v01

thirdparty/Pangolin/pyexamples/SimpleDisplay.py

@@ -0,0 +1,66 @@
+#!/usr/bin/env python3
+import sys
+
+sys.path.append("../build/src")
+
+import pypangolin as pango
+from OpenGL.GL import *
+
+
+def a_callback():
+    print("a pressed")
+
+
+def main():
+    win = pango.CreateWindowAndBind("pySimpleDisplay", 640, 480)
+    glEnable(GL_DEPTH_TEST)
+
+    pm = pango.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000)
+    mv = pango.ModelViewLookAt(-0, 0.5, -3, 0, 0, 0, pango.AxisY)
+    s_cam = pango.OpenGlRenderState(pm, mv)
+
+    ui_width = 180
+
+    handler = pango.Handler3D(s_cam)
+    d_cam = (
+        pango.CreateDisplay()
+        .SetBounds(
+            pango.Attach(0),
+            pango.Attach(1),
+            pango.Attach.Pix(ui_width),
+            pango.Attach(1),
+            -640.0 / 480.0,
+        )
+        .SetHandler(handler)
+    )
+
+    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"
+
+    ctrl = -96
+    pango.RegisterKeyPressCallback(ctrl + ord("a"), a_callback)
+
+    while not pango.ShouldQuit():
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
+
+        if var_ui.a_checkbox:
+            var_ui.an_int = var_ui.a_double
+
+        var_ui.an_int_no_input = var_ui.an_int
+
+        d_cam.Activate(s_cam)
+        pango.glDrawColouredCube()
+        pango.FinishFrame()
+
+
+if __name__ == "__main__":
+    main()

thirdparty/Pangolin/pyexamples/SimplePlot.py

@@ -0,0 +1,36 @@
+#!/usr/bin/env python3
+import sys
+sys.path.append('../build/src')
+
+from OpenGL.GL import *
+import pypangolin as pango
+import math
+
+def main():
+    win = pango.CreateWindowAndBind("main py_pangolin", 640, 480)
+    log = pango.DataLog()
+    log.SetLabels(["sin(t)", "cos(t)", "sin(t)+cos(t)"])
+
+    t=0;
+    tinc=0.01
+
+    plotter = pango.Plotter(log,0,4*math.pi/tinc,-2,2,math.pi/(4*tinc),0.5);
+    plotter.Track("$i")
+    plotter.AddMarker(pango.Marker.Vertical, -1000, pango.Marker.LessThan, pango.Colour.Blue().WithAlpha(0.2))
+    plotter.AddMarker(pango.Marker.Horizontal, 100, pango.Marker.GreaterThan, pango.Colour.Red().WithAlpha(0.2))
+    plotter.AddMarker(pango.Marker.Horizontal,  10, pango.Marker.Equal, pango.Colour.Green().WithAlpha(0.2))
+    plotter.SetBounds(pango.Attach(0), pango.Attach(1),
+                      pango.Attach(0), pango.Attach(1))
+
+    pango.DisplayBase().AddDisplay(plotter)
+
+    while not pango.ShouldQuit():
+        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
+
+        log.Log(math.sin(t), math.cos(t), math.sin(t)+math.cos(t))
+        t+=tinc
+
+        pango.FinishFrame()
+
+if __name__ == "__main__":
+    main()

thirdparty/Pangolin/pyexamples/SimpleVideo.py

@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import sys
+import os
+import argparse
+import numpy as np
+import time
+import json
+
+# If this example doesn't work, it's probably because this path is wrong...
+sys.path.append('../build/src')
+
+import pypangolin as pango
+
+def main(flags):
+    vid_uri = flags.pango
+    vout_uri = flags.pangoOut
+
+    vid = pango.VideoInput(vid_uri)
+    vout = pango.VideoOutput(vout_uri) if vout_uri else None
+
+    device_properties = vid.DeviceProperties()
+
+    # print metadata
+    print("Opened video uri: '{}' with {} x {} dimensions".format( vid_uri,vid.Width(),vid.Height()))
+
+    # user specified initial frame
+    vid.Seek(flags.startFrame)
+
+    # show each frame
+    streamsBitDepth = vid.GetStreamsBitDepth()
+
+    for frame in vid:
+        if vout:
+            vout.WriteStreams(frame, streamsBitDepth, vid.FrameProperties(), device_properties);
+
+        # frame is a list of Images! One per stream
+        # process(frame)
+
+        # printing
+        sys.stdout.write('\rframe: {} / {}'.format(vid.GetCurrentFrameId(), vid.GetTotalFrames()))
+
+    print('\nDONE')
+
+if __name__ == "__main__":
+    # input flags
+    parser = argparse.ArgumentParser('Read a .pango file frame by frame. Optionally stream to another video output.')
+    parser.add_argument(
+        '--pango', type=str,
+        help='path to the input pango file.')
+    parser.add_argument(
+        '--startFrame', type=int, default=0,
+        help='index of the start frame (inclusive)')
+    parser.add_argument(
+        '--pangoOut', type=str, default=None,
+        help='path to the output pango file.')
+
+    # main function
+    main(parser.parse_args())