def viewer_init(self, w, h):
# pangolin.ParseVarsFile('app.cfg')
pangolin.CreateWindowAndBind('Map Viewer', w, h)
gl.glEnable(gl.GL_DEPTH_TEST)
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(w, h, 500, 500, 512, 389, 0.1, 1000),
pangolin.ModelViewLookAt(0, -10, -20, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, kUiWidth / w, 1.0, -w / h)
self.dcam.SetHandler(pangolin.Handler3D(self.scam))
# hack to avoid small Pangolin, no idea why it's *2
# self.dcam.Resize(pangolin.Viewport(0,0,w*2,h*2))
# self.dcam.Activate()
self.panel = pangolin.CreatePanel('ui')
self.panel.SetBounds(0.0, 1.0, 0.0, kUiWidth / w)
self.do_follow = True
self.draw_cameras = 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.checkboxGrid = pangolin.VarBool('ui.Grid',
value=True,
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 main(self):
'''
Main function: Creates the user window and side bar with a button. This button is used to toggle between normal point cloud and downsampled point cloud
'''
pangolin.CreateWindowAndBind('Sample Toggle App', 1280,
960) #Set sindow size and name
gl.glEnable(
gl.GL_DEPTH_TEST
) #This is enabled to allow for user to move/rotate 3D image with mouse
#Define render object
SampleToggling.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(SampleToggling.scam)
#Add viewpoint object
SampleToggling.dcam = pangolin.CreateDisplay()
SampleToggling.dcam.SetBounds(0.0, 1.0, 180 / 640., 1.0,
-640.0 / 480.0)
SampleToggling.dcam.SetHandler(pangolin.Handler3D(SampleToggling.scam))
#Create the side panel
panel = pangolin.CreatePanel('buttonPanel')
panel.SetBounds(0.0, 1.0, 0.0, 180 / 640.)
gl.glPointSize(1) #Set the size of each point on the point cloud
button = pangolin.VarBool('buttonPanel.Sampling Toggle Button',
value=False,
toggle=False) #Create a simple button
#Read the .ply file and convert it into a numpy array so it can be understood by pangolin
pointCloudOrigional = o3d.io.read_point_cloud("bunny.ply")
pointCloudOrigionalArray = np.asarray(pointCloudOrigional.points)
#Down sample this read .ply file and then convert that into a numpy array
pointCloudDownSampled = voxel_down_sample(pointCloudOrigional,
voxel_size=0.008)
pointCloudDownSampledArray = np.asarray(pointCloudDownSampled.points)
#Zoom the pointCloud so it is easy for user to see
pointCloudOrigionalZoomed = pointCloudOrigionalArray * self.zoomCoefficient
pointCloudSampledZoomed = pointCloudDownSampledArray * self.zoomCoefficient
#Run a loop until the program is quit, toggling image each time button is pressed.
while not pangolin.ShouldQuit():
self.drawPoints(pointCloudOrigionalZoomed)
if pangolin.Pushed(button):
while not pangolin.Pushed(button):
self.drawPoints(pointCloudSampledZoomed)
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)
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 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()
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()