def main():
pango.CreateWindowAndBind('point cloud cube render', 640, 480)
# Projection and ModelView Matrices
scam = pango.OpenGlRenderState(
pango.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100),
pango.ModelViewLookAt(-1, -1, -1, 0, 0, 0, pango.AxisDirection.AxisY))
handler = pango.Handler3D(scam)
# Interactive View in Window
disp_cam = pango.CreateDisplay()
disp_cam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
disp_cam.SetHandler(handler)
# Create a random point cloud
pts = np.random.random((100, 3)) * 10
# Color matrix based on point location
colors = np.zeros((len(pts), 3))
colors[:, :] = 1. - pts[:, :] / 10
#colors[:] = [1.0, 0.0, 0.0]
while not pango.ShouldQuit():
# Clear screen
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.15, 0.15, 0.15, 0.0)
disp_cam.Activate(scam)
# Draw Points
gl.glPointSize(5)
gl.glColor3f(0.0, 1.0, 0.0)
pango.DrawPoints(pts, colors)
# Finish Drawing
pango.FinishFrame()
def pangolin_init(w, h):
"""
DESCRIPTION: init pangolin.
"""
W, H = w, h
pangolin.CreateWindowAndBind('Main', W, H)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(W, H, 420, 420, W // 2, H // 2, 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, W / H)
dcam.SetHandler(handler)
# Create area to show video stream
dimg = pangolin.Display('image')
dimg.SetBounds(
1.0, 0.66, 0, 0.33, W /
H) # (debut hauteur, fin hauteur, debut largeur, fin largeur, ratio)
dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)
return scam, dcam, dimg
def DISPLAY():
import numpy as np
import OpenGL.GL as gl
import pangolin
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
gl.glPointSize(2)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(points)
pangolin.FinishFrame()
def LookAt(self, dest):
self.viewMat = pangolin.ModelViewLookAt(self.eye[0], self.eye[1], self.eye[2],
dest[0], dest[1], dest[2],
pangolin.AxisDirection.AxisY) # self.up[0], self.up[1], self.up[2])
self._rendered_cam = pangolin.OpenGlRenderState(self.projectionMat, self.viewMat)
return self.viewMat
def visualize_3D(p3D):
pangolin.CreateWindowAndBind('main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
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)
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)
#gl.glPointSize(5);
#gl.glColor3f(0.0,0.0,1.0);
#pangolin.DrawPoints(p3D);
# Attempt to draw camera
gl.glLineWidth(2)
gl.glColor3f(1.0, 0.0, 0.0)
#pose = np.identity(4);
pose = (np.hstack((pose1.T, np.zeros((4, 1))))).T
pangolin.DrawCamera(pose, 0.5, 0.75, 0.8)
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)
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)
# 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(5)
pangolin.DrawPoints(points, colors)
pangolin.FinishFrame()
def main(showSemSegmentation=False):
# create window
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, 50),
pangolin.ModelViewLookAt(0, 0, -.01, 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)
points, colors, sem = getPointsAndColors("000020.png")
# If we want to show the semantic segmentations
if showSemSegmentation:
colors = colors * 0.5 + sem * 0.5
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)
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.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.AxisY))
tree = pangolin.Renderable()
tree.Add(pangolin.Axis())
# Create Interactive View in window
handler = pangolin.SceneHandler(tree, scam)
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
dcam.SetHandler(handler)
def draw(view):
view.Activate(scam)
tree.Render()
dcam.SetDrawFunction(draw)
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# or
# dcam.Activate(scam)
# tree.Render()
pangolin.FinishFrame()
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(0.0, 1.0, 0.0, 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(0.05, 0.3, 0.0, 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 handler_cam(scam, attrs):
if attrs:
look = attrs.get('look', [0, -70, 70])
at = attrs.get('at', [0, 0, 0])
up = attrs.get('up', pangolin.AxisZ)
scam.SetModelViewMatrix(
pangolin.ModelViewLookAt(look[0], look[1], look[2], at[0],
at[1], at[2], up))
else:
pass
