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 viewer_init(self): w, h = (1024, 768) f = 2000 #420 pangolin.CreateWindowAndBind("Visual Odometry Trajectory Viewer", w, h) gl.glEnable( gl.GL_DEPTH_TEST ) #prevents point overlapping issue, check out fake-stereo's issues for more info # Projection and ModelView Matrices self.scam = pangolin.OpenGlRenderState( pangolin.ProjectionMatrix(w, h, f, f, w // 2, h // 2, 0.1, 100000), pangolin.ModelViewLookAt(0, -50.0, -10.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0)) #pangolin.AxisDirection.AxisY)) self.handler = pangolin.Handler3D(self.scam) # 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) self.dcam.Activate() #Image viewport self.dimg = pangolin.Display('image') self.dimg.SetBounds(0, self.h_i / h, 1 - self.w_i / w, 1.0, -w / h) self.dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop) self.texture = pangolin.GlTexture(self.w_i, self.h_i, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) self.img = np.ones((self.h_i, self.w_i, 3), 'uint8') * 255 # Translation error graph self.log = pangolin.DataLog() self.labels = ['error_t', 'error_r'] #, "error_euclidean"] self.log.SetLabels(self.labels) self.plotter = pangolin.Plotter(self.log, 0.0, 1500, -1500, 2500, 10, 0.5) self.plotter.SetBounds(0.0, self.h_i / h, 0.0, 1 - self.w_i / w, -w / h) self.plotter.Track("$i", "") pangolin.DisplayBase().AddDisplay(self.plotter) self.errorlog_r, self.errorlog_t = [], []
def create_viewport(self, w, h): logging.info("Creating main viewport") main_viewport = pangolin.CreateDisplay() main_viewport.SetBounds(0.0, 1.0, 0.0, 1.0, -640. / 480.) main_viewport.SetHandler(pangolin.Handler3D(self._rendered_cam)) self.view_ports.append(main_viewport) logging.info("Creating image viewport") image_viewport = pangolin.Display('image') image_viewport.SetBounds(0, h / 480., 0., w / 640., 640. / 480.) image_viewport.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop) self.view_ports.append(image_viewport) # set up texture logging.info("Creating texture instance to render image ... ") self.texture = pangolin.GlTexture(self.width, self.height, gl.GL_RGB, False, 0, gl.GL_UNSIGNED_BYTE) return self
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(0.0, 1.0, 175 / 1024., 1.0, -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 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(): # 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 showing_mapping(): """ DESCRIPTION: Run a 3D mapping section and get live result. * first - only position """ # READ ARG. parser = argparse.ArgumentParser() parser.add_argument("path") parser.add_argument("x") parser.add_argument("y") parser.add_argument("z") parser.add_argument("r") parser.add_argument("p") parser.add_argument("y") args = parser.parse_args() matrice = euler_to_rotation( float(args.r), float(args.p), float(args.y), np.array([args.x, args.y, args.z], dtype=float)) # READ OBJ OBJECT. scene = pywavefront.Wavefront( '/home/thomas/Documents/rane_slam/mk3slam.0.3/Final/data/{0}.obj'. format(args.path)) points_3D = np.zeros((len(scene.vertices), 3)) for i in range(len(scene.vertices)): points_3D[i, :] = np.array( [scene.vertices[i][0], scene.vertices[i][1], scene.vertices[i][2]]) # PANGOLIN CONFIGURATION & INITIALISATION. w, h = 1280, 720 scam, dcam, dimg = pangolin_init(w, h) texture = pangolin.GlTexture( w, h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE, ) # ZED CONFIGURATION CAMERA. zed = sl.Camera() init_params = sl.InitParameters() init_params.camera_resolution = sl.RESOLUTION.HD720 # Use HD720 video mode init_params.coordinate_units = sl.UNIT.METER # Set coordinate units init_params.coordinate_system = sl.COORDINATE_SYSTEM.RIGHT_HANDED_Y_UP zed.open(init_params) # ZED CALIBRATION. zed.get_camera_information( ).camera_configuration.calibration_parameters.left_cam # INITIALISATION OBJECT FOR MAPPING. pymesh = sl.Mesh() # Current incremental mesh. image = sl.Mat() # Left image from camera. pose = sl.Pose() # Pose object. # TRACKING PARAMETERS. tracking_parameters = sl.PositionalTrackingParameters() tracking_parameters.enable_area_memory = True tracking_parameters.area_file_path = '/home/thomas/Documents/rane_slam/mk3slam.0.3/Final/data/{0}.area'.format( args.path) # INITIALISATION POSITION t = sl.Transform() t[0, 0] = matrice[0, 0] t[1, 0] = matrice[1, 0] t[2, 0] = matrice[2, 0] t[0, 1] = matrice[0, 1] t[1, 1] = matrice[1, 1] t[2, 1] = matrice[2, 1] t[0, 2] = matrice[0, 2] t[1, 2] = matrice[1, 2] t[2, 2] = matrice[2, 2] t[0, 3] = matrice[0, 3] t[1, 3] = matrice[1, 3] t[2, 3] = matrice[2, 3] tracking_parameters.set_initial_world_transform(t) zed.enable_positional_tracking(tracking_parameters) # TIME PARAMETERS. last_call = time.time() runtime = sl.RuntimeParameters() while not pangolin.ShouldQuit(): # -clear all. 