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 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("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():
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 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)
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)
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)
drawPoints(self.state[1], self.state[2])
pangolin.FinishFrame()
def viewer_refresh(self, q):
if self.state is None or not q.empty():
# while 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(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])
drawPoints(ppts[:-1])
# drawCameras(self.state[0])
if self.state[0].shape[0] >= 1:
# draw current pose as yellow
gl.glColor3f(1.0, 1.0, 0.0)
drawPoints(ppts[-1:])
# 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])
drawPoints(self.state[1]) #, self.state[2])
pangolin.FinishFrame()
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 viewer_refresh(self, q):
#turn state into points
if self.state is None or not q.empty():
self.state = q.get()
# 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(0.0, 0.0, 0.0, 1.0)
self.d_cam.Activate(self.scam)
# draw poses
# colors = np.zeros((len(ppts), 3))
# colors[:, 0] = 1
# colors[:, 1] = 1
# colors[:, 2] = 0
gl.glPointSize(10)
gl.glColor3f(0.0, 0.0, 1.0)
# pango.DrawPoints(ppts, colors)
# pango.DrawPoints(self.state[0], self.state[2])
pango.DrawCameras(self.state[0])
# # draw keypoints
# colors = np.zeros((len(spts), 3))
# colors[:, 0] = 0
# colors[:, 1] = 1
# colors[:, 2] = 0
gl.glPointSize(2)
gl.glColor3f(0.0, 1.0, 0.0)
pango.DrawPoints(self.state[1], self.state[2])
pango.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 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 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 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 viewer_refresh(self):
if self.state == None:
return
# turn state into points
ppts = np.array([d[:3, 3] for d in self.state[0]])
spts = np.array(self.state[1])
print(ppts)
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.glPointSize(10)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawPoints(ppts)
gl.glPointSize(2)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawPoints(spts)
pangolin.FinishFrame()
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(0, 0, 0, 0)
self.dcam.Activate(self.scam)
gl.glPointSize(10)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawPoints(ppts)
gl.glPointSize(2)
gl.glColor3f(1.0, 1.0, 1.0)
pangolin.DrawPoints(spts)
pangolin.FinishFrame()
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 update(self, obs, ego_all_states, ego_picked_state, ego_xy_grid):
# clear buffer
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(37 / 255, 37 / 255, 38 / 255, 1.0)
self.dcam.Activate(self.scam)
# grab observations
# ignoring scans for now
# car poses
ego_x = obs['poses_x'][0]
ego_y = obs['poses_y'][0]
ego_theta = obs['poses_theta'][0]
# print('ego', ego_x, ego_y, ego_theta)
# print('opp', op_x, op_y, op_theta)
# Draw boxes for agents
# ego_pose = np.identity(4)
ego_pose = transformations.rotation_matrix(ego_theta, (0, 0, 1))
ego_pose[0, 3] = ego_x
ego_pose[1, 3] = ego_y
# ego_pose[2, 3] = 0.1
# op_pose = np.identity(4)
ego_size = np.array([0.58, 0.31, 0.1])
gl.glLineWidth(1)
# ego is blue-ish
gl.glColor3f(0.0, 0.5, 1.0)
pangolin.DrawBoxes([ego_pose], [ego_size])
# Draw map
gl.glPointSize(2)
gl.glColor3f(0.2, 0.2, 0.2)
pangolin.DrawPoints(self.map_points)
# draw waypoints
gl.glPointSize(2)
gl.glColor3f(0.3, 0.3, 0.3)
pangolin.DrawPoints(self.waypoints_plot)
# draw flow samples
# ego
gl.glPointSize(2)
gl.glColor3f(0.0, 0.5, 1.0)
# print('hello \n')
# print('st', ego_grid[0:5])
if ego_xy_grid is None:
pangolin.FinishFrame()
return
gl.glPointSize(2)
gl.glColor3f(0.0, 0.5, 1.0)
# print('xytheta', ego_xythetas[0:5])
rot = np.array([[np.cos(ego_theta),
np.sin(ego_theta)],
[-np.sin(ego_theta),
np.cos(ego_theta)]])
xy_grid = np.dot(ego_xy_grid[:, :2], rot)
temp = np.hstack([xy_grid, np.zeros((xy_grid.shape[0], 1))])
# print('xyz', ego_xythetas[0:5])
pangolin.DrawPoints(temp + np.array([ego_x, ego_y, 0.0])[None, :])
# opp
# Draw laser scans
# Red for ego, Blue for op
# Could be turned off
if self.show_laser:
rot_mat = transformations.rotation_matrix(ego_theta, (0, 0, 1))
ego_scan = obs['scans'][0]
ego_scan = np.asarray(ego_scan)
ego_scan_x = np.multiply(ego_scan, np.sin(self.scan_angles))
ego_scan_y = np.multiply(ego_scan, np.cos(self.scan_angles))
ego_scan_arr = np.zeros((ego_scan_x.shape[0], 3))
ego_scan_arr[:, 0] = ego_scan_y
ego_scan_arr[:, 1] = ego_scan_x
ego_scan_arr = np.dot(rot_mat[0:3, 0:3], ego_scan_arr.T)
ego_scan_arr = ego_scan_arr + np.array([[ego_x], [ego_y], [0]])
gl.glPointSize(1)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(ego_scan_arr.T)
# Draw splines
if ego_all_states is not None:
gl.glPointSize(1)
gl.glColor3f(0.8, 0.0, 0.5)
# print('num traj', ego_all_states.shape[0]/100)
pangolin.DrawPoints(
np.hstack([
ego_all_states[:, 0:2],
np.zeros((ego_all_states.shape[0], 1))
]))
if ego_picked_state is not None:
gl.glPointSize(3)
if ego_all_states is None:
gl.glColor3f(1., 0., 0.)
