Python OpenGL.GL.glClearColor() Examples

def render(self, context):
        self.shader.bind()

        flipY = -1
        projection = utils.createPerspectiveOrtho(-1.0, 1.0, 1.0 * flipY, -1.0 * flipY, -1.0, 1.0)
        self.shader.uniformMatrix4f(shader.PROJECTION, projection)
        self.shader.uniformf("imageSize", *self.getSize())

        self.setUniforms(self.shader, context.uniforms)

        self.textureMap.bindTextures(self.shader)

        gl.glClearColor(*self.clearColor)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)

        self.bindAttributeArray(self.shader, "inVertex", self.verts, 4)
        gl.glDrawArrays(gl.GL_TRIANGLE_STRIP, 0, len(self.verts) // 4);
        self.unbindAttributeArray(self.shader, "inVertex")

        self.textureMap.unbindTextures()

        self.shader.unbind() 

def initializeGL(self):
        """Initialize OpenGL, VBOs, upload data on the GPU, etc."""

        # First check for supported GL version
        gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
        if gl_version < 3.3:
            return

        # background color
        gl.glClearColor(0, 0, 0, 0)
        gl.glEnable(gl.GL_BLEND)
        gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)

        # self.mcp_data       = mcpUBO()
        self.globaldata     = ndUBO()
        self.mcp_col_shader = BlueSkyProgram('mcp.vert', 'color.frag')
        self.mcp_tex_shader = BlueSkyProgram('mcp.vert', 'texture.frag')
        self.mcp_txt_shader = BlueSkyProgram('mcp_text.vert', 'mcp_text.frag')

        self.color_shader   = BlueSkyProgram('normal.vert', 'color.frag')
        self.text_shader    = BlueSkyProgram('text.vert', 'text.frag')
        self.text_shader.bind_uniform_buffer('global_data', self.globaldata)

        self.create_objects()
        self.update_lcd() 

def initgl(self):
        """Initialize OpenGL for use in the window."""
        import OpenGL.GL as gl
        import OpenGL.GLU as glu
        self.load_textures()
        gl.glEnable(gl.GL_TEXTURE_2D)
        gl.glClearColor(*self.clear_color)
        gl.glClearDepth(1.0)
        gl.glDepthFunc(gl.GL_LESS)
        gl.glEnable(gl.GL_DEPTH_TEST)
        gl.glShadeModel(gl.GL_SMOOTH)

        gl.glMatrixMode(gl.GL_PROJECTION)
        # Reset The projection matrix
        gl.glLoadIdentity()
        # Calculate aspect ratio of the window
        (width, height) = self.canvas.GetClientSize()
        glu.gluPerspective(45.0, float(width) / float(height), 0.1, 100.0)

        gl.glMatrixMode(gl.GL_MODELVIEW)
        gl.glLightfv(gl.GL_LIGHT0, gl.GL_AMBIENT, (0.5, 0.5, 0.5, 1.0))
        gl.glLightfv(gl.GL_LIGHT0, gl.GL_DIFFUSE, (1.0, 1.0, 1.0, 1.0))
        gl.glLightfv(gl.GL_LIGHT0, gl.GL_POSITION, (0.0, 0.0, 2.0, 1.0))
        gl.glEnable(gl.GL_LIGHT0) 

def main_cocos2d():
    class HelloWorld(ImguiLayer):
        is_event_handler = True

        def __init__(self):
            super(HelloWorld, self).__init__()
            self._text = "Input text here"

        def draw(self, *args, **kwargs):
            imgui.new_frame()
            on_frame()
            gl.glClearColor(1., 1., 1., 1)
            gl.glClear(gl.GL_COLOR_BUFFER_BIT)
            imgui.render()

    director.init(width=800, height=600, resizable=True)
    hello_layer = HelloWorld()
    main_scene = cocos.scene.Scene(hello_layer)
    director.run(main_scene)


