def pangolin_draw_coordinate(): """ DESCRIPTION: this function draw the world origine of the map. """ gl.glLineWidth(3) gl.glColor3f(0, 0.0, 0.0) pangolin.DrawLines([[0, 0, 0]], [[1, 0, 0]], 3) gl.glColor3f(0, 255, 0) pangolin.DrawLines([[0, 0, 0]], [[0, 1, 0]], 3) gl.glColor3f(0, 0, 255) pangolin.DrawLines([[0, 0, 0]], [[0, 0, 1]], 3)
def t_draw2(self): trajectory = [[0, -6, 6]] for i in range(300): trajectory.append(trajectory[-1] + np.random.random(3) - 0.5) trajectory = np.array(trajectory) 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) self._dcam.Activate(self._scam) # 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 run(self): pangolin.CreateWindowAndBind(self.win_name, 640, 480) gl.glEnable(gl.GL_DEPTH_TEST) self.scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 1000), pangolin.ModelViewLookAt(2, -10, -30, 0, 0, 0, pangolin.AxisNegY)) self.tree = pangolin.Renderable() self.tree.Add(pangolin.Axis()) self.handler = pangolin.SceneHandler(self.tree, self.scam) self.dcam = pangolin.CreateDisplay() self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0) self.dcam.SetHandler(self.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) self.dcam.Activate(self.scam) self.tree.Render() self.data_lock.acquire() if self.poses: gl.glPointSize(5) gl.glColor3f(*self.cam_color) for pose in self.poses: pangolin.DrawPoints(pose[1].T) if self.map_pts is not None: gl.glPointSize(2) gl.glColor3f(*self.map_pts_color) pangolin.DrawPoints(self.map_pts) if self.new_pts_obs is not None: cur_pos = self.poses[-1] cam_centers = np.repeat(cur_pos[1].T, self.new_pts_obs.shape[0], axis=0) gl.glLineWidth(1) gl.glColor3f(0.0, 0.0, 1.0) pangolin.DrawLines(cam_centers, self.new_pts_obs) self.data_lock.release() time.sleep(0.02) pangolin.FinishFrame()
def run_viewer(q): w, h = 1024, 768 f = 2000 pango.CreateWindowAndBind('g2o', w, h) gl.glEnable(gl.GL_DEPTH_TEST) cam = pango.OpenGlRenderState( pango.ProjectionMatrix(w, h, f, f, w // 2, h // 2, 0.1, 100000), pango.ModelViewLookAt( 1000., 1000., 1000., 0., 0., 0., 0., -1., 0., )) handler = pango.Handler3D(cam) dcam = pango.CreateDisplay() dcam.SetBounds(0., 1., 0., 1., -w / h) dcam.SetHandler(handler) dcam.Activate() # nodes = [x.estimate().matrix() for x in optimizer.vertices().values()] # nodes = np.array(nodes) edges = None while not pango.ShouldQuit(): gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glClearColor(0.15, 0.15, 0.15, 0.0) dcam.Activate(cam) try: edges = q.get(block=False) except queue.Empty: pass if edges is not None: gl.glLineWidth(1) gl.glColor3f(0.2, 1.0, 0.2) pango.DrawLines(edges[:, 0], edges[:, 1]) pango.FinishFrame()
def refresh(self): #clear and activate screen gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glClearColor(0.15, 0.15, 0.15, 0.0) #gl.glClearColor(1.0, 1.0, 1.0, 0.0) self.dcam.Activate(self.scam) # render gl.glLineWidth(1) # render cameras if len(self.nodes) > 1: gl.glColor3f(1.0, 1.0, 1.0) pango.DrawCameras(self.nodes) # render edges if len(self.edges) > 1: gl.glColor3f(0.0, 0.8, 0.5) pango.DrawLines(self.edges[:, 0, :-1, -1], self.edges[:, 1, :-1, -1]) pango.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) 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(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 print(points.shape) print(colors.shape) print(points[0:3]) print(colors[0:3]) 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.ones(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 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 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 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[:]) # rysowaine wektora za którym powinno wyznaczać boxy if len(self.map_state.line) > 0: # # wyznaczam nowy wektor obrócony o -90 i 90 stopni o długości 10 gl.glLineWidth(3) gl.glPointSize(self.pointSize) gl.glColor3f(0.0, 0.0, 0.0) pangolin.DrawPoints(self.map_state.line) # # pangolin.DrawLines([self.map_state.line[0], self.map_state.line[0]]) 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) # TODO dopisać rozwiązanie drukujące na ekran zaznaczone obiekty w postaci obszarów if len(self.map_state.dict_pose) > 0: for k, v in self.map_state.dict_pose.items(): sizes = [] poses = [np.identity(4) for i in range(len(v))] for pose, point in zip(poses, v): pose[:3, 3] = np.array(point[0]) sizes.append(np.array(point[1])) gl.glLineWidth(2) d_color = k[1:-1].split(' ') gl.glColor3f(float(d_color[0]), float(d_color[1]), float(d_color[2])) # gl.glColor3f(1.0, 0.0, 1.0) # gl.glColor3f(self.map_state.box_color) # print("{} {}".format(poses, sizes)) pangolin.DrawBoxes(poses, sizes) # pangolin.DrawBoxes(self.map_state.box_left_botton, self.map_state.box_size) 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 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()