Show Points', True, True)
m_show_lines = pangolin.VarBool('menu.Show Lines', True, True)
m_show_keyframes = pangolin.VarBool('menu.Show KeyFrames', True, True)
m_show_graph = pangolin.VarBool('menu.Show Graph', True, True)
m_show_image = pangolin.VarBool('menu.Show Image', True, True)
# button
m_replay = pangolin.VarBool('menu.Replay', value=False, toggle=False)
m_refresh = pangolin.VarBool('menu.Refresh', False, False)
m_reset = pangolin.VarBool('menu.Reset', False, False)
if self.config is None:
width, height = 400, 250
viewpoint_x = 0
viewpoint_y = -500 # -10
viewpoint_z = -100 # -0.1
viewpoint_f = 2000
camera_width = 1.
else:
width = self.config.view_image_width
height = self.config.view_image_height
viewpoint_x = self.config.view_viewpoint_x
viewpoint_y = self.config.view_viewpoint_y
viewpoint_z = self.config.view_viewpoint_z
viewpoint_f = self.config.view_viewpoint_f
camera_width = self.config.view_camera_width
proj = pangolin.ProjectionMatrix(1024, 768, viewpoint_f, viewpoint_f,
512, 389, 0.1, 5000)
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 = 400, 130
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')
pose = pangolin.OpenGlMatrix() # identity matrix
following = True
active = []
replays = []
graph = []
loops = []
mappoints = DynamicArray(shape=(3, ))
maplines = DynamicArray(shape=(6, ))
colors = DynamicArray(shape=(3, ))
cameras = DynamicArray(shape=(4, 4))
active_lines = []
line_colors = []
gnd_mesh = None
while not pangolin.ShouldQuit():
if not self.q_pose.empty():
pose.m = self.q_pose.get()
follow = m_follow_camera.Get()
if follow and following:
scam.Follow(pose, True)
elif follow and not following:
scam.SetModelViewMatrix(look_view)
scam.Follow(pose, True)
following = True
elif not follow and following:
following = False
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)
# show graph
if not self.q_graph.empty():
graph = self.q_graph.get()
loops = np.array([_[0] for _ in graph if _[1] == 2])
graph = np.array([_[0] for _ in graph if _[1] < 2])
if m_show_graph.Get():
if len(graph) > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(graph, 3)
if len(loops) > 0:
gl.glLineWidth(2)
gl.glColor3f(0.0, 0.0, 0.0)
pangolin.DrawLines(loops, 4)
gl.glPointSize(4)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glBegin(gl.GL_POINTS)
gl.glVertex3d(pose[0, 3], pose[1, 3], pose[2, 3])
gl.glEnd()
# if not self.q_ground.empty():
# gnd_mesh = self.q_ground.get()
if gnd_mesh is not None:
gl.glLineWidth(2)
gl.glColor3f(0.5, 0.25, 0.5)
pangolin.DrawLines(gnd_mesh, 2)
# Show mappoints
if not self.q_points.empty():
pts, code = self.q_points.get()
cls, code = self.q_colors.get()
if code == 1: # append new points
mappoints.extend(pts)
colors.extend(cls)
elif code == 0: # refresh all points
mappoints.clear()
mappoints.extend(pts)
colors.clear()
colors.extend(cls)
if m_show_points.Get():
gl.glPointSize(4)
# easily draw millions of points
pangolin.DrawPoints(mappoints.array(), colors.array())
if not self.q_active.empty():
active = self.q_active.get()
gl.glPointSize(5)
gl.glBegin(gl.GL_POINTS)
gl.glColor3f(1.0, 0.0, 0.0)
for point in active:
gl.glVertex3f(*point)
gl.glEnd()
if not self.q_lines.empty():
lines, code = self.q_lines.get()
maplines.extend(lines)
if m_show_lines.Get():
gl.glLineWidth(1)
gl.glColor3f(1.0, 0.0, 0.5)
pangolin.DrawLines(maplines.array(), 2)
if not self.q_active_lines.empty():
active_lines, line_colors = np.array(
self.q_active_lines.get())
if active_lines is not None:
for act_line, color in zip(active_lines, line_colors):
c = (color[2] / 255, color[1] / 255, color[0] / 255)
act_line = act_line.reshape((1, 6))
gl.glLineWidth(5)
gl.glColor3f(*c)
pangolin.DrawLines(act_line, 2)
if len(replays) > 0:
n = 300
gl.glPointSize(4)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glBegin(gl.GL_POINTS)
for point in replays[:n]:
gl.glVertex3f(*point)
gl.glEnd()
replays = replays[n:]
# show cameras
if not self.q_camera.empty():
cams = self.q_camera.get()
if len(cams) > 20:
cameras.clear()
cameras.extend(cams)
if m_show_keyframes.Get():
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawCameras(cameras.array(), camera_width)
# show image
if not self.q_image.empty():
image = self.q_image.get()
if image.ndim == 3:
image = image[::-1, :, ::-1]
else:
image = np.repeat(image[::-1, :, np.newaxis], 3, axis=2)
image = cv2.resize(image, (width, height))
if m_show_image.Get():
texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
if pangolin.Pushed(m_replay):
replays = mappoints.array()
if pangolin.Pushed(m_reset):
m_show_graph.SetVal(True)
m_show_keyframes.SetVal(True)
m_show_points.SetVal(True)
m_show_image.SetVal(True)
m_follow_camera.SetVal(True)
follow_camera = True
if pangolin.Pushed(m_refresh):
self.q_refresh.put(True)
pangolin.FinishFrame()
def UpdatePointsThread(self, PointsQueue, PoseQueue):
import OpenGL.GL as gl
import pangolin
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))
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2,
10000),
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)
points = None
cameras = None
while not pangolin.ShouldQuit():
if points is None:
try:
points = PointsQueue.get()
except:
continue
else:
points = np.vstack((points, PointsQueue.get()))
if cameras is None:
try:
cameras = [PoseQueue.get()]
except:
continue
else:
cameras.append(PoseQueue.get())
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)
# Render OpenGL Cube
pangolin.glDrawColouredCube()
gl.glPointSize(2)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawPoints(points)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawCameras(cameras)
# gl.glPointSize(5)
# gl.glColor3f(1.0, 0.0, 0.0)
# pangolin.DrawPoints(self.state[1], self.state[2])
#assert 1==0
pangolin.FinishFrame()
def glMainLoop(self):
self.logger.info("Running gl viewer ...")
flag = False
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
panel = pangolin.CreatePanel('menu')
panel.SetBounds(1.0, 1.0, 0.0, 100 / 640.)
# Does not work with initialization of window
# self.Init()
camera_pose = pangolin.OpenGlMatrix()
# create scene graph
# scene = pangolin.Renderable()
# # x : R
# # y : G
# # z : B
# scene.Add(pangolin.Axis())
#
rendered_cam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.01, 2000),
pangolin.ModelViewLookAt(1, 0, 1, 0, 0, 0, 0, 0, 1)
)
handler = pangolin.Handler3D(rendered_cam)
# handler = pangolin.SceneHandler(scene, rendered_cam)
# add drawing callback
#
viewport = pangolin.CreateDisplay()
viewport.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
viewport.SetHandler(handler)
image_viewport = pangolin.Display('image')
w = 160
h = 120
image_viewport.SetBounds(0, h / 480., 0.0, w / 640., 640. / 480.)
image_viewport.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
texture = pangolin.GlTexture(w, h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
# geometries
self.lines = []
self.points = {}
self.colors = {}
self.poses = []
self.redundant_points = []
self.redundant_colors = []
self.landmarks = {}
#
img = np.ones((h, w, 3), 'uint8')
while not pangolin.ShouldQuit():
datum = None
if not self.attributes.empty():
self.logger.info("[GL Process] attributes is not empty, fetching datum ...")
datum = self.attributes.get()
self.logger.info("[GL Process] get a datum from the main thread of the parent process")
if datum is not None:
# dispatch instructions
if datum.attrs.get('pose', None) is not None:
pose = datum.attrs['pose']
# self.camera.pose.m = pose
# set Twc
camera_pose.m = pose # np.linalg.inv(pose)
# camera_pose.m = pose
rendered_cam.Follow(camera_pose, True)
self.logger.info("[GL Process] update camera pose matrix got from datum: \n%s" % pose)
pass
pass
# self.Clear()
# self.control.Update(self.camera.pose)
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
viewport.Activate(rendered_cam)
# scene.Render()
# Just for test
# pangolin.glDrawColouredCube(0.1)
# render graph
if datum is not None:
# dispatch data
# update graph
if datum.attrs.get('lines', None) is not None:
lines = datum.attrs['lines']
self.lines.extend(lines)
self.logger.info("[GL Process] drawing %d lines ..." % len(lines))
if datum.attrs.get('pose', None) is not None:
pose = datum.attrs['pose']
self.poses.append(pose)
self.logger.info("[GL Process] drawing a camera with new pose matrix ...")
pass
# update image
if datum.attrs.get('img', None) is not None:
img = datum.attrs['img']
# see pangolin issue #180
# change cv BGR channels to norm one
# img = img[::-1, : ,::-1].astype(np.uint8)
img = img.astype(np.uint8)
img = cv2.resize(img, (w, h))
self.logger.info("[GL Process] drawing image to image viewport ...")
# show mappoints
if datum.attrs.get('points', None) is not None:
points = datum.attrs['points']
if len(points) > 0:
# self.points.extend(points)
for point in points:
self.points[point.seq] = point
# colors = np.array([p.color if p.color is not None else np.array([1.0, 0.0, 0.0]) for p in points]).astype(np.float64)
colors = [p.color / 255. if p.color is not None else np.array([1.0, 1.0, 0.0]) for p in points]
# print("colors: \n%s" % np.array(colors))
# colors = [ [1., 1., 0.] for p in points]
# self.colors.extend(colors)
for i, color in enumerate(colors):
point = points[i]
self.colors[point.seq] = color
self.logger.info("[GL Process] drawing %d points" % len(points))
# print("new mappoints: \n%s" % np.array([ p.data for p in points]).astype(np.float64))
# print("new colors (default): \n%s" % np.array(colors))
else:
self.logger.info("[GL Process] no points to be drawn.")
# redundant points
if datum.attrs.get('points-redundant', None) is not None:
points = datum.attrs['points-redundant']
colors = datum.attrs['colors-redundant']
for i, p in enumerate(points):
self.redundant_points.append(p)
self.redundant_colors.append(colors[i] / 255.)
# show landmarks
if datum.attrs.get('landmarks', None) is not None:
landmarks = datum.attrs['landmarks']
for landmark in landmarks:
self.landmarks[landmark.seq] = landmark
self.logger.info("[GL Process] drawing %d landmarks" % len(landmarks))
self.attributes.task_done()
self.logger.info("[GL Process] datum has been processed.")
############
# draw graph
############
line_geometries = np.array([
[*line[0], *line[1]] for line in self.lines
])
if len(line_geometries) > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(line_geometries, 3)
# pose = self.camera.pose
pose = camera_pose
# GL 2.0 API
gl.glPointSize(4)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glBegin(gl.GL_POINTS)
gl.glVertex3d(pose[0, 1], pose[1, 3], pose[2, 3])
gl.glEnd()
############
# draw poses
############
if len(self.poses) > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
# poses: numpy.ndarray[float64], w: float=1.0, h_ratio: float=0.75, z_ratio: float=0.6
pangolin.DrawCameras(np.array(self.poses))
gl.glPointSize(4)
gl.glColor3f(0.0, 0.0, 1.0)
gl.glBegin(gl.GL_POINTS)
for pose in self.poses:
gl.glVertex3d(pose[0, 1], pose[1, 3], pose[2, 3])
gl.glEnd()
################
# draw mappoints
################
if len(self.points) > 0:
# points_geometries = np.array([p.data for p in self.points]).astype(np.float64)
points_geometries = []
colors = []
for point_key, p in self.points.items():
points_geometries.append(p.data)
colors.append(self.colors[point_key])
points_geometries = np.array(points_geometries).astype(np.float64)
colors = np.array(colors).astype(np.float64)
gl.glPointSize(6)
# pangolin.DrawPoints(points_geometries, np.array(self.colors).astype(np.float64) )
pangolin.DrawPoints(points_geometries, colors)
# gl.glPointSize(4)
# gl.glColor3f(1.0, 0.0, 0.0)
#
# gl.glBegin(gl.GL_POINTS)
# for point in points_geometries:
# gl.glVertex3d(point[0], point[1], point[2])
# gl.glEnd()
####################
# redundant points #
####################
if len(self.redundant_points) > 0:
points_geometries = []
colors = []
for i, p in enumerate(self.redundant_points):
points_geometries.append(p.data)
colors.append(self.redundant_colors[i])
points_geometries = np.array(points_geometries).astype(np.float64)
colors = np.array(colors).astype(np.float64)
gl.glPointSize(3)
pangolin.DrawPoints(points_geometries, colors)
################
# draw landmarks
################
for key, landmarkDatum in self.landmarks.items():
# abox = landmark.computeAABB()
# drawABox(abox.toArray())
drawABox(landmarkDatum.abox.toArray(), color=landmarkDatum.color)
pass
#############
# draw images
#############
# self.camera.RenderImg(img)
texture.Upload(img, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
image_viewport.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
pangolin.FinishFrame()
print("gl program loop stopped")
with self._state_locker:
self._stopped = True
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)
panel = pangolin.CreatePanel('menu')
panel.SetBounds(0.5, 1.0, 0.0, 175 / 1024.)
# checkbox
if self.view_point_cloud:
m_show_points = pangolin.VarBool('menu.Show Points', True, True)
m_show_keyframes = pangolin.VarBool('menu.Show KeyFrames', True, True)
m_show_graph = pangolin.VarBool('menu.Show Graph', True, True)
m_show_image = pangolin.VarBool('menu.Show Image', True, True)
# button
m_next_frame = pangolin.VarBool('menu.Next', False, False)
if self.config is None:
viewpoint_x = 0
viewpoint_y = -500 # -10
viewpoint_z = -100 # -0.1
viewpoint_f = 2000
camera_width = 1.
width, height = 350, 250
else:
viewpoint_x = self.config.view_viewpoint_x
viewpoint_y = self.config.view_viewpoint_y
viewpoint_z = self.config.view_viewpoint_z
viewpoint_f = self.config.view_viewpoint_f
camera_width = self.config.view_camera_width
width = self.config.view_image_width * 2
height = self.config.view_image_height
proj = pangolin.ProjectionMatrix(1024, 768, viewpoint_f, viewpoint_f,
512, 389, 0.1, 5000)
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))
# Dilay image
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')
pose = pangolin.OpenGlMatrix() # identity matrix
active = []
graph = []
loops = []
loops_local = []
mappoints = DynamicArray(shape=(3, ))
colors = DynamicArray(shape=(3, ))
cameras = DynamicArray(shape=(4, 4))
while not pangolin.ShouldQuit():
if not self.q_pose.empty():
pose.m = self.q_pose.get()
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)
# Show graph
if not self.q_graph.empty():
graph = self.q_graph.get()
loops = np.array([_[0] for _ in graph if _[1] == 2])
loops_local = np.array([_[0] for _ in graph if _[1] == 1])
graph = np.array([_[0] for _ in graph if _[1] == 0])
if m_show_graph.Get():
if len(graph) > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(graph, 3)
if len(loops) > 0:
gl.glLineWidth(2)
gl.glColor3f(1.0, 0.0, 1.0)
pangolin.DrawLines(loops, 4)
if len(loops_local) > 0:
gl.glLineWidth(2)
gl.glColor3f(1.0, 1.0, 0.0)
pangolin.DrawLines(loops_local, 4)
if self.view_point_cloud:
# Show mappoints
if not self.q_points.empty():
pts, code = self.q_points.get()
cls, code = self.q_colors.get()
if code == 1: # append new points
mappoints.extend(pts)
colors.extend(cls)
elif code == 0: # refresh all points
mappoints.clear()
mappoints.extend(pts)
colors.clear()
colors.extend(cls)
if m_show_points.Get():
gl.glPointSize(2)
# easily draw millions of points
pangolin.DrawPoints(mappoints.array(), colors.array())
if not self.q_active.empty():
active = self.q_active.get()
gl.glPointSize(3)
gl.glBegin(gl.GL_POINTS)
gl.glColor3f(1.0, 0.0, 0.0)
for point in active:
gl.glVertex3f(*point)
gl.glEnd()
# Show cameras
if not self.q_camera.empty():
cams = self.q_camera.get()
if len(cams) > 20:
cameras.clear()
cameras.extend(cams)
if m_show_keyframes.Get():
if cameras.array().shape[0] > 0:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawCameras(cameras.array()[:-1], camera_width)