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 coordinate origine. pangolin_draw_coordinate() # -get image. zed.grab(runtime) zed.retrieve_image(image, sl.VIEW.LEFT) # -get position and spatial mapping state. zed.get_position(pose) # Display the translation and timestamp py_translation = sl.Translation() tx = round(pose.get_translation(py_translation).get()[0], 3) ty = round(pose.get_translation(py_translation).get()[1], 3) tz = round(pose.get_translation(py_translation).get()[2], 3) print("Translation: Tx: {0}, Ty: {1}, Tz {2}, Timestamp: {3}\n".format( tx, ty, tz, pose.timestamp.get_milliseconds())) # Display the orientation quaternion py_orientation = sl.Orientation() ox = round(pose.get_orientation(py_orientation).get()[0], 3) oy = round(pose.get_orientation(py_orientation).get()[1], 3) oz = round(pose.get_orientation(py_orientation).get()[2], 3) ow = round(pose.get_orientation(py_orientation).get()[3], 3) #print("Orientation: Ox: {0}, Oy: {1}, Oz {2}, Ow: {3}\n".format(ox, oy, oz, ow)) # DRAW ALL STATE. gl.glLineWidth(1) gl.glColor3f(0.0, 0.0, 1.0) # -transform brute data in numpy to draw pose. a = pose.pose_data() pose2 = np.array([[a[0, 0], a[0, 1], a[0, 2], a[0, 3]], [a[1, 0], a[1, 1], a[1, 2], a[1, 3]], [a[2, 0], a[2, 1], a[2, 2], a[2, 3]], [a[3, 0], a[3, 1], a[3, 2], a[3, 3]]]) print(pose2) pangolin.DrawCamera(pose2, 0.5, 0.75, 0.8) # -draw all points on the map. gl.glPointSize(2) gl.glColor3f(1.0, 0.0, 0.0) pangolin.DrawPoints(points_3D) # DISPLAY CAMERA VIDEO. img = cv2.cvtColor(image.get_data(), cv2.COLOR_BGRA2RGB) img = cv2.flip(img, 0) texture.Upload(img, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) dimg.Activate() gl.glColor3f(1.0, 1.0, 1.0) texture.RenderToViewport() # END OF CYCLE. pangolin.FinishFrame() #sl.SPATIAL_MAPPING_STATE.NOT_ENABLED zed.disable_positional_tracking() zed.close()
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 = -5 # -10 viewpoint_z = -10 # -0.1 viewpoint_f = 200 camera_width = 0.5 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) scam = pangolin.OpenGlRenderState(proj, look_view) dcam = pangolin.CreateDisplay() dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -1024. / 768.) dcam.SetHandler(pangolin.Handler3D(scam)) dimg = pangolin.Display('image') dimg.SetBounds(0.0, self.h / 768., 0.0, self.w / 1024., float(self.w) / self.h) dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop) texture = pangolin.GlTexture(self.w, self.h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) ddepth = pangolin.Display('depth') ddepth.SetBounds(self.h / 768., self.h / 768. * 2.0, 0.0, self.w / 1024., float(self.w) / float(self.h)) ddepth.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop) if self.use_custom_depth_image: print("Use RGB depth buffer") texture_depth = pangolin.GlTexture(self.w, self.h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) else: texture_depth = pangolin.GlTexture(self.w, self.h, gl.GL_LUMINANCE, False, 0, gl.GL_LUMINANCE, gl.GL_UNSIGNED_BYTE) cameras = [] trajectory = [] pose = pangolin.OpenGlMatrix() points = np.empty(shape=(0, 3)) colors = np.empty(shape=(0, 3)) # image = random_image(self.w, self.h) image = 255 * np.ones((self.h, self.w, 3), 'uint8') if self.use_custom_depth_image: depth = 255 * np.ones((self.h, self.w, 3), 'uint8') else: depth = 255 * np.ones((self.h, self.w), 'uint8') gl.glPointSize(3) gl.glLineWidth(2) while not pangolin.ShouldQuit(): if not self.q_camera.empty(): cameras = self.q_camera.get() gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT) gl.glClearColor(0.75, 0.75, 0.75, 1.0) if not self.q_pose.empty(): pose.m = self.q_pose.get() # scam.Follow(pose, True) dcam.Activate(scam) gl.glColor3f(0.0, 0.0, 1.0) if len(cameras) > 0: pangolin.DrawCameras(cameras, camera_width) if not self.q_trajectory.empty(): trajectory = self.q_trajectory.get() if len(trajectory) > 1: gl.glColor3f(0.0, 0.0, 0.0) pangolin.DrawLine(trajectory) if not self.q_point.empty(): points = self.q_point.get() if not self.q_color.empty(): colors = self.q_color.get() # if len(points) > 0: # pangolin.DrawPoints(points, colors) if not self.q_image.empty(): image = self.q_image.get() # print(image.shape, image.dtype) texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) dimg.Activate() gl.glColor3f(1.0, 1.0, 1.0) texture.RenderToViewport() if not self.q_depth.empty(): depth = self.q_depth.get() print('^^^') print(depth.shape, depth.dtype) if self.use_custom_depth_image: texture_depth.Upload(depth, gl.GL_RGB, gl.GL_UNSIGNED_BYTE) else: texture_depth.Upload(depth, gl.GL_LUMINANCE, gl.GL_UNSIGNED_BYTE) ddepth.Activate() gl.glColor3f(1.0, 1.0, 1.0) texture_depth.RenderToViewport() 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()