def viewer_init(self, w, h):
pangolin.CreateWindowAndBind('Map Viewer', w, h)
gl.glEnable(gl.GL_DEPTH_TEST)
self.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))
self.handler = pangolin.Handler3D(self.scam)
# Create 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)
# 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()
def viewer_init(self, W, H):
pangolin.CreateWindowAndBind('Map View', W, H)
gl.glEnable(gl.GL_DEPTH_TEST)
self.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))
self.handler = pangolin.Handler3D(self.scam)
# create the interactive window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, W/H)
self.dcam.SetHandler(self.handler)
# avoid small Pangolin
self.dcam.Resize(pangolin.Viewport(0, 0, W*2, H*2))
self.dcam.Activate()
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 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)
dcam.Resize(pangolin.Viewport(0, 0, 640 * 2, 480 * 2))
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()
h = 768
pangolin.CreateWindowAndBind('Map Viewer', w, h)
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)
