def SetWindowLayout(self): panel = UICom.Create(pangolin.CreatePanel("menu")) self.layout_root.attrs["menu"] = panel # @todo : TODO add other UI control components to construct UI components tree return self
def main(self): ''' Main function: Creates the user window and side bar with a button. This button is used to toggle between normal point cloud and downsampled point cloud ''' pangolin.CreateWindowAndBind('Sample Toggle App', 1280, 960) #Set sindow size and name gl.glEnable( gl.GL_DEPTH_TEST ) #This is enabled to allow for user to move/rotate 3D image with mouse #Define render object SampleToggling.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(SampleToggling.scam) #Add viewpoint object SampleToggling.dcam = pangolin.CreateDisplay() SampleToggling.dcam.SetBounds(0.0, 1.0, 180 / 640., 1.0, -640.0 / 480.0) SampleToggling.dcam.SetHandler(pangolin.Handler3D(SampleToggling.scam)) #Create the side panel panel = pangolin.CreatePanel('buttonPanel') panel.SetBounds(0.0, 1.0, 0.0, 180 / 640.) gl.glPointSize(1) #Set the size of each point on the point cloud button = pangolin.VarBool('buttonPanel.Sampling Toggle Button', value=False, toggle=False) #Create a simple button #Read the .ply file and convert it into a numpy array so it can be understood by pangolin pointCloudOrigional = o3d.io.read_point_cloud("bunny.ply") pointCloudOrigionalArray = np.asarray(pointCloudOrigional.points) #Down sample this read .ply file and then convert that into a numpy array pointCloudDownSampled = voxel_down_sample(pointCloudOrigional, voxel_size=0.008) pointCloudDownSampledArray = np.asarray(pointCloudDownSampled.points) #Zoom the pointCloud so it is easy for user to see pointCloudOrigionalZoomed = pointCloudOrigionalArray * self.zoomCoefficient pointCloudSampledZoomed = pointCloudDownSampledArray * self.zoomCoefficient #Run a loop until the program is quit, toggling image each time button is pressed. while not pangolin.ShouldQuit(): self.drawPoints(pointCloudOrigionalZoomed) if pangolin.Pushed(button): while not pangolin.Pushed(button): self.drawPoints(pointCloudSampledZoomed)
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 viewer_init(self, w, h): # pangolin.ParseVarsFile('app.cfg') pangolin.CreateWindowAndBind('Map Viewer', w, h) gl.glEnable(gl.GL_DEPTH_TEST) self.scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(w, h, 500, 500, 512, 389, 0.1, 1000), pangolin.ModelViewLookAt(0, -10, -20, 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, kUiWidth / w, 1.0, -w / h) self.dcam.SetHandler(pangolin.Handler3D(self.scam)) # 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() self.panel = pangolin.CreatePanel('ui') self.panel.SetBounds(0.0, 1.0, 0.0, kUiWidth / w) self.do_follow = True self.draw_cameras = 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.checkboxGrid = pangolin.VarBool('ui.Grid', value=True, 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 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 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 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()