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viewer.py
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import lib.pangolin as pango
import cv2
import numpy as np
import OpenGL.GL as gl
from multiprocessing import Process, Queue, Event
from utils import getError
#from pyquaternion import Quaternion
import quaternion
vt_done = Event()
class Viewer3D(object):
'''
3d viewer for g2o maps
- based off ficiciSLAM's viewer
- github.com/kemfic/ficiciSLAM
'''
w_i, h_i = (600, 200)
def __init__(self):
self.state = None
self.state_gt = None
self.q_poses = Queue()
self.q_gt = Queue()
self.q_img = Queue()
self.q_errors = Queue()
self.poses = []
self.gt = []
self.poses.append(np.eye(4))
self.gt.append(np.eye(4))
self.vt = Process(target=self.viewer_thread, args=(self.q_poses,self.q_gt,self.q_img,self.q_errors))
self.vt.daemon = True
self.vt.start()
def viewer_thread(self, q_poses, q_gt, q_img, q_errors):
self.viewer_init()
while not pango.ShouldQuit():#True:
#print('refresh')
self.viewer_refresh(q_poses,q_gt, q_img, q_errors)
print("you hit quit")
vt_done.set()
#return None
#self.stop()
def viewer_init(self):
w, h = (1024,768)
f = 2000 #420
pango.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 = pango.OpenGlRenderState(
pango.ProjectionMatrix(w, h, f, f, w //2, h//2, 0.1, 100000),
pango.ModelViewLookAt(0, -50.0, -10.0,
0.0, 0.0, 0.0,
0.0, -1.0, 0.0))#pango.AxisDirection.AxisY))
self.handler = pango.Handler3D(self.scam)
# Interactive View in Window
self.dcam = pango.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 = pango.Display('image')
self.dimg.SetBounds(0, self.h_i/h, 1-self.w_i/w, 1.0, -w/h)
self.dimg.SetLock(pango.Lock.LockLeft, pango.Lock.LockTop)
self.texture = pango.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 = pango.DataLog()
self.labels = ['error_t', 'error_r']#, "error_euclidean"]
self.log.SetLabels(self.labels)
self.plotter = pango.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", "")
pango.DisplayBase().AddDisplay(self.plotter)
self.errorlog_r, self.errorlog_t = [], []
def viewer_refresh(self, q_poses, q_gt, q_img, q_errors):
while not q_poses.empty():
self.state = q_poses.get()
if not q_img.empty():
self.img = q_img.get()
self.img = self.img[::-1, :]
self.img = cv2.resize(self.img, (self.w_i, self.h_i))
while not q_gt.empty():
self.state_gt = q_gt.get()
while not q_errors.empty():
error_r, error_t = q_errors.get()[-1]
#self.log.Log(errors[0], errors[1], errors[2])
self.errorlog_t.append(error_t)
self.errorlog_r.append(error_r)
#print(np.shape(self.errorlog))
self.log.Log(np.sum(self.errorlog_t), np.sum(self.errorlog_r))
# Clear and Activate Screen (we got a real nice shade of gray
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
gl.glClearColor(0.15, 0.15, 0.15, 0.0)
#gl.glClearColor(0.0,0.0, 0.0, 0.0)
self.dcam.Activate(self.scam)
# Render
if self.state is not None:
gl.glLineWidth(1)
# Render current pose
if self.state_gt[0].shape[0] >= 1:
gl.glColor3f(1.0, 1.0, 1.0)
pango.DrawCameras(self.state_gt[1:])
# Render previous keyframes
if self.state[0].shape[0] >= 2:
gl.glColor3f(1.0, 0.0, 1.0)
pango.DrawCameras(self.state[:-1])
# Render current pose
if self.state[0].shape[0] >= 1:
gl.glColor3f(0.2, 1.0, 0.2)
pango.DrawCameras(self.state[-1:])
#print(self.img.shape)
#cv2.imshow("test", self.img)
self.texture.Upload(self.img, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)
self.dimg.Activate()
gl.glColor3f(1.0, 1.0, 1.0)
self.texture.RenderToViewport()
pango.FinishFrame()
def update(self, vo):
'''
Add new data to queue
'''
if self.q_img is None or self.q_poses is None:
return
self.q_img.put(vo.annotate_frames())
self.q_gt.put(np.array(vo.gt))
self.q_poses.put(vo.poses)
if len(vo.errors) > 0:
self.q_errors.put(vo.errors)
def stop(self):
self.vt.terminate()
self.vt.join()
#qtype = type(Queue())
for x in self.__dict__.values():
if isinstance(x, type(Queue())):
while not x.empty():
_ = x.get()
print("viewer stopped")