def draw_init(self):
pangolin.CreateWindowAndBind(self.name, 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
self.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(self.scam)
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
self.dcam.SetHandler(handler)
def work(q, qclose, w=960, h=540):
pangolin.CreateWindowAndBind('pangolin', w, h)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(w, h, 420, 420, w // 2, h // 2, 0.2, 10000),
pangolin.ModelViewLookAt(-2, -2, -8, 0, 0, 0,
pangolin.AxisDirection.AxisNegY))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -w / h)
dcam.SetHandler(handler)
pose = np.eye(4)
opath = np.zeros((0, 3))
opts = np.zeros((2, 3))
colors = np.zeros((2, 3))
while not pangolin.ShouldQuit():
if not qclose.empty():
if qclose.get():
pangolin.Quit()
if not q.empty():
pose, opath, opts, colors = q.get()
colors /= 256.0
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.0, 0.0, 0.0, 1.0)
dcam.Activate(scam)
# draw_axes()
# Draw optimized cloud
gl.glPointSize(2)
gl.glColor3f(0.5, 0.8, 0.5)
pangolin.DrawPoints(opts, colors)
# Draw camera
gl.glLineWidth(1)
gl.glColor3f(0.4, 0.4, 0.4)
pangolin.DrawCamera(pose, 10, 1, 1)
# Optimized path
if len(opath) > 2:
gl.glLineWidth(1)
gl.glColor3f(0.4, 0.4, 0.4)
pangolin.DrawLine(np.array(opath))
pangolin.FinishFrame()
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.CreateWindowAndBind('Main', w, h)
gl.glEnable(gl.GL_DEPTH_TEST)
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(w, h, 420, 420, w // 2, h // 2, 0.2,
10000),
pangolin.ModelViewLookAt(0, -10, -8, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -w / h)
self.dcam.SetHandler(self.handler)
self.darr = None
def init_thread(self):
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 1000),
pangolin.ModelViewLookAt(0, -10, -8, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
self.dcam.SetHandler(self.handler)
def viewer_init(self):
pangolin.CreateWindowAndBind('Main', self.width, self.Height)
gl.glEnable(gl.GL_DEPTH_TEST)
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(self.width, self.Height, 420, 420,
self.width // 2, self.Height // 2, 0.2,
1000),
pangolin.ModelViewLookAt(0, -10, -8, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -self.width / self.Height)
self.dcam.SetHandler(self.handler)
def run(dq, name):
pangolin.CreateWindowAndBind(name, 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, 2000),
pangolin.ModelViewLookAt(-70, -70, 70, 0, 0, 0,
pangolin.AxisDirection.AxisZ))
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
dcam.SetHandler(pangolin.Handler3D(scam))
should_quit = False
handlers = {
'pts': VisualizerPangoV2.handler_pts,
'boxes_3d': VisualizerPangoV2.handler_bboxes3d,
'boxes_3d_center': VisualizerPangoV2.handler_bboxes3d_center,
'lines': VisualizerPangoV2.handler_lines,
'boxes_2d': VisualizerPangoV2.handler_bboxes2d
}
targets = {}
for k in handlers:
targets[k] = {}
while not (pangolin.ShouldQuit() or should_quit):
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)
pangolin.glDrawColouredCube()
while not dq.empty():
o = dq.get()
if type(o) is str:
if o == 'quit':
should_quit = True
break
if type(o) is tuple:
op, tp, k, v = o
if tp == 'cam':
VisualizerPangoV2.handler_cam(scam, v)
else:
if op == 'reset':
targets[tp][k] = [v]
elif op == 'add':
if k not in targets[tp]:
targets[tp][k] = []
targets[tp][k].append(v)
for t in handlers:
for k in targets[t]:
for v in targets[t][k]:
handlers[t](*v)
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)
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 __init__(self, K):
self.K = K
self.K_inverse = np.linalg.inv(self.K)
# plot 3d
self.window = pangolin.CreateWindowAndBind('3D SPACE', 1200, 800)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100),
pangolin.ModelViewLookAt(1, -1, -4, 1, 1, 1,
pangolin.AxisDirection.AxisZ))
self.handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
self.dcam.SetHandler(self.handler)
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 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 = (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 viewer_init(self, W, H):
