| 91 | glDisable(GL_DEPTH_TEST) |
| 92 | |
| 93 | class MapRenderer: |
| 94 | def __init__( |
| 95 | self, |
| 96 | pointSize=2.0, |
| 97 | pointOpacity=1.0, |
| 98 | keyFrameCount=None, |
| 99 | colorMode=0, |
| 100 | voxelSize=None, |
| 101 | maxZ=None, |
| 102 | visualizationScale=20, |
| 103 | skipPointsWithoutColor=False, |
| 104 | renderPointCloud=True, |
| 105 | renderSparsePointCloud='auto', |
| 106 | renderKeyFrames=True, |
| 107 | renderMesh=False): |
| 108 | self.renderSparsePointCloud = renderSparsePointCloud |
| 109 | |
| 110 | # constant for entire visualization |
| 111 | self.voxelSize = 0 if voxelSize is None else voxelSize |
| 112 | self.skipPointsWithoutColor = skipPointsWithoutColor |
| 113 | self.maxZ = maxZ |
| 114 | self.visualizationScale = visualizationScale |
| 115 | self.renderPointCloud = renderPointCloud |
| 116 | self.renderKeyFrames = renderKeyFrames |
| 117 | self.renderMesh = renderMesh |
| 118 | |
| 119 | # can be adjusted |
| 120 | self.pointSize = pointSize |
| 121 | self.opacity = pointOpacity |
| 122 | self.maxRenderKeyFrames = keyFrameCount |
| 123 | self.colorMode = colorMode |
| 124 | |
| 125 | self.keyFrameCameraToWorldMatrices = {} |
| 126 | self.pointCloudRenderers = {} |
| 127 | self.sparsePointCloudRenderer = None |
| 128 | self.keyFrameRenderer = KeyFrameRenderer() |
| 129 | # self.meshRenderer = MeshRenderer() # TODO: fix |
| 130 | |
| 131 | def onMappingOutput(self, mapperOutput): |
| 132 | for kfId in mapperOutput.updatedKeyFrames: |
| 133 | keyFrame = mapperOutput.map.keyFrames.get(kfId) |
| 134 | |
| 135 | # Remove deleted key frames from visualisation |
| 136 | if not keyFrame: |
| 137 | self.keyFrameCameraToWorldMatrices.pop(kfId, None) |
| 138 | rendr = self.pointCloudRenderers.pop(kfId, None) |
| 139 | if rendr is not None: rendr.cleanup() |
| 140 | continue |
| 141 | |
| 142 | primaryFrame = keyFrame.frameSet.primaryFrame |
| 143 | self.keyFrameCameraToWorldMatrices[kfId] = primaryFrame.cameraPose.getCameraToWorldMatrix() |
| 144 | |
| 145 | if not keyFrame.pointCloud: continue |
| 146 | if keyFrame.pointCloud.empty(): continue |
| 147 | |
| 148 | if self.renderSparsePointCloud == 'auto': |
| 149 | self.renderSparsePointCloud = False |
| 150 | self.sparsePointCloudRenderer = None |