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():
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():
# 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 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():
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 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 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()