else:
gl.glColor3f(1., 1., 1.)
pangolin.DrawPoints(
np.hstack([
ego_picked_state[:, 0:2],
np.zeros((ego_picked_state.shape[0], 1))
]))
# render
pangolin.FinishFrame()
pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach(0)
)
while not pango.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT + gl.GL_DEPTH_BUFFER_BIT)
d_cam.Activate(s_cam)
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
gl.glEnableClientState(gl.GL_COLOR_ARRAY)
gl.glVertexPointer(
3, gl.GL_FLOAT, 0, xyz_neg.ctypes.data_as(ctypes.POINTER(ctypes.c_float))
)
gl.glColorPointer(
3, gl.GL_FLOAT, 0, rgb_neg.ctypes.data_as(ctypes.POINTER(ctypes.c_float))
)
gl.glDrawArrays(gl.GL_POINTS, 0, xyz_neg.shape[0])
gl.glVertexPointer(
3, gl.GL_FLOAT, 0, xyz_pos.ctypes.data_as(ctypes.POINTER(ctypes.c_float))
)
gl.glColorPointer(
3, gl.GL_FLOAT, 0, rgb_pos.ctypes.data_as(ctypes.POINTER(ctypes.c_float))
)
gl.glDrawArrays(gl.GL_POINTS, 0, xyz_pos.shape[0])
gl.glDisableClientState(gl.GL_COLOR_ARRAY)
gl.glDisableClientState(gl.GL_VERTEX_ARRAY)
pango.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 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()
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 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 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 update(self,obs,ego_grid,opp_grid,op_all_states,op_picked_state,ego_all_states,ego_picked_state,is_corner,ego_xy_grid):
gl.glClear(gl.GL_COLOR_BUFFER_BIT|gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(37/255,37/255,38/255,1.0)
self.dcam.Activate(self.scam)
ego_x=obs['poses_x'][0]
ego_y=obs['poses_y'][0]
ego_theta=obs['poses_theta'][0]
op_x=obs['poses_x'][1]
op_y=obs['poses_y'][1]
op_theta=obs['poses_theta'][1]
ego_pose=transformations.rotation_matrix(ego_theta,(0,0,1))
ego_pose[0,3]=ego_x
ego_pose[1,3]=ego_y
op_pose=transformations.rotation_matrix(op_theta,(0,0,1))
op_pose[0,3]=op_x
op_pose[1,3]=op_y
ego_size=np.array([0.58,0.31,0.1])
op_size=np.array([0.58,0.31,0.1])
gl.glLineWidth(1)
gl.glColor3f(1.0,1.0,1.0)
pangolin.DrawBoxes([ego_pose],[ego_size])
gl.glColor(231/256.,34/256.,46/256.)
pangolin.DrawBoxes([op_pose],[op_size])
gl.glPointSize(2)
gl.glColor3f(0.2,0.2,0.2)
pangolin.DrawPoints(self.map_points)
gl.glPointSize(2)
gl.glColor3f(0.0,0.5,1.0)
if ego_xy_grid is None:
pangolin.FinishFrame()
return
gl.glPointSize(2)
gl.glColor3f(0.0,0.5,1.0)
rot=np.array([[np.cos(ego_theta),np.sin(ego_theta)],[-np.sin(ego_theta),np.cos(ego_theta)]])
xy_grid=np.dot(ego_xy_grid[:,:2],rot)
temp=np.hstack([xy_grid,np.zeros((xy_grid.shape[0],1))])
if self.show_laser:
rot_mat=transformations.rotation_matrix(ego_theta,(0,0,1))
ego_scan=obs['scans'][0]
ego_scan=np.asarray(ego_scan)
ego_scan_x=np.multiply(ego_scan,np.sin(self.scan_angles))
ego_scan_y=np.multiply(ego_scan,np.cos(self.scan_angles))
ego_scan_arr=np.zeros((ego_scan_x.shape[0],3))
ego_scan_arr[:,0]=ego_scan_y
ego_scan_arr[:,1]=ego_scan_x
ego_scan_arr=np.dot(rot_mat[0:3,0:3],ego_scan_arr.T)
ego_scan_arr=ego_scan_arr+np.array([[ego_x],[ego_y],[0]])
gl.glPointSize(1)
gl.glColor3f(1.0,0.0,0.0)
pangolin.DrawPoints(ego_scan_arr.T)
if ego_all_states is not None:
gl.glPointSize(2)
gl.glColor3f(0.8,0.0,0.5)
if op_picked_state is not None:
gl.glPointSize(3)
if op_all_states is None:
gl.glColor3f(231/256.,34/256.,46/256.)
else:
gl.glColor3f(231/256.,34/256.,46/256.)
pangolin.DrawPoints(np.hstack([op_picked_state[:,0:2],np.zeros((op_picked_state.shape[0],1))]))
if ego_picked_state is not None:
gl.glPointSize(5)
if ego_all_states is None:
gl.glColor3f(1.,1.,1.)
else:
gl.glColor3f(1.,1.,1.)
pangolin.DrawPoints(np.hstack([ego_picked_state[:,0:2],np.zeros((ego_picked_state.shape[0],1))]))
gl.glPointSize(2)
gl.glColor3f(22/256.,88/256.,142/256.)
pangolin.DrawPoints(self.waypoints_plot)
pangolin.FinishFrame()