gl.glLineWidth(1)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawCameras(
np.expand_dims(cameras.array()[-1], axis=0),
camera_width)
# Show image
if not self.q_image.empty():
image = self.q_image.get()
if image.ndim == 3:
image = image[::-1, :, ::-1]
else:
image = np.repeat(image[::-1, :, np.newaxis], 3, axis=2)
image = cv2.resize(image, (width, height))
if m_show_image.Get():
texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
if pangolin.Pushed(m_next_frame):
self.q_next.put(True)
pangolin.FinishFrame()
def draw_cameras(self, Ts, color=(0.0, 0.0, 1.0)):
self.dcam.Activate(self.scam)
gl.glLineWidth(1)
gl.glColor3f(*color)
pango.DrawCameras(Ts, h_ratio=0.31, z_ratio=0.5)
def viewer_refresh(self, q_poses, q_gt, q_img, q_errors,
q_poses_optimized):
while not q_poses.empty():
self.state = q_poses.get()
if True:
while not q_poses_optimized.empty():
self.state_optimized = q_poses_optimized.get()
if not q_img.empty():
self.img = q_img.get()
self.img = self.img[::-1, :]
self.img = cv2.resize(self.img, (self.w_i, self.h_i))
while not q_gt.empty():
self.state_gt = q_gt.get()
while not q_errors.empty():
error_r, error_t = q_errors.get()[-1]
#self.log.Log(errors[0], errors[1], errors[2])
self.errorlog_t.append(error_t)
self.errorlog_r.append(error_r)
#print(np.shape(self.errorlog))
self.log.Log(np.sum(self.errorlog_t), np.sum(self.errorlog_r))
# Clear and Activate Screen (we got a real nice shade of gray
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.15, 0.15, 0.15, 0.0)
#gl.glClearColor(0.0,0.0, 0.0, 0.0)
self.dcam.Activate(self.scam)
# Render
if self.state is not None:
gl.glLineWidth(1)
# Render current pose
if self.state_gt[0].shape[0] >= 1:
gl.glColor3f(1.0, 1.0, 1.0)
pangolin.DrawCameras(self.state_gt[1:])
# Render previous keyframes
if self.state[0].shape[0] >= 2:
gl.glColor3f(1.0, 0.0, 1.0)
pangolin.DrawCameras(self.state[:-1])
# Render current pose
if self.state[0].shape[0] >= 1:
gl.glColor3f(0.2, 1.0, 0.2)
pangolin.DrawCameras(self.state[-1:])
if True:
if self.state_optimized is not None:
if self.state_optimized[0].shape[0] >= 1:
gl.glColor3f(0.5, 1.0, 1.0)
pangolin.DrawCameras(self.state_optimized)
#print(self.img.shape)
#cv2.imshow("test", self.img)
self.texture.Upload(self.img, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
self.dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
self.texture.RenderToViewport()
pangolin.FinishFrame()
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 = -5 # -10
viewpoint_z = -10 # -0.1
viewpoint_f = 200
camera_width = 0.5
proj = pangolin.ProjectionMatrix(1024, 768, viewpoint_f, viewpoint_f,
512, 389, 0.1, 5000)
look_view = pangolin.ModelViewLookAt(viewpoint_x, viewpoint_y,
viewpoint_z, 0, 0, 0, 0, -1, 0)
scam = pangolin.OpenGlRenderState(proj, look_view)
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -1024. / 768.)
