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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 PYSLAM. If not, see <http://www.gnu.org/licenses/>.
"""
import config
import math
import multiprocessing as mp
from multiprocessing import Process, Queue, Value
import pangolin
import OpenGL.GL as gl
import numpy as np
from utils_geom import inv_T
kUiWidth = 180
kDefaultPointSize = 2
kViewportWidth = 1024
#kViewportHeight = 768
kViewportHeight = 550
kDrawCameraPrediction = False
kDrawReferenceCamera = True
kMinWeightForDrawingCovisibilityEdge=100
class Viewer3DMapElement(object):
def __init__(self):
self.cur_pose = None
self.predicted_pose = None
self.reference_pose = None
self.poses = []
self.points = []
self.colors = []
self.covisibility_graph = []
self.spanning_tree = []
self.loops = []
class Viewer3DVoElement(object):
def __init__(self):
self.poses = []
self.traj3d_est = [] # estimated trajectory
self.traj3d_gt = [] # ground truth trajectory
class Viewer3D(object):
def __init__(self):
self.map_state = None
self.qmap = Queue()
self.vo_state = None
self.qvo = Queue()
self._is_running = Value('i',1)
self._is_paused = Value('i',1)
self.vp = Process(target=self.viewer_thread,
args=(self.qmap, self.qvo,self._is_running ,self._is_paused,))
self.vp.daemon = True
self.vp.start()
def quit(self):
self._is_running.value = 0
self.vp.join()
#pangolin.Quit()
print('Viewer stopped')
def is_paused(self):
return (self._is_paused.value == 1)
def viewer_thread(self, qmap, qvo, is_running, is_paused):
self.viewer_init(kViewportWidth, kViewportHeight)
while not pangolin.ShouldQuit() and (is_running.value == 1):
self.viewer_refresh(qmap, qvo, is_paused)
print('Quitting viewer...')
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()
# print("self.Twc.m",self.Twc.m)
def viewer_refresh(self, qmap, qvo, is_paused):
while not qmap.empty():
self.map_state = qmap.get()
while not qvo.empty():
self.vo_state = qvo.get()
# if pangolin.Pushed(self.button):
# print('You Pushed a button!')
self.do_follow = self.checkboxFollow.Get()
self.is_grid = self.checkboxGrid.Get()
self.draw_cameras = self.checkboxCams.Get()
self.draw_covisibility = self.checkboxCovisibility.Get()
self.draw_spanning_tree = self.checkboxSpanningTree.Get()
#if pangolin.Pushed(self.checkboxPause):
if self.checkboxPause.Get():
is_paused.value = 0
else:
is_paused.value = 1
# self.int_slider.SetVal(int(self.float_slider))
self.pointSize = self.int_slider.Get()
if self.do_follow and self.is_following:
self.scam.Follow(self.Twc, True)
elif self.do_follow and not self.is_following:
self.scam.SetModelViewMatrix(self.look_view)
self.scam.Follow(self.Twc, True)
self.is_following = True
elif not self.do_follow and self.is_following:
self.is_following = False
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)
if self.is_grid:
Viewer3D.drawPlane()
# ==============================
# draw map
if self.map_state is not None:
if self.map_state.cur_pose is not None:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
gl.glLineWidth(2)
pangolin.DrawCamera(self.map_state.cur_pose)
gl.glLineWidth(1)
self.updateTwc(self.map_state.cur_pose)
if self.map_state.predicted_pose is not None and kDrawCameraPrediction:
# draw predicted pose in red
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawCamera(self.map_state.predicted_pose)
if len(self.map_state.poses) >1:
# draw keyframe poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.map_state.poses[:])
if len(self.map_state.points)>0:
# draw keypoints with their color
gl.glPointSize(self.pointSize)
#gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawPoints(self.map_state.points, self.map_state.colors)
if self.map_state.reference_pose is not None and kDrawReferenceCamera:
