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pangolin_viewer.py
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pangolin_viewer.py
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import pypangolin as pangolin
import OpenGL.GL as gl
import time
import threading
import copy
import numpy as np
class Viewer:
def __init__(self, w, h):
self.travelets = {}
self.trajs = []
self.is_running = True
self.w = w
self.h = h
print(f"w={w}, h={h}")
self.img = None
self.lock = threading.Lock()
self.thread = threading.Thread(target=self.run)
self.thread.start()
self.current_frame = 0
def run(self):
pangolin.CreateWindowAndBind('Main', int(self.w * 1.0), 2 * self.h)
gl.glEnable(gl.GL_DEPTH_TEST)
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(self.w, self.h, 400, 400, self.w / 2, self.h / 2, 0.1, 1000),
pangolin.ModelViewLookAt(0, -5., -0.1, 0, 0, 0, pangolin.AxisNegY))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
ui_width = 180
dcam = pangolin.CreateDisplay()
dcam.SetBounds(
pangolin.Attach(0),
pangolin.Attach(1),
pangolin.Attach.Pix(ui_width),
pangolin.Attach(1),
-self.w * 1.0 / self.h,
)
dcam.SetHandler(handler)
d_video = pangolin.Display("imgVideo").SetAspect(self.w * 1.0 / self.h)
texVideo = pangolin.GlTexture(self.w, self.h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
pangolin.CreateDisplay(
).SetBounds(
pangolin.Attach(0),
pangolin.Attach(0.45),
pangolin.Attach.Pix(10),
pangolin.Attach(1.0)
).SetLayout(pangolin.Layout.Equal).AddDisplay(d_video)
'''
pango.CreatePanel("ui").SetBounds(
pango.Attach(0), pango.Attach(1), pango.Attach(0), pango.Attach.Pix(ui_width)
)
var_ui = pango.Var("ui")
var_ui.a_Button = False
var_ui.a_double = (0.0, pango.VarMeta(0, 5))
var_ui.an_int = (2, pango.VarMeta(0, 5))
var_ui.a_double_log = (3.0, pango.VarMeta(1, 1e4, logscale=True))
var_ui.a_checkbox = (False, pango.VarMeta(toggle=True))
var_ui.an_int_no_input = 2
var_ui.a_str = "sss"
'''
pangolin.CreatePanel("menu").SetBounds(pangolin.Attach(0.0), pangolin.Attach(1.0), pangolin.Attach(0.0), pangolin.Attach.Pix(150))
menu_var = pangolin.Var("menu")
menu_var.followCamera = (False, pangolin.VarMeta(toggle=True))
menu_var.showVideo = (True, pangolin.VarMeta(toggle=True))
menu_var.allObject = (False, pangolin.VarMeta(toggle=True))
while self.is_running:
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)
if len(self.trajs) == 0:
time.sleep(0.5)
continue
with self.lock:
pose = self.trajs[-1]
if menu_var.followCamera:
pose = np.vstack([np.hstack([pose['rotation'], pose['position'].reshape(-1, 1)]), np.asarray([0, 0, 0, 1])])
pose = pangolin.OpenGlMatrix(pose)
scam.Follow(pose, follow=True)
else:
pose = np.vstack([np.hstack([np.eye(3), pose['position'].reshape(-1, 1)]), np.asarray([0, 0, 0, 1])])
pose = pangolin.OpenGlMatrix(pose)
#scam.Follow(pose)
for tid in self.travelets:
frame_count = self.travelets[tid][-1][3]
if frame_count < (self.current_frame - 5) and not menu_var.allObject:
continue
locs = [it[0] for it in self.travelets[tid]]
color = self.travelets[tid][0][2]
gl.glLineWidth(2)
gl.glColor3f(color[0], color[1], color[2])
gl.glBegin(gl.GL_LINES)
for i in range(1, len(locs)):
p1 = locs[i-1]
p2 = locs[i]
gl.glVertex3f(p1[0], p1[1], p1[2])
gl.glVertex3f(p2[0], p2[1], p2[2])
gl.glEnd()
# draw box
box3d = self.travelets[tid][-1][1]
lineorder = np.array(
[
[1, 2, 6, 5], # front face
[2, 3, 7, 6], # left face
[3, 4, 8, 7], # back face
[4, 1, 5, 8],
[1, 6, 5, 2]
], dtype=np.int32) - 1 # right
planes = [[1, 2], [2, 3], [3, 4], [4, 1], [1, 5], [5, 6], [6, 2], [6, 7], [7, 3], [7, 8], [8, 4], [8, 5], [1, 6], [2, 5]]
gl.glLineWidth(2)
#gl.glColor3f(0.0, 1.0, 0.0)
gl.glColor3f(color[0], color[1], color[2])
gl.glBegin(gl.GL_LINES)
for it in planes:
i1, i2 = it
p1 = box3d[i1-1]
p2 = box3d[i2-1]
gl.glVertex3f(p1[0], p1[1], p1[2])
gl.glVertex3f(p2[0], p2[1], p2[2])
gl.glEnd()
# draw car trajectory
gl.glLineWidth(3)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glBegin(gl.GL_LINES)
for i in range(1, len(self.trajs)):
p1 = self.trajs[i-1]['position']
p2 = self.trajs[i]['position']
gl.glVertex3f(p1[0], p1[1], p1[2])
gl.glVertex3f(p2[0], p2[1], p2[2])
gl.glEnd()
if len(self.trajs) > 0:
# draw camera
pose = self.trajs[-1]
pose = np.vstack([np.hstack([pose['rotation'], pose['position'].reshape(-1, 1)]), np.asarray([0, 0, 0, 1])])
gl.glPushMatrix()
#gl.glMultMatrixf(pose)
gl.glMultTransposeMatrixf(pose)
gl.glLineWidth(3)
gl.glColor3f(0.0, 1.0, 0.0)
gl.glBegin(gl.GL_LINES)
w, h, z = 0.5, 0.75, 0.8
h = w * h * 1.5
z = w * h * 1.5
w, h, z = np.array([w, h, z]) * 3.0
gl.glVertex3f(0,0,0)
gl.glVertex3f(w,h,z)
gl.glVertex3f(0,0,0)
gl.glVertex3f(w,-h,z)
gl.glVertex3f(0,0,0)
gl.glVertex3f(-w,-h,z)
gl.glVertex3f(0,0,0)
gl.glVertex3f(-w,h,z)
gl.glVertex3f(w,h,z)
gl.glVertex3f(w,-h,z)
gl.glVertex3f(-w,h,z)
gl.glVertex3f(-w,-h,z)
gl.glVertex3f(-w,h,z)
gl.glVertex3f(w,h,z)
gl.glVertex3f(-w,-h,z)
gl.glVertex3f(w,-h,z)
gl.glEnd()
gl.glPopMatrix()
# image
if self.img is not None and menu_var.showVideo:
gl.glPixelStorei(gl.GL_UNPACK_ALIGNMENT,1)
texVideo.Upload(self.img, gl.GL_BGR, gl.GL_UNSIGNED_BYTE)
d_video.Activate()
gl.glColor4f(1.0, 1.0, 1.0, 1.0)
texVideo.RenderToViewportFlipY()
time.sleep(0.1)
pangolin.FinishFrame()
def update(self, travelets, pose, img, current_frame):
with self.lock:
self.travelets = copy.deepcopy(travelets)
self.trajs.append(pose)
self.img = img.copy()
self.current_frame = current_frame
def shutdown(self):
self.is_running = False
self.thread.join()