dcam.SetHandler(pangolin.Handler3D(scam))
dimg = pangolin.Display('image')
dimg.SetBounds(0.0, self.h / 768., 0.0, self.w / 1024.,
float(self.w) / self.h)
dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
texture = pangolin.GlTexture(self.w, self.h, gl.GL_RGB, False, 0,
gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
ddepth = pangolin.Display('depth')
ddepth.SetBounds(self.h / 768., self.h / 768. * 2.0, 0.0,
self.w / 1024.,
float(self.w) / float(self.h))
ddepth.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
if self.use_custom_depth_image:
print("Use RGB depth buffer")
texture_depth = pangolin.GlTexture(self.w, self.h, gl.GL_RGB,
False, 0, gl.GL_RGB,
gl.GL_UNSIGNED_BYTE)
else:
texture_depth = pangolin.GlTexture(self.w, self.h, gl.GL_LUMINANCE,
False, 0, gl.GL_LUMINANCE,
gl.GL_UNSIGNED_BYTE)
cameras = []
trajectory = []
pose = pangolin.OpenGlMatrix()
points = np.empty(shape=(0, 3))
colors = np.empty(shape=(0, 3))
# image = random_image(self.w, self.h)
image = 255 * np.ones((self.h, self.w, 3), 'uint8')
if self.use_custom_depth_image:
depth = 255 * np.ones((self.h, self.w, 3), 'uint8')
else:
depth = 255 * np.ones((self.h, self.w), 'uint8')
gl.glPointSize(3)
gl.glLineWidth(2)
while not pangolin.ShouldQuit():
if not self.q_camera.empty():
cameras = self.q_camera.get()
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.75, 0.75, 0.75, 1.0)
if not self.q_pose.empty():
pose.m = self.q_pose.get()
# scam.Follow(pose, True)
dcam.Activate(scam)
gl.glColor3f(0.0, 0.0, 1.0)
if len(cameras) > 0:
pangolin.DrawCameras(cameras, camera_width)
if not self.q_trajectory.empty():
trajectory = self.q_trajectory.get()
if len(trajectory) > 1:
gl.glColor3f(0.0, 0.0, 0.0)
pangolin.DrawLine(trajectory)
if not self.q_point.empty():
points = self.q_point.get()
if not self.q_color.empty():
colors = self.q_color.get()
# if len(points) > 0:
# pangolin.DrawPoints(points, colors)
if not self.q_image.empty():
image = self.q_image.get()
# print(image.shape, image.dtype)
texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
if not self.q_depth.empty():
depth = self.q_depth.get()
print('^^^')
print(depth.shape, depth.dtype)
if self.use_custom_depth_image:
texture_depth.Upload(depth, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
else:
texture_depth.Upload(depth, gl.GL_LUMINANCE,
gl.GL_UNSIGNED_BYTE)
ddepth.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture_depth.RenderToViewport()
pangolin.FinishFrame()
def viewer_refresh(self, qmap, qvo, is_paused):
while not qmap.empty():
self.map_state = qmap.get()
while not qvo.empty():
self.vo_state = qvo.get()
# if pangolin.Pushed(self.button):
# print('You Pushed a button!')
self.do_follow = self.checkboxFollow.Get()
self.is_grid = self.checkboxGrid.Get()
self.draw_cameras = self.checkboxCams.Get()
self.draw_covisibility = self.checkboxCovisibility.Get()
self.draw_spanning_tree = self.checkboxSpanningTree.Get()
#if pangolin.Pushed(self.checkboxPause):
if self.checkboxPause.Get():
is_paused.value = 0
else:
is_paused.value = 1
# self.int_slider.SetVal(int(self.float_slider))
self.pointSize = self.int_slider.Get()
if self.do_follow and self.is_following:
self.scam.Follow(self.Twc, True)
elif self.do_follow and not self.is_following:
self.scam.SetModelViewMatrix(self.look_view)
self.scam.Follow(self.Twc, True)
self.is_following = True
elif not self.do_follow and self.is_following:
self.is_following = False
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)
if self.is_grid:
Viewer3D.drawPlane()
# ==============================
# draw map
if self.map_state is not None:
if self.map_state.cur_pose is not None:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
gl.glLineWidth(2)
pangolin.DrawCamera(self.map_state.cur_pose)
gl.glLineWidth(1)
self.updateTwc(self.map_state.cur_pose)
if self.map_state.predicted_pose is not None and kDrawCameraPrediction:
# draw predicted pose in red
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawCamera(self.map_state.predicted_pose)
if len(self.map_state.poses) > 1:
# draw keyframe poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.map_state.poses[:])
# rysowaine wektora za którym powinno wyznaczać boxy
if len(self.map_state.line) > 0:
# # wyznaczam nowy wektor obrócony o -90 i 90 stopni o długości 10
gl.glLineWidth(3)
gl.glPointSize(self.pointSize)
gl.glColor3f(0.0, 0.0, 0.0)
pangolin.DrawPoints(self.map_state.line)
# # pangolin.DrawLines([self.map_state.line[0], self.map_state.line[0]])
if len(self.map_state.points) > 0:
# draw keypoints with their color
gl.glPointSize(self.pointSize)
#gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.map_state.points,
self.map_state.colors)
# TODO dopisać rozwiązanie drukujące na ekran zaznaczone obiekty w postaci obszarów
if len(self.map_state.dict_pose) > 0:
for k, v in self.map_state.dict_pose.items():
sizes = []
poses = [np.identity(4) for i in range(len(v))]
for pose, point in zip(poses, v):
pose[:3, 3] = np.array(point[0])
sizes.append(np.array(point[1]))
gl.glLineWidth(2)
d_color = k[1:-1].split(' ')
gl.glColor3f(float(d_color[0]), float(d_color[1]),
float(d_color[2]))
# gl.glColor3f(1.0, 0.0, 1.0)
# gl.glColor3f(self.map_state.box_color)
# print("{} {}".format(poses, sizes))
pangolin.DrawBoxes(poses, sizes)
# pangolin.DrawBoxes(self.map_state.box_left_botton, self.map_state.box_size)
if self.map_state.reference_pose is not None and kDrawReferenceCamera:
# draw predicted pose in purple
gl.glColor3f(0.5, 0.0, 0.5)
gl.glLineWidth(2)
pangolin.DrawCamera(self.map_state.reference_pose)
gl.glLineWidth(1)
if len(self.map_state.covisibility_graph) > 0:
if self.draw_covisibility:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(self.map_state.covisibility_graph, 3)
if len(self.map_state.spanning_tree) > 0:
if self.draw_spanning_tree:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLines(self.map_state.spanning_tree, 3)
if len(self.map_state.loops) > 0:
if self.draw_spanning_tree:
gl.glLineWidth(2)
gl.glColor3f(0.5, 0.0, 0.5)
pangolin.DrawLines(self.map_state.loops, 3)
gl.glLineWidth(1)
# ==============================
# draw vo
if self.vo_state is not None:
if self.vo_state.poses.shape[0] >= 2:
# draw poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.vo_state.poses[:-1])
if self.vo_state.poses.shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
current_pose = self.vo_state.poses[-1:]
pangolin.DrawCameras(current_pose)
self.updateTwc(current_pose[0])
if self.vo_state.traj3d_est.shape[0] != 0:
# draw blue estimated trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLine(self.vo_state.traj3d_est)
if self.vo_state.traj3d_gt.shape[0] != 0:
# draw red ground-truth trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawLine(self.vo_state.traj3d_gt)
pangolin.FinishFrame()
def viewer_refresh(self, qmap, qvo, is_paused):
while not qmap.empty():
self.map_state = qmap.get()
while not qvo.empty():
self.vo_state = qvo.get()
# if pangolin.Pushed(self.button):
# print('You Pushed a button!')
self.do_follow = self.checkboxFollow.Get()
self.is_grid = self.checkboxGrid.Get()
self.draw_cameras = self.checkboxCams.Get()
self.draw_covisibility = self.checkboxCovisibility.Get()
self.draw_spanning_tree = self.checkboxSpanningTree.Get()
#if pangolin.Pushed(self.checkboxPause):
if self.checkboxPause.Get():
is_paused.value = 0
else:
is_paused.value = 1
# self.int_slider.SetVal(int(self.float_slider))
self.pointSize = self.int_slider.Get()
if self.do_follow and self.is_following:
self.scam.Follow(self.Twc, True)
elif self.do_follow and not self.is_following:
self.scam.SetModelViewMatrix(self.look_view)
self.scam.Follow(self.Twc, True)
self.is_following = True
elif not self.do_follow and self.is_following:
self.is_following = False
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)
if self.is_grid:
Viewer3D.drawPlane()
# ==============================
# draw map
if self.map_state is not None:
if self.map_state.cur_pose is not None:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
gl.glLineWidth(2)
pangolin.DrawCamera(self.map_state.cur_pose)
gl.glLineWidth(1)
self.updateTwc(self.map_state.cur_pose)
if self.map_state.predicted_pose is not None and kDrawCameraPrediction:
# draw predicted pose in red
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawCamera(self.map_state.predicted_pose)
if len(self.map_state.poses) >1:
# draw keyframe poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.map_state.poses[:])
if len(self.map_state.points)>0:
# draw keypoints with their color
gl.glPointSize(self.pointSize)
#gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.map_state.points, self.map_state.colors)
if self.map_state.reference_pose is not None and kDrawReferenceCamera:
# draw predicted pose in purple
gl.glColor3f(0.5, 0.0, 0.5)
gl.glLineWidth(2)
pangolin.DrawCamera(self.map_state.reference_pose)
gl.glLineWidth(1)
if len(self.map_state.covisibility_graph)>0:
if self.draw_covisibility:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(self.map_state.covisibility_graph,3)
if len(self.map_state.spanning_tree)>0:
if self.draw_spanning_tree:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLines(self.map_state.spanning_tree,3)
if len(self.map_state.loops)>0:
if self.draw_spanning_tree:
gl.glLineWidth(2)
gl.glColor3f(0.5, 0.0, 0.5)
pangolin.DrawLines(self.map_state.loops,3)
gl.glLineWidth(1)
# ==============================
# draw vo
if self.vo_state is not None:
if self.vo_state.poses.shape[0] >= 2:
# draw poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.vo_state.poses[:-1])
if self.vo_state.poses.shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
current_pose = self.vo_state.poses[-1:]
pangolin.DrawCameras(current_pose)
self.updateTwc(current_pose[0])
if self.vo_state.traj3d_est.shape[0] != 0:
# draw blue estimated trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLine(self.vo_state.traj3d_est)
if self.vo_state.traj3d_gt.shape[0] != 0:
# draw red ground-truth trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawLine(self.vo_state.traj3d_gt)
pangolin.FinishFrame()
gl.glEnable(gl.GL_DEPTH_TEST)
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))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, w / h)
dcam.SetHandler(handler)
# hack to avoid small Pangolin, no idea why it's *2
dcam.Resize(pangolin.Viewport(0, 0, w * 2, h * 2))
dcam.Activate()
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.0, 0.0, 0.0, 1.0)
dcam.Activate(scam)
if state is not None:
if state[0].shape[0] >= 2:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(state[0][:-1])
if state[0].shape[0] >= 1:
gl.glColor3f(1.0, 1.0, 0.0)
pangolin.DrawCameras(state[0][-1:])
# if state[1].shape[0] != 0:
# gl.glPointSize(1)
# gl.glColor3f(1.0, 0.0, 0.0)
# pangolin.DrawPoints(state[1], state[2])
pangolin.FinishFrame()
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()
def viewer_refresh(self, qmap, qvo):
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
while not qmap.empty():
self.state_map = qmap.get()
while not qvo.empty():
self.state_vo = qvo.get()
# if pangolin.Pushed(self.button):
# print('You Pushed a button!')
self.do_follow = self.checkboxFollow.Get()
self.is_grid = self.checkboxGrid.Get()
self.draw_cameras = self.checkboxCams.Get()
# self.int_slider.SetVal(int(self.float_slider))
self.pointSize = self.int_slider.Get()
self.dcam.Activate(self.scam)
if self.do_follow:
self.scam.Follow(self.Twc, True)
if self.is_grid:
Viewer3D.drawPlane()
# draw map
if self.state_map is not None:
if self.state_map[0].shape[0] >= 2:
# draw poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state_map[0][:-1])
if self.state_map[0].shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
currentPose = self.state_map[0][-1:]
pangolin.DrawCameras(currentPose)
self.updateTwc(currentPose)
if self.state_map[1].shape[0] != 0:
# draw keypoints with their color
gl.glPointSize(self.pointSize)
#gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.state_map[1], self.state_map[2])
# draw vo
if self.state_vo is not None:
if self.state_vo[0].shape[0] >= 2:
# draw poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state_vo[0][:-1])
if self.state_vo[0].shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
currentPose = self.state_vo[0][-1:]
pangolin.DrawCameras(currentPose)
self.updateTwc(currentPose)
if self.state_vo[1].shape[0] != 0:
# draw blue estimated trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLine(self.state_vo[1])
if self.state_vo[2].shape[0] != 0:
# draw red ground-truth trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawLine(self.state_vo[2])
pangolin.FinishFrame()