# draw predicted pose in purple
gl.glColor3f(0.5, 0.0, 0.5)
gl.glLineWidth(2)
pangolin.DrawCamera(self.map_state.reference_pose)
gl.glLineWidth(1)
if len(self.map_state.covisibility_graph)>0:
if self.draw_covisibility:
gl.glLineWidth(1)
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawLines(self.map_state.covisibility_graph,3)
if len(self.map_state.spanning_tree)>0:
if self.draw_spanning_tree:
gl.glLineWidth(1)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLines(self.map_state.spanning_tree,3)
if len(self.map_state.loops)>0:
if self.draw_spanning_tree:
gl.glLineWidth(2)
gl.glColor3f(0.5, 0.0, 0.5)
pangolin.DrawLines(self.map_state.loops,3)
gl.glLineWidth(1)
# ==============================
# draw vo
if self.vo_state is not None:
if self.vo_state.poses.shape[0] >= 2:
# draw poses in green
if self.draw_cameras:
gl.glColor3f(0.0, 1.0, 0.0)
pangolin.DrawCameras(self.vo_state.poses[:-1])
if self.vo_state.poses.shape[0] >= 1:
# draw current pose in blue
gl.glColor3f(0.0, 0.0, 1.0)
current_pose = self.vo_state.poses[-1:]
pangolin.DrawCameras(current_pose)
self.updateTwc(current_pose[0])
if self.vo_state.traj3d_est.shape[0] != 0:
# draw blue estimated trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(0.0, 0.0, 1.0)
pangolin.DrawLine(self.vo_state.traj3d_est)
if self.vo_state.traj3d_gt.shape[0] != 0:
# draw red ground-truth trajectory
gl.glPointSize(self.pointSize)
gl.glColor3f(1.0, 0.0, 0.0)
pangolin.DrawLine(self.vo_state.traj3d_gt)
pangolin.FinishFrame()
def draw_map(self, slam):
if self.qmap is None:
return
map = slam.map
map_state = Viewer3DMapElement()
if map.num_frames() > 0:
map_state.cur_pose = map.get_frame(-1).Twc.copy()
if slam.tracking.predicted_pose is not None:
map_state.predicted_pose = slam.tracking.predicted_pose.inverse().matrix().copy()
if slam.tracking.kf_ref is not None:
reference_pose = slam.tracking.kf_ref.Twc.copy()
num_map_keyframes = map.num_keyframes()
keyframes = map.get_keyframes()
if num_map_keyframes>0:
for kf in keyframes:
map_state.poses.append(kf.Twc)
map_state.poses = np.array(map_state.poses)
num_map_points = map.num_points()
if num_map_points>0:
for i,p in enumerate(map.get_points()):
map_state.points.append(p.pt)
map_state.colors.append(np.flip(p.color))
map_state.points = np.array(map_state.points)
map_state.colors = np.array(map_state.colors)/256.
for kf in keyframes:
for kf_cov in kf.get_covisible_by_weight(kMinWeightForDrawingCovisibilityEdge):
if kf_cov.kid > kf.kid:
map_state.covisibility_graph.append([*kf.Ow, *kf_cov.Ow])
if kf.parent is not None:
map_state.spanning_tree.append([*kf.Ow, *kf.parent.Ow])
for kf_loop in kf.get_loop_edges():
if kf_loop.kid > kf.kid:
map_state.loops.append([*kf.Ow, *kf_loop.Ow])
map_state.covisibility_graph = np.array(map_state.covisibility_graph)
map_state.spanning_tree = np.array(map_state.spanning_tree)
map_state.loops = np.array(map_state.loops)
self.qmap.put(map_state)
def draw_vo(self, vo):
if self.qvo is None:
return
vo_state = Viewer3DVoElement()
vo_state.poses = np.array(vo.poses)
vo_state.traj3d_est = np.array(vo.traj3d_est).reshape(-1,3)
vo_state.traj3d_gt = np.array(vo.traj3d_gt).reshape(-1,3)
self.qvo.put(vo_state)
def updateTwc(self, pose):
self.Twc.m = pose
@staticmethod
def drawPlane(num_divs=200, div_size=10):
# Plane parallel to x-z at origin with normal -y
minx = -num_divs*div_size
minz = -num_divs*div_size
maxx = num_divs*div_size
maxz = num_divs*div_size
#gl.glLineWidth(2)
#gl.glColor3f(0.7,0.7,1.0)
gl.glColor3f(0.7,0.7,0.7)
gl.glBegin(gl.GL_LINES)
for n in range(2*num_divs):
gl.glVertex3f(minx+div_size*n,0,minz)
gl.glVertex3f(minx+div_size*n,0,maxz)
gl.glVertex3f(minx,0,minz+div_size*n)
gl.glVertex3f(maxx,0,minz+div_size*n)
gl.glEnd()