def _with_context(self, hdc, proc, flush=False): old_hdc = wgl.wglGetCurrentDC() old_ctx = wgl.wglGetCurrentContext() result = wgl.wglMakeCurrent(hdc, self._win_context) try: self._with_share_group(proc) if flush: if self._win_dblbuf: wgl.SwapBuffers(hdc) else: gl.glFlush() finally: wgl.wglMakeCurrent(old_hdc, old_ctx)
def _with_context(self, hdc, proc, flush=False): old_hdc = wgl.wglGetCurrentDC() old_ctx = wgl.wglGetCurrentContext() result = wgl.wglMakeCurrent(hdc, self._win_context) try: self._with_share_group(proc) if flush: if self._win_dblbuf: wgl.SwapBuffers(hdc) else: gl.glFlush() finally: wgl.wglMakeCurrent(old_hdc, old_ctx)
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 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 delete(self, ident, texlist=None): if not texlist: texlist = Texture.textures OpenGL.glDeleteTextures(texlist[ident]) texlist.pop(ident)
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) pangolin.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) 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]) pangolin.FinishFrame()
#!/usr/bin/env python import X11, OpenGL as GL from X11.extensions import GLX from OpenGL import utility as GLU GL.require('GL_VERSION_1_0') GLX.require('GLX_VERSION_1_0') import X11.display, X11.window, X11.event attributes = (X11.Integer*5)(GLX.RGBA, GLX.DOUBLEBUFFER, GLX.DEPTH_SIZE, 16, 0) display = X11.Open() screen = display.default_screen root = display.root info = GLX.ChooseVisual(display, screen, attributes) context = GLX.CreateContext(display, info, None, True) window = root.CreateSimpleWindow(width=640, height=400) window.SelectInput(X11.event.Mask.StructureNotify) GLX.MakeCurrent(display, window, context) window.MapRaised() GL.Enable(GL.DEPTH_TEST) GL.ShadeModel(GL.SMOOTH)
def drawPlane(num_divs=200, div_size=10): # Plane parallel to x-z at origin with normal -y minx = -num_divs * div_size minz = -num_divs * div_size maxx = num_divs * div_size maxz = num_divs * div_size #gl.glLineWidth(2) #gl.glColor3f(0.7,0.7,1.0) gl.glColor3f(0.7, 0.7, 0.7) gl.glBegin(gl.GL_LINES) for n in range(2 * num_divs): gl.glVertex3f(minx + div_size * n, 0, minz) gl.glVertex3f(minx + div_size * n, 0, maxz) gl.glVertex3f(minx, 0, minz + div_size * n) gl.glVertex3f(maxx, 0, minz + div_size * n) gl.glEnd()
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 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 delete(self, ident, texlist = None): if not texlist: texlist = Texture.textures OpenGL.glDeleteTextures(texlist[ident]) texlist.pop(ident)
print ("Slowing Down") Incr = Incr - 1 elif Key == b'q' or Key == b'Q': print ("Bye") sys.exit() else: print ("Invalid Key ",Key) def timer(dummy): display() glutTimerFunc(30,timer,0) def reshape(w, h): print ("Width=",w,"Height=",h) b=OpenGL(height=640,width=640) b.glutInit(sys.argv) glutInitDisplayMode(GLUT_DOUBLE|GLUT_RGB|GLUT_DEPTH) glutInitWindowSize(640,640) glutInitWindowPosition(100, 100) glutCreateWindow(b"PyOpenGL Demo") glClearColor(1,1,0,0) # glPolygonMode(GL_FRONT_AND_BACK,GL_FILL) # glEnable(GL_DEPTH_TEST) # glDepthFunc(GL_LESS); glutDisplayFunc(display) # glutKeyboardFunc(keyHandler) # glutTimerFunc(300,timer,0) glMatrixMode (GL_PROJECTION)