pangolin.CreateWindowAndBind('Map View', W, H)
gl.glEnable(gl.GL_DEPTH_TEST)
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(W, H, 420, 420, W//2, H//2, 0.2, 10000),
pangolin.ModelViewLookAt(0, -10, -8, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
# create the interactive window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, W/H)
self.dcam.SetHandler(self.handler)
# avoid small Pangolin
self.dcam.Resize(pangolin.Viewport(0, 0, W*2, H*2))
self.dcam.Activate()
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 viewer_init(self, w, h):
pangolin.CreateWindowAndBind('Map Viewer', w, h)
gl.glEnable(gl.GL_DEPTH_TEST)
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(w, h, 420, 420, w // 2, h // 2, 0.2,
10000),
pangolin.ModelViewLookAt(0, -10, -8, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, w / h)
self.dcam.SetHandler(self.handler)
# hack to avoid small Pangolin, no idea why it's *2
self.dcam.Resize(pangolin.Viewport(0, 0, w * 2, h * 2))
self.dcam.Activate()
def 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 main():
w, h = 640, 480
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Create Interactive View in window
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(w, h, 420, 420, w//2, h//2, 0.2, 10000),
pangolin.ModelViewLookAt(0, -10, -8,
0, 0, 0,
0, -1, 0))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, w/h)
dcam.SetHandler(handler)
# hack to avoid small Pangolin, no idea why it's *2
dcam.Resize(pangolin.Viewport(0,0,w*2,h*2))
dcam.Activate()
poses = []
# pose = np.hstack((np.identity(3), np.zeros((3,1))))
pose = np.identity(4)
poses.append(np.linalg.inv(pose))
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.0, 0.0, 0.0, 1.0)
dcam.Activate(scam)
pose[2, 3] = pose[2, 3] - 1
poses.append(np.linalg.inv(pose))
print(poses[-1])
gl.glLineWidth(3)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(poses)
# pangolin.DrawCamera(pose)
time.sleep(0.2)
# pangolin.DrawCameras(np.linalg.inv(poses[-1]))
# pangolin.DrawCameras(np.stack(poses, axis=0))
# print(np.stack(poses,axis=2).shape)
pangolin.FinishFrame()
def __init__(self):
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 520, 520, 320, 240, 0.2, 200),
pangolin.ModelViewLookAt(0, 1, -3, 0, 0, 0, pangolin.AxisY))
self.tree = pangolin.Renderable()
self.tree.Add(pangolin.Axis())
handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
self.dcam.SetHandler(handler)
self.dcam.SetDrawFunction(self._draw)
self.pts_prev = [0, 0, 0]
def main():
pango.CreateWindowAndBind('frustrum render', 640, 480)
# Projection and ModelView Matrices
scam = pango.OpenGlRenderState(
pango.ProjectionMatrix(640, 480, 2000, 2000, 320, 240, 0.1, 5000),
pango.ModelViewLookAt(0, -50, -10, 0, 0, 0, 0, -1,
0)) #pango.AxisDirection.AxisY))
handler = pango.Handler3D(scam)
# Interactive View in Window
disp_cam = pango.CreateDisplay()
disp_cam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0 / 480.0)
disp_cam.SetHandler(handler)
# create and append pose matrices for cameras
pose = np.identity(4)
poses = []
for i in range(3):
poses.append(np.linalg.inv(pose))
pose[2, 3] -= 1
while not pango.ShouldQuit():
# Clear screen
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.15, 0.15, 0.15, 0.0)
disp_cam.Activate(scam)
# Render Cameras
gl.glLineWidth(2)
gl.glColor3f(1.0, 0.0, 1.0)
pango.DrawCamera(poses[0])
gl.glColor3f(0.2, 1.0, 0.2)
pango.DrawCameras(poses[1:-1])
gl.glColor3f(1.0, 1.0, 1.0)
pango.DrawCamera(poses[-1])
# End frame update
pango.FinishFrame()
def init(self, width, height):
"""Initialize the 3D display (pangolin)
:width: TODO
:height: TODO
:returns: TODO
"""
pangolin.CreateWindowAndBind('Map viewer', width, height)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
self.scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(width, height, 420, 420, width // 2,
height // 2, 0.2, 10000),
pangolin.ModelViewLookAt(0, -10, -8, 0, 0, 0, 0, -1, 0))
self.handler = pangolin.Handler3D(self.scam)
# Create Interactive View in window
self.dcam = pangolin.CreateDisplay()
self.dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -width / height)
self.dcam.SetHandler(self.handler)