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SimplePlotDisplay.py
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SimplePlotDisplay.py
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# https://github.com/stevenlovegrove/Pangolin/tree/master/examples/HelloPangolin
# https://github.com/stevenlovegrove/Pangolin/blob/master/examples/SimplePlot
import OpenGL.GL as gl
import pangolin
import numpy as np
def main():
# Create OpenGL window in single line
pangolin.CreateWindowAndBind('Main', 640, 480)
gl.glEnable(gl.GL_DEPTH_TEST)
# Define Projection and initial ModelView matrix
scam = pangolin.OpenGlRenderState(
pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.2, 100),
pangolin.ModelViewLookAt(-2, 2, -2, 0, 0, 0, pangolin.AxisDirection.AxisY))
handler = pangolin.Handler3D(scam)
# Create Interactive View in window
dcam = pangolin.CreateDisplay()
dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0/480.0)
dcam.SetHandler(handler)
# Data logger object
log = pangolin.DataLog()
# Optionally add named labels
labels = ['sin(t)', 'cos(t)', 'sin(t)+cos(t)']
log.SetLabels(labels)
# OpenGL 'view' of data. We might have many views of the same data.
tinc = 0.03
plotter = pangolin.Plotter(log, 0.0, 6.0*np.pi/tinc, -2.0, 2.0, np.pi/(6*tinc), 0.5)
plotter.SetBounds(0.05, 0.3, 0.0, 0.4)
plotter.Track('$i')
# Add some sample annotations to the plot
plotter.AddMarker(pangolin.Marker.Vertical, -1000, pangolin.Marker.LessThan,
pangolin.Colour.Blue().WithAlpha(0.2))
plotter.AddMarker(pangolin.Marker.Horizontal, 100, pangolin.Marker.GreaterThan,
pangolin.Colour.Red().WithAlpha(0.2))
plotter.AddMarker(pangolin.Marker.Horizontal, 10, pangolin.Marker.Equal,
pangolin.Colour.Green().WithAlpha(0.2))
pangolin.DisplayBase().AddDisplay(plotter)
t = 0
while not pangolin.ShouldQuit():
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# Plot line
log.Log(np.sin(t), np.cos(t), np.sin(t)+np.cos(t))
t += tinc
gl.glClearColor(1.0, 1.0, 1.0, 1.0)
dcam.Activate(scam)
# Render OpenGL 3D Cube
pangolin.glDrawColouredCube()
pangolin.FinishFrame()
if __name__ == '__main__':
main()