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viewer3D.py
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viewer3D.py
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"""
* This file is part of PYSLAM
*
* Copyright (C) 2016-present Luigi Freda <luigi dot freda at gmail dot com>
*
* PYSLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* PYSLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with PYVO. If not, see <http://www.gnu.org/licenses/>.
"""
import config
from multiprocessing import Process, Queue
import pangolin
import OpenGL.GL as gl
import numpy as np
uiWidth = 180
def drawPlane(ndivs=200, ndivsize=1):
# Plane parallel to x-z at origin with normal -y
minx = -ndivs*ndivsize
minz = -ndivs*ndivsize
maxx = ndivs*ndivsize
maxz = ndivs*ndivsize
#gl.glLineWidth(2)
gl.glColor3f(0.7,0.7,1.0)
gl.glBegin(gl.GL_LINES)
for n in range(2*ndivs):
gl.glVertex3f(minx+ndivsize*n,0,minz)
gl.glVertex3f(minx+ndivsize*n,0,maxz)
gl.glVertex3f(minx,0,minz+ndivsize*n)
gl.glVertex3f(maxx,0,minz+ndivsize*n)
gl.glEnd()
class Viewer3D(object):
def __init__(self):
self.state_map = None
self.qmap = Queue()
self.state_vo = None
self.qvo = Queue()
self.vp = Process(target=self.viewer_thread,
args=(self.qmap, self.qvo,))
self.vp.daemon = True
self.vp.start()
def viewer_thread(self, qmap, qvo):
self.viewer_init(1024, 768)
while not pangolin.ShouldQuit():
self.viewer_refresh(qmap, qvo)
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, uiWidth/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, uiWidth/w)
self.follow = True
self.drawCameras = 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.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=2, min=1, max=10)
self.pointSize = self.int_slider.Get()
self.Twc = pangolin.OpenGlMatrix()
self.Twc.SetIdentity()
# print("self.Twc.m",self.Twc.m)
def viewer_refresh(self, qmap, qvo):
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
while not qmap.empty():
self.state_map = qmap.get()
while not qvo.empty():
self.state_vo = qvo.get()
# if pangolin.Pushed(self.button):
# print('You Pushed a button!')
self.follow = self.checkboxFollow.Get()
self.drawCameras = self.checkboxCams.Get()
# self.int_slider.SetVal(int(self.float_slider))
self.pointSize = self.int_slider.Get()
self.dcam.Activate(self.scam)
if self.follow:
self.scam.Follow(self.Twc, True)
drawPlane()
# draw map
if self.state_map is not None:
if self.state_map[0].shape[0] >= 2:
# draw poses in green
if self.drawCameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state_map[0][:-1])
if self.state_map[0].shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
currentPose = self.state_map[0][-1:]
pangolin.DrawCameras(currentPose)
self.updateTwc(currentPose)
if self.state_map[1].shape[0] != 0:
# draw keypoints with their color
gl.glPointSize(self.pointSize)
#gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.state_map[1], self.state_map[2])
# draw vo
if self.state_vo is not None:
if self.state_vo[0].shape[0] >= 2:
# draw poses in green
if self.drawCameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.state_vo[0][:-1])
if self.state_vo[0].shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
currentPose = self.state_vo[0][-1:]
pangolin.DrawCameras(currentPose)
self.updateTwc(currentPose)
if self.state_vo[1].shape[0] != 0:
# draw blue estimated trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLine(self.state_vo[1])
if self.state_vo[2].shape[0] != 0:
# draw red ground-truth trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawLine(self.state_vo[2])
pangolin.FinishFrame()
def drawMap(self, map):
if self.qmap is None:
return
poses, pts, colors = [], [], []
for f in map.frames:
# invert pose for display only
poses.append(np.linalg.inv(f.pose))
for p in map.points:
pts.append(p.pt)
# colors.append(p.color)
colors.append(np.flip(p.color, 0))
self.qmap.put((np.array(poses), np.array(pts), np.array(colors)/256.0))
def drawVo(self, vo):
if self.qvo is None:
return
self.qvo.put((np.array(vo.poses), np.array(vo.traj3d_est).reshape(-1,3), np.array(vo.traj3d_gt).reshape(-1,3)))
def updateTwc(self, pose):
self.Twc.m = pose[0]