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 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 create_viewport(self, w, h):
logging.info("Creating main viewport")
main_viewport = pangolin.CreateDisplay()
main_viewport.SetBounds(0.0, 1.0, 0.0, 1.0, -640. / 480.)
main_viewport.SetHandler(pangolin.Handler3D(self._rendered_cam))
self.view_ports.append(main_viewport)
logging.info("Creating image viewport")
image_viewport = pangolin.Display('image')
image_viewport.SetBounds(0, h / 480., 0., w / 640., 640. / 480.)
image_viewport.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
self.view_ports.append(image_viewport)
# set up texture
logging.info("Creating texture instance to render image ... ")
self.texture = pangolin.GlTexture(self.width, self.height, gl.GL_RGB, False, 0, gl.GL_UNSIGNED_BYTE)
return self
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 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 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 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()
def showing_mapping():
"""
DESCRIPTION: Run a 3D mapping section and get live result.
* first - only position
"""
# READ ARG.
parser = argparse.ArgumentParser()
parser.add_argument("path")
parser.add_argument("x")
parser.add_argument("y")
parser.add_argument("z")
parser.add_argument("r")
parser.add_argument("p")
parser.add_argument("y")
args = parser.parse_args()
matrice = euler_to_rotation(
float(args.r), float(args.p), float(args.y),
np.array([args.x, args.y, args.z], dtype=float))
# READ OBJ OBJECT.
scene = pywavefront.Wavefront(
'/home/thomas/Documents/rane_slam/mk3slam.0.3/Final/data/{0}.obj'.
format(args.path))
points_3D = np.zeros((len(scene.vertices), 3))
for i in range(len(scene.vertices)):
points_3D[i, :] = np.array(
[scene.vertices[i][0], scene.vertices[i][1], scene.vertices[i][2]])
# PANGOLIN CONFIGURATION & INITIALISATION.
w, h = 1280, 720
scam, dcam, dimg = pangolin_init(w, h)
texture = pangolin.GlTexture(
w,
h,
gl.GL_RGB,
False,
0,
gl.GL_RGB,
gl.GL_UNSIGNED_BYTE,
)
# ZED CONFIGURATION CAMERA.
zed = sl.Camera()
init_params = sl.InitParameters()
init_params.camera_resolution = sl.RESOLUTION.HD720 # Use HD720 video mode
init_params.coordinate_units = sl.UNIT.METER # Set coordinate units
init_params.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP
zed.open(init_params)
# ZED CALIBRATION.
zed.get_camera_information(
).camera_configuration.calibration_parameters.left_cam
# INITIALISATION OBJECT FOR MAPPING.
pymesh = sl.Mesh() # Current incremental mesh.
image = sl.Mat() # Left image from camera.
pose = sl.Pose() # Pose object.
# TRACKING PARAMETERS.
tracking_parameters = sl.PositionalTrackingParameters()
tracking_parameters.enable_area_memory = True
tracking_parameters.area_file_path = '/home/thomas/Documents/rane_slam/mk3slam.0.3/Final/data/{0}.area'.format(
args.path)
# INITIALISATION POSITION
t = sl.Transform()
t[0, 0] = matrice[0, 0]
t[1, 0] = matrice[1, 0]
t[2, 0] = matrice[2, 0]
t[0, 1] = matrice[0, 1]
t[1, 1] = matrice[1, 1]
t[2, 1] = matrice[2, 1]
t[0, 2] = matrice[0, 2]
t[1, 2] = matrice[1, 2]
t[2, 2] = matrice[2, 2]
t[0, 3] = matrice[0, 3]
t[1, 3] = matrice[1, 3]
t[2, 3] = matrice[2, 3]
tracking_parameters.set_initial_world_transform(t)
zed.enable_positional_tracking(tracking_parameters)
# TIME PARAMETERS.
last_call = time.time()
runtime = sl.RuntimeParameters()
while not pangolin.ShouldQuit():
# -clear all.
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 coordinate origine.
pangolin_draw_coordinate()
# -get image.
zed.grab(runtime)
zed.retrieve_image(image, sl.VIEW.LEFT)
# -get position and spatial mapping state.
zed.get_position(pose)
# Display the translation and timestamp
py_translation = sl.Translation()
tx = round(pose.get_translation(py_translation).get()[0], 3)
ty = round(pose.get_translation(py_translation).get()[1], 3)
tz = round(pose.get_translation(py_translation).get()[2], 3)
print("Translation: Tx: {0}, Ty: {1}, Tz {2}, Timestamp: {3}\n".format(
tx, ty, tz, pose.timestamp.get_milliseconds()))
# Display the orientation quaternion
py_orientation = sl.Orientation()
ox = round(pose.get_orientation(py_orientation).get()[0], 3)
oy = round(pose.get_orientation(py_orientation).get()[1], 3)
oz = round(pose.get_orientation(py_orientation).get()[2], 3)
ow = round(pose.get_orientation(py_orientation).get()[3], 3)
#print("Orientation: Ox: {0}, Oy: {1}, Oz {2}, Ow: {3}\n".format(ox, oy, oz, ow))
# DRAW ALL STATE.
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
# -transform brute data in numpy to draw pose.
a = pose.pose_data()
pose2 = np.array([[a[0, 0], a[0, 1], a[0, 2], a[0, 3]],
[a[1, 0], a[1, 1], a[1, 2], a[1, 3]],
[a[2, 0], a[2, 1], a[2, 2], a[2, 3]],
[a[3, 0], a[3, 1], a[3, 2], a[3, 3]]])
print(pose2)
pangolin.DrawCamera(pose2, 0.5, 0.75, 0.8)
# -draw all points on the map.
gl.glPointSize(2)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(points_3D)
# DISPLAY CAMERA VIDEO.
img = cv2.cvtColor(image.get_data(), cv2.COLOR_BGRA2RGB)
img = cv2.flip(img, 0)
texture.Upload(img, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
texture.RenderToViewport()
# END OF CYCLE.
pangolin.FinishFrame()
#sl.SPATIAL_MAPPING_STATE.NOT_ENABLED
zed.disable_positional_tracking()
zed.close()
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 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()