# backend-independent frame rendering function: 

def main_pygame():
    pygame.init()
    size = 800, 600
    pygame.display.set_mode(size, pygame.DOUBLEBUF | pygame.OPENGL)
    io = imgui.get_io()
    io.fonts.add_font_default()
    io.display_size = size
    renderer = PygameRenderer()
    while 1:
        for event in pygame.event.get():
            if event.type == pygame.QUIT:
                sys.exit()
            renderer.process_event(event)
        imgui.new_frame()
        on_frame()
        # note: cannot use screen.fill((1, 1, 1)) because pygame's screen
        #       does not support fill() on OpenGL sufraces
        gl.glClearColor(1, 1, 1, 1)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
        imgui.render()
        pygame.display.flip() 

def main_glfw():
    def glfw_init():
        width, height = 1280, 720
        window_name = "minimal ImGui/GLFW3 example"
        if not glfw.init():
            print("Could not initialize OpenGL context")
            exit(1)
        # OS X supports only forward-compatible core profiles from 3.2
        glfw.window_hint(glfw.CONTEXT_VERSION_MAJOR, 3)
        glfw.window_hint(glfw.CONTEXT_VERSION_MINOR, 3)
        glfw.window_hint(glfw.OPENGL_PROFILE, glfw.OPENGL_CORE_PROFILE)
        glfw.window_hint(glfw.OPENGL_FORWARD_COMPAT, gl.GL_TRUE)
        # Create a windowed mode window and its OpenGL context
        window = glfw.create_window(
            int(width), int(height), window_name, None, None
        )
        glfw.make_context_current(window)
        if not window:
            glfw.terminate()
            print("Could not initialize Window")
            exit(1)
        return window
    window = glfw_init()
    impl = GlfwRenderer(window)
    while not glfw.window_should_close(window):
        glfw.poll_events()
        impl.process_inputs()
        imgui.new_frame()
        on_frame()
        gl.glClearColor(1., 1., 1., 1)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
        imgui.render()
        impl.render(imgui.get_draw_data())
        glfw.swap_buffers(window)
    impl.shutdown()
    glfw.terminate() 

def render(self, time, frametime):
        GL.glClearColor(
            (math.sin(time) + 1.0) / 2,
            (math.sin(time + 2) + 1.0) / 2,
            (math.sin(time + 3) + 1.0) / 2,
            1.0,
        )
        GL.glClear(GL.GL_COLOR_BUFFER_BIT) 

def initializeGL(self):
        GL.glClearColor(1.0, 0.0, 0.0, 1.0)
        GL.glEnable(GL.GL_BLEND)
        GL.glBlendFunc (GL.GL_SRC_ALPHA, GL.GL_ONE_MINUS_SRC_ALPHA)
        GL.glClear(GL.GL_COLOR_BUFFER_BIT)

        print("OpenGL.GL: " + str(GL.glGetString(GL.GL_VERSION)))
        print("GL.GLSL: " + str(GL.glGetString(GL.GL_SHADING_LANGUAGE_VERSION)))
        print("OpenGL ATTRIBUTES:\n",", ".join(d for d in dir(GL) if d.startswith("GL_")))

        self.program = QOpenGLShaderProgram()
        self.program.addShaderFromSourceCode(QOpenGLShader.Vertex, """#version 120
        attribute vec2 position;
        attribute vec2 texcoord;
        varying vec2 mytexcoord;
        void main() {
            gl_Position = vec4(position, 0., 1.0);
            mytexcoord = texcoord;
        }""")

        self.program.addShaderFromSourceCode(QOpenGLShader.Fragment, """#version 120
        uniform sampler2D texture;
        varying vec2 mytexcoord;
        void main() {
            
            gl_FragColor = texture2D(texture,mytexcoord);
        }""")
        print(self.program.log())
        self.program.link()

        self.texture = fillTexture2d(np.outer(np.linspace(0, 1, 128), np.ones(128))) 

def main():
    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)

    while not pangolin.ShouldQuit():
        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)
        
        # Render OpenGL Cube
        pangolin.glDrawColouredCube()

        # Draw Point Cloud
        points = np.random.random((100000, 3)) * 10
        colors = np.zeros((len(points), 3))
        colors[:, 1] = 1 -points[:, 0] / 10.
        colors[:, 2] = 1 - points[:, 1] / 10.
        colors[:, 0] = 1 - points[:, 2] / 10.

        gl.glPointSize(2)
        gl.glColor3f(1.0, 0.0, 0.0)
        # access numpy array directly(without copying data), array should be contiguous.
        pangolin.DrawPoints(points, colors)    

        pangolin.FinishFrame() 

def initializeGL(self):
        """Initialize OpenGL, VBOs, upload data on the GPU, etc."""

        # First check for supported GL version
        gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
        if gl_version < 3.3:
            return

        # background color
        gl.glClearColor(0, 0, 0, 0)
        gl.glEnable(gl.GL_BLEND)
        gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)

        self.globaldata = ndUBO()

        try:
            # Compile shaders and link color shader program
            self.color_shader = BlueSkyProgