def showPointCloud(pointcloud): if len(pointcloud) == 0: raise Exception("point cloud could not be empty!") pango.CreateWindowAndBind("pointcloud viewer", 1024, 768) glEnable(GL_DEPTH_TEST) glEnable(GL_BLEND) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) pm = pango.ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000) mv = pango.ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0) s_cam = pango.OpenGlRenderState(pm, mv) handler = pango.Handler3D(s_cam) d_cam = pango.CreateDisplay() d_cam.SetBounds(pango.Attach(0.0), pango.Attach(1.0), pango.Attach(0.0), pango.Attach(1.0), -1024 / 768) d_cam.SetHandler(handler) while not pango.ShouldQuit(): glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) d_cam.Activate(s_cam) glClearColor(1.0, 1.0, 1.0, 1.0) glPointSize(2) glBegin(GL_POINTS) for p in pointcloud: glColor3d(p[3], p[3], p[3]) glVertex3d(p[0], p[1], p[2]) glEnd() pango.FinishFrame() time.sleep(0.005)
def main(): win = pango.CreateWindowAndBind("pySimpleDisplay", 640, 480) glEnable(GL_DEPTH_TEST) pm = pango.ProjectionMatrix(640,480,420,420,320,240,0.1,1000); mv = pango.ModelViewLookAt(-0, 0.5, -3, 0, 0, 0, pango.AxisY) s_cam = pango.OpenGlRenderState(pm, mv) ui_width = 180 handler=pango.Handler3D(s_cam) d_cam = pango.CreateDisplay().SetBounds(pango.Attach(0), pango.Attach(1), pango.Attach.Pix(ui_width), pango.Attach(1), -640.0/480.0).SetHandler(handler) pango.CreatePanel("ui").SetBounds( pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach.Pix(ui_width)) var_ui=pango.Var("ui") var_ui.A_Button=False var_ui.B_Button=True var_ui.B_Double=1 var_ui.B_Str="sss" ctrl=-96 pango.RegisterKeyPressCallback(ctrl+ord('a'), a_callback) while not pango.ShouldQuit(): glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) d_cam.Activate(s_cam) pango.glDrawColouredCube() pango.FinishFrame()
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 main(): win = pango.CreateWindowAndBind("main py_pangolin", 640, 480) log = pango.DataLog() log.SetLabels(["sin(t)", "cos(t)", "sin(t)+cos(t)"]) t=0; tinc=0.01 plotter = pango.Plotter(log,0,4*math.pi/tinc,-2,2,math.pi/(4*tinc),0.5); plotter.Track("$i") plotter.AddMarker(pango.Marker.Vertical, -1000, pango.Marker.LessThan, pango.Colour.Blue().WithAlpha(0.2)) plotter.AddMarker(pango.Marker.Horizontal, 100, pango.Marker.GreaterThan, pango.Colour.Red().WithAlpha(0.2)) plotter.AddMarker(pango.Marker.Horizontal, 10, pango.Marker.Equal, pango.Colour.Green().WithAlpha(0.2)) plotter.SetBounds(pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach(1)) pango.DisplayBase().AddDisplay(plotter) while not pango.ShouldQuit(): glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) log.Log(math.sin(t), math.cos(t), math.sin(t)+math.cos(t)) t+=tinc pango.FinishFrame()
def main(): # Create OpenGL window in single line pangolin.CreateWindowAndBind('Main', 640, 480) gl.glEnable(gl.GL_DEPTH_TEST) # Define Projection and initial ModelView matrix scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100), pangolin.ModelViewLookAt(-2, 2, -2, 0, 0, 0, pangolin.AxisDirection.AxisY)) handler = pangolin.Handler3D(scam) # Create Interactive View in window dcam = pangolin.CreateDisplay() dcam.SetBounds(pangolin.Attach(0.0), pangolin.Attach(1.0), pangolin.Attach(0.0), pangolin.Attach(1.0), -640.0 / 480.0) dcam.SetHandler(handler) # Data logger object log = pangolin.DataLog() # Optionally add named labels labels = ['sin(t)', 'cos(t)', 'sin(t)+cos(t)'] log.SetLabels(labels) # OpenGL 'view' of data. We might have many views of the same data. tinc = 0.03 plotter = pangolin.Plotter(log, 0.0, 6.0 * np.pi / tinc, -2.0, 2.0, np.pi / (6 * tinc), 0.5) plotter.SetBounds(pangolin.Attach(0.05), pangolin.Attach(0.3), pangolin.Attach(0.0), pangolin.Attach(0.4)) plotter.Track('$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 DrawTrajectory(poses): pango.CreateWindowAndBind("trajectory viewer", 1024, 768) glEnable(GL_DEPTH_TEST) glEnable(GL_BLEND) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) pm = pango.ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000) mv = pango.ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0) s_cam = pango.OpenGlRenderState(pm, mv) handler = pango.Handler3D(s_cam) d_cam = pango.CreateDisplay() d_cam.SetBounds(pango.Attach(0.0), pango.Attach(1.0), pango.Attach(0.0), pango.Attach(1.0), -1024 / 768) d_cam.SetHandler(handler) poses.append(poses[0]) while not pango.ShouldQuit(): glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) d_cam.Activate(s_cam) glClearColor(1.0, 1.0, 1.0, 1.0) glLineWidth(2) for i, pose in enumerate(poses[:-1]): _, t = mat.T2Rt(pose) Ow = t Xw = mat.transform_homogeneous( pose, list(map(lambda x: x * 0.1, [1, 0, 0]))) Yw = mat.transform_homogeneous( pose, list(map(lambda x: x * 0.1, [0, 1, 0]))) Zw = mat.transform_homogeneous( pose, list(map(lambda x: x * 0.1, [0, 0, 1]))) glBegin(GL_LINES) glColor3f(1.0, 0.0, 0.0) glVertex3d(Ow[0], Ow[1], Ow[2]) glVertex3d(Xw[0], Xw[1], Xw[2]) glColor3f(0.0, 1.0, 0.0) glVertex3d(Ow[0], Ow[1], Ow[2]) glVertex3d(Yw[0], Yw[1], Yw[2]) glColor3f(0.0, 0.0, 1.0) glVertex3d(Ow[0], Ow[1], Ow[2]) glVertex3d(Zw[0], Zw[1], Zw[2]) p1 = poses[i] p2 = poses[i + 1] _, t1 = mat.T2Rt(p1) _, t2 = mat.T2Rt(p2) glColor3f(0.0, 0.0, 0.0) glVertex3d(t1[0], t1[1], t1[2]) glVertex3d(t2[0], t2[1], t2[2]) glEnd() pango.FinishFrame() time.sleep(0.005)
def __init__(self,worker_dir,map_img_path,map_yaml_path,waypoints,show_laser=False): with open(map_yaml_path,'r')as yaml_stream: try: map_metadata=yaml.safe_load(yaml_stream) map_resolution=map_metadata['resolution'] origin=map_metadata['origin'] map_origin_x=origin[0] map_origin_y=origin[1] except yaml.YAMLError as ex: print(ex) with open(worker_dir+'config.yaml','r')as yaml_stream: try: config=yaml.safe_load(yaml_stream) speed_lut_name=config['speed_lut_name'] zoom=config['zoom'] except yaml.YAMLError as ex: print(ex) self.speed_lut=msgpack.unpack(open(worker_dir+speed_lut_name,'rb'),use_list=False) self.waypoints=waypoints self.waypoints_plot=np.copy(waypoints[:,0:3]) self.waypoints_plot[:,2]*=0. self.show_laser=show_laser self.map_img=np.array(Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)).astype(np.float64) if len(self.map_img.shape)>2: print('map image not grayscale') self.map_img=np.dot(self.map_img[...,:3],[0.29,0.57,0.14]) self.map_img=np.floor(self.map_img) map_height=self.map_img.shape[0] map_width=self.map_img.shape[1] range_x=np.arange(self.map_img.shape[1]) range_y=np.arange(self.map_img.shape[0]) map_x,map_y=np.meshgrid(range_x,range_y) map_x=(map_x*map_resolution+map_origin_x).flatten() map_y=(map_y*map_resolution+map_origin_y).flatten() map_z=np.zeros(map_y.shape) map_coords=np.vstack((map_x,map_y,map_z)) map_mask=self.map_img==0.0 map_mask_flat=map_mask.flatten() self.map_points=map_coords[:,map_mask_flat].T pangolin.CreateWindowAndBind('sim',930,1080) gl.glEnable(gl.GL_DEPTH_TEST) self.scam=pangolin.OpenGlRenderState(pangolin.ProjectionMatrix(640,480,120,120,320,280,0.2,200),pangolin.ModelViewLookAt(-0.1,0,zoom,0,0,0,pangolin.AxisDirection.AxisZ)) self.handler=pangolin.Handler3D(self.scam) self.dcam=pangolin.CreateDisplay() self.dcam.SetBounds(pangolin.Attach(0.0),pangolin.Attach(1.0),pangolin.Attach(0.0),pangolin.Attach(1.0),-1920.0/1080) self.dcam.SetHandler(self.handler) angle_min=-4.7/2 angle_max=4.7/2 num_beams=1080 self.scan_angles=np.linspace(angle_min,angle_max,num_beams)
def main(): # Create OpenGL window in single line pangolin.CreateWindowAndBind('Main', 640, 480) # 3D Mouse handler requires depth testing to be enabled gl.glEnable(gl.GL_DEPTH_TEST) scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000), pangolin.ModelViewLookAt(-1, 1, -1, 0, 0, 0, pangolin.AxisDirection.AxisY)) # Aspect ratio allows us to constrain width and height whilst fitting within specified # bounds. A positive aspect ratio makes a view 'shrink to fit' (introducing empty bars), # whilst a negative ratio makes the view 'grow to fit' (cropping the view). dcam = pangolin.CreateDisplay() dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0) dcam.SetHandler(pangolin.Handler3D(scam)) # This view will take up no more than a third of the windows width or height, and it # will have a fixed aspect ratio to match the image that it will display. When fitting # within the specified bounds, push to the top-left (as specified by SetLock). dimg = pangolin.Display('image') dimg.SetBounds(2. / 3, 1.0, 0.0, 1. / 3, 640. / 480) dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop) w, h = 64, 48 texture = pangolin.GlTexture(w, h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) # Default hooks for exiting (Esc) and fullscreen (tab). while not pangolin.ShouldQuit(): gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glClearColor(0.95, 0.95, 0.95, 1.0) dcam.Activate(scam) gl.glColor3f(1.0, 1.0, 1.0) pangolin.glDrawColouredCube() # Set some random image data and upload to GPU image = random_image(w, h) texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) # display the image dimg.Activate() gl.glColor3f(1.0, 1.0, 1.0) texture.RenderToViewport() pangolin.FinishFrame()
def main(): win = pango.CreateWindowAndBind("pySimpleDisplay", 640, 480) glEnable(GL_DEPTH_TEST) pm = pango.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000) mv = pango.ModelViewLookAt(-0, 0.5, -3, 0, 0, 0, pango.AxisY) s_cam = pango.OpenGlRenderState(pm, mv) ui_width = 180 handler = pango.Handler3D(s_cam) d_cam = ( pango.CreateDisplay() .SetBounds( pango.Attach(0), pango.Attach(1), pango.Attach.Pix(ui_width), pango.Attach(1), -640.0 / 480.0, ) .SetHandler(handler) ) pango.CreatePanel("ui").SetBounds( pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach.Pix(ui_width) ) var_ui = pango.Var("ui") var_ui.a_Button = False var_ui.a_double = (0.0, pango.VarMeta(0, 5)) var_ui.an_int = (2, pango.VarMeta(0, 5)) var_ui.a_double_log = (3.0, pango.VarMeta(1, 1e4, logscale=True)) var_ui.a_checkbox = (False, pango.VarMeta(toggle=True)) var_ui.an_int_no_input = 2 var_ui.a_str = "sss" ctrl = -96 pango.RegisterKeyPressCallback(ctrl + ord("a"), a_callback) while not pango.ShouldQuit(): glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) if var_ui.a_checkbox: var_ui.an_int = var_ui.a_double var_ui.an_int_no_input = var_ui.an_int d_cam.Activate(s_cam) pango.glDrawColouredCube() pango.FinishFrame()
def viewer_init(self, w, h): pangolin.CreateWindowAndBind('Main', w, h) gl.glEnable(gl.GL_DEPTH_TEST) self.scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(w, h, 420, 420, w // 2, h // 2, 0.2, 1000), 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(pangolin.Attach(0), pangolin.Attach(1), pangolin.Attach(0), pangolin.Attach(1), -w / h) self.dcam.SetHandler(self.handler)
def viewer_init(self): pangolin.CreateWindowAndBind("main", 640, 480) gl.glEnable(gl.GL_DEPTH_TEST) self.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)) self.handler = pangolin.Handler3D(self.scam) self.dcam = pangolin.CreateDisplay() self.dcam.SetBounds( pangolin.Attach(0.0), pangolin.Attach(1.0), pangolin.Attach(0.0), pangolin.Attach(1.0), -640.0 / 480.0) self.dcam.SetHandler(self.handler) self.dcam.Activate() '''
def viewer_init(self, w, h): pango.CreateWindowAndBind('Main', w, h) gl.glEnable(gl.GL_DEPTH_TEST) pm = pango.ProjectionMatrix(w, h, 420, 420, w // 2, h // 2, 0.2, 1000) mv = pango.ModelViewLookAt(0, -25, -50, 0, 0, 0, 0, -1, 0) self.scam = pango.OpenGlRenderState(pm, mv) ui_width = 180 self.handler = pango.Handler3D(self.scam) self.d_cam = pango.CreateDisplay().SetBounds( pango.Attach(0), pango.Attach(1), pango.Attach.Pix(ui_width), pango.Attach(1), -w / h).SetHandler(self.handler) # hack to avoid small Pangolin, no idea why it's *2 self.d_cam.Resize(pango.Viewport(0, 0, w * 2, h * 2)) self.d_cam.Activate(self.scam)
def DrawTrajectory(groundtruth, estimated): pango.CreateWindowAndBind("trajectory viewer", 1024, 768) glEnable(GL_DEPTH_TEST) glEnable(GL_BLEND) glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA) pm = pango.ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000) mv = pango.ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0) s_cam = pango.OpenGlRenderState(pm, mv) handler = pango.Handler3D(s_cam) d_cam = pango.CreateDisplay() d_cam.SetBounds(pango.Attach(0.0), pango.Attach(1.0), pango.Attach(0.0), pango.Attach(1.0), -1024/768) d_cam.SetHandler(handler) while not pango.ShouldQuit(): glClear(GL_COLOR_BUFFER_BIT|GL_DEPTH_BUFFER_BIT) d_cam.Activate(s_cam) glClearColor(1.0, 1.0, 1.0, 1.0) glLineWidth(2) for i in range(len(groundtruth)-1): glColor3f(0.0, 1.0, 0.0) glBegin(GL_LINES) SE3_p1 = groundtruth[i] SE3_p2 = groundtruth[i+1] glVertex3d(SE3_p1[0], SE3_p1[1], SE3_p1[2]) glVertex3d(SE3_p2[0], SE3_p2[1], SE3_p2[2]) glEnd() for i in range(len(estimated)-1): glColor3f(1.0, 0.0, 0.0) glBegin(GL_LINES) SE3_p1 = estimated[i] SE3_p2 = estimated[i + 1] glVertex3d(SE3_p1[0], SE3_p1[1], SE3_p1[2]) glVertex3d(SE3_p2[0], SE3_p2[1], SE3_p2[2]) glEnd() pango.FinishFrame() time.sleep(0.005)
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.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) 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) dcam.Activate(scam) # Render OpenGL Cube pangolin.glDrawColouredCube() # Draw Point Cloud points = np.random.random((100000, 3)) * 10 colors = np.zeros((len(points), 3)) colors[:, 1] = 1 - points[:, 0] / 10. colors[:, 2] = 1 - points[:, 1] / 10. colors[:, 0] = 1 - points[:, 2] / 10. gl.glPointSize(2) gl.glColor3f(1.0, 0.0, 0.0) # access numpy array directly(without copying data), array should be contiguous. pangolin.DrawPoints(points, colors) 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()
xyz_neg = data[1][:, 0:3].numpy().astype(ctypes.c_float) sdf_neg = data[1][:, 3].numpy().astype(ctypes.c_float) rgb_neg = np.zeros_like(xyz_neg).astype(ctypes.c_float) xyz_pos = data[0][:, 0:3].numpy().astype(ctypes.c_float) sdf_pos = data[0][:, 3].numpy().astype(ctypes.c_float) rgb_pos = np.zeros_like(xyz_pos).astype(ctypes.c_float) s = 10. rgb_neg[:,0] = np.minimum(s*sdf_neg / sdf_neg.min(), np.ones_like(sdf_neg)) rgb_neg[:,1] = 1. - rgb_neg[:,0] rgb_pos[:,2] = np.minimum( s*sdf_pos / sdf_pos.max(), np.ones_like(sdf_pos)) rgb_pos[:,1] = 1. - rgb_pos[:,2] win = pango.CreateWindowAndBind("Interior Samples | " + npz_filename, 640, 480) gl.glEnable(gl.GL_DEPTH_TEST) pm = pango.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000) mv = pango.ModelViewLookAt(-0, 0.5, -3, 0, 0, 0, pango.AxisY) s_cam = pango.OpenGlRenderState(pm, mv) handler = pango.Handler3D(s_cam) d_cam = ( pango.CreateDisplay() .SetBounds( pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach(1), -640.0 / 480.0,
def main(): # Create OpenGL window in single line pangolin.CreateWindowAndBind('Main', 640, 480) # 3D Mouse handler requires depth testing to be enabled gl.glEnable(gl.GL_DEPTH_TEST) # Issue specific OpenGl we might need gl.glEnable(gl.GL_BLEND) gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA) # Define Camera Render Object (for view / scene browsing) proj = pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000) scam = pangolin.OpenGlRenderState( proj, pangolin.ModelViewLookAt(1, 0.5, -2, 0, 0, 0, pangolin.AxisY)) scam2 = pangolin.OpenGlRenderState( proj, pangolin.ModelViewLookAt(0, 0, -2, 0, 0, 0, pangolin.AxisY)) # Add named OpenGL viewport to window and provide 3D Handler dcam1 = pangolin.Display('cam1') dcam1.SetAspect(640 / 480.) dcam1.SetHandler(pangolin.Handler3D(scam)) dcam2 = pangolin.Display('cam2') dcam2.SetAspect(640 / 480.) dcam2.SetHandler(pangolin.Handler3D(scam2)) dcam3 = pangolin.Display('cam3') dcam3.SetAspect(640 / 480.) dcam3.SetHandler(pangolin.Handler3D(scam)) dcam4 = pangolin.Display('cam4') dcam4.SetAspect(640 / 480.) dcam4.SetHandler(pangolin.Handler3D(scam2)) dimg1 = pangolin.Display('img1') dimg1.SetAspect(640 / 480.) dimg2 = pangolin.Display('img2') dimg2.SetAspect(640 / 480.) # LayoutEqual is an EXPERIMENTAL feature - it requires that all sub-displays # share the same aspect ratio, placing them in a raster fasion in the # viewport so as to maximise display size. view = pangolin.Display('multi') view.SetBounds(0.0, 1.0, 0.0, 1.0) view.SetLayout(pangolin.LayoutEqual) view.AddDisplay(dcam1) view.AddDisplay(dimg1) view.AddDisplay(dcam2) view.AddDisplay(dimg2) view.AddDisplay(dcam3) view.AddDisplay(dcam4) w, h = 64, 48 image_texture = pangolin.GlTexture(w, h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) # Default hooks for exiting (Esc) and fullscreen (tab) while not pangolin.ShouldQuit(): gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glColor3f(1.0, 1.0, 1.0) dcam1.Activate(scam) pangolin.glDrawColouredCube() dcam2.Activate(scam2) pangolin.glDrawColouredCube() dcam3.Activate(scam) pangolin.glDrawColouredCube() dcam4.Activate(scam2) pangolin.glDrawColouredCube() dimg1.Activate() gl.glColor4f(1.0, 1.0, 1.0, 1.0) image_texture.Upload(random_image(w, h), gl.GL_RGB, gl.GL_UNSIGNED_BYTE) image_texture.RenderToViewport() dimg2.Activate() gl.glColor4f(1.0, 1.0, 1.0, 1.0) # image_texture.Upload(random_image(w, h), gl.GL_RGB, gl.GL_UNSIGNED_BYTE) image_texture.RenderToViewport() pangolin.FinishFrame()
import sys sys.path.append('../pangolin/build/src') import OpenGL.GL as gl import pypangolin as pango if __name__ == "__main__": npz_filename = sys.argv[1] data = deep_sdf.data.read_sdf_samples_into_ram(npz_filename) xyz_neg = data[1][:, 0:3].numpy().astype(ctypes.c_float) xyz_pos = data[0][:, 0:3].numpy().astype(ctypes.c_float) win = pango.CreateWindowAndBind("Samples | " + npz_filename, 800, 600) gl.glEnable(gl.GL_DEPTH_TEST) pm = pango.ProjectionMatrix(800, 600, 420, 420, 400, 300, 0.1, 1000) mv = pango.ModelViewLookAt(-0, 0.5, -3, 0, 0, 0, pango.AxisY) s_cam = pango.OpenGlRenderState(pm, mv) handler = pango.Handler3D(s_cam) d_cam = (pango.CreateDisplay().SetBounds( pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach(1), -800.0 / 600.0, ).SetHandler(handler))
def viewer_init(self, w, h): # pangolin.ParseVarsFile('app.cfg') pangolin.CreateWindowAndBind('Map Viewer', w, h) gl.glEnable(gl.GL_DEPTH_TEST) viewpoint_x = 0 viewpoint_y = -40 viewpoint_z = -80 viewpoint_f = 1000 self.proj = pangolin.ProjectionMatrix(w, h, viewpoint_f, viewpoint_f, w // 2, h // 2, 0.1, 5000) self.look_view = pangolin.ModelViewLookAt(viewpoint_x, viewpoint_y, viewpoint_z, 0, 0, 0, 0, -1, 0) self.scam = pangolin.OpenGlRenderState(self.proj, self.look_view) self.handler = pangolin.Handler3D(self.scam) # Create Interactive View in window self.dcam = pangolin.CreateDisplay() self.dcam.SetBounds(0.0, 1.0, kUiWidth / w, 1.0, -w / h) self.dcam.SetHandler(pangolin.Handler3D(self.scam)) self.panel = pangolin.CreatePanel('ui') self.panel.SetBounds(0.0, 1.0, 0.0, kUiWidth / w) self.do_follow = True self.is_following = True self.draw_cameras = True self.draw_covisibility = True self.draw_spanning_tree = True self.draw_loops = True #self.button = pangolin.VarBool('ui.Button', value=False, toggle=False) self.checkboxFollow = pangolin.VarBool('ui.Follow', value=True, toggle=True) self.checkboxCams = pangolin.VarBool('ui.Draw Cameras', value=True, toggle=True) self.checkboxCovisibility = pangolin.VarBool('ui.Draw Covisibility', value=True, toggle=True) self.checkboxSpanningTree = pangolin.VarBool('ui.Draw Tree', value=True, toggle=True) self.checkboxGrid = pangolin.VarBool('ui.Grid', value=True, toggle=True) self.checkboxPause = pangolin.VarBool('ui.Pause', value=False, toggle=True) #self.float_slider = pangolin.VarFloat('ui.Float', value=3, min=0, max=5) #self.float_log_slider = pangolin.VarFloat('ui.Log_scale var', value=3, min=1, max=1e4, logscale=True) self.int_slider = pangolin.VarInt('ui.Point Size', value=kDefaultPointSize, min=1, max=10) self.pointSize = self.int_slider.Get() self.Twc = pangolin.OpenGlMatrix() self.Twc.SetIdentity()
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, 1, 0, 1, 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 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, 200), 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) trajectory = [[0, -6, 6]] for i in range(300): trajectory.append(trajectory[-1] + np.random.random(3)-0.5) trajectory = np.array(trajectory) print(trajectory.shape) 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) dcam.Activate(scam) drawPlane() # Render OpenGL Cube pangolin.glDrawColouredCube(0.1) # Draw Point Cloud points = np.random.random((10000, 3)) * 3 - 4 gl.glPointSize(1) gl.glColor3f(1.0, 0.0, 0.0) pangolin.DrawPoints(points) # Draw Point Cloud points = np.random.random((10000, 3)) colors = np.zeros((len(points), 3)) colors[:, 1] = 1 -points[:, 0] colors[:, 2] = 1 - points[:, 1] colors[:, 0] = 1 - points[:, 2] points = points * 3 + 1 gl.glPointSize(1) pangolin.DrawPoints(points, colors) # Draw lines gl.glLineWidth(1) gl.glColor3f(0.0, 0.0, 0.0) pangolin.DrawLine(trajectory) # consecutive gl.glColor3f(0.0, 1.0, 0.0) pangolin.DrawLines( trajectory, trajectory + np.random.randn(len(trajectory), 3), point_size=5) # separate # Draw camera pose = np.identity(4) pose[:3, 3] = np.random.randn(3) gl.glLineWidth(1) gl.glColor3f(0.0, 0.0, 1.0) pangolin.DrawCamera(pose, 0.5, 0.75, 0.8) # Draw boxes poses = [np.identity(4) for i in range(10)] for pose in poses: pose[:3, 3] = np.random.randn(3) + np.array([5,-3,0]) sizes = np.random.random((len(poses), 3)) gl.glLineWidth(1) gl.glColor3f(1.0, 0.0, 1.0) pangolin.DrawBoxes(poses, sizes) pangolin.FinishFrame()
def __init__(self, zoom, map_img_path, map_yaml_path, waypoints, show_laser=False): # load map params with open(map_yaml_path, 'r') as yaml_stream: try: map_metadata = yaml.safe_load(yaml_stream) map_resolution = map_metadata['resolution'] origin = map_metadata['origin'] map_origin_x = origin[0] map_origin_y = origin[1] except yaml.YAMLError as ex: print(ex) self.waypoints = waypoints self.waypoints_plot = np.copy(waypoints[:, 0:3]) self.waypoints_plot[:, 2] *= 0. # toggle for laser viz self.show_laser = show_laser # load map self.map_img = np.array( Image.open(map_img_path).transpose(Image.FLIP_TOP_BOTTOM)).astype( np.float64) if len(self.map_img.shape) > 2: print('map image not grayscale') self.map_img = np.dot(self.map_img[..., :3], [0.29, 0.57, 0.14]) self.map_img = np.floor(self.map_img) range_x = np.arange(self.map_img.shape[1]) range_y = np.arange(self.map_img.shape[0]) map_x, map_y = np.meshgrid(range_x, range_y) map_x = (map_x * map_resolution + map_origin_x).flatten() map_y = (map_y * map_resolution + map_origin_y).flatten() map_z = np.zeros(map_y.shape) map_coords = np.vstack((map_x, map_y, map_z)) map_mask = self.map_img == 0.0 map_mask_flat = map_mask.flatten() self.map_points = map_coords[:, map_mask_flat].T # init pangolin pangolin.CreateWindowAndBind('sim', 930, 1080) gl.glEnable(gl.GL_DEPTH_TEST) # define projection and initial modelview matrix self.scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(640, 480, 120, 120, 320, 280, 0.2, 200), pangolin.ModelViewLookAt(-0.1, 0, zoom, 0, 0, 0, pangolin.AxisDirection.AxisZ)) self.handler = pangolin.Handler3D(self.scam) # create interactive view in window self.dcam = pangolin.CreateDisplay() self.dcam.SetBounds(pangolin.Attach(0.0), pangolin.Attach(1.0), pangolin.Attach(0.0), pangolin.Attach(1.0), -1920.0 / 1080) self.dcam.SetHandler(self.handler) # scan params angle_min = -4.7 / 2 angle_max = 4.7 / 2 num_beams = 1080 self.scan_angles = np.linspace(angle_min, angle_max, num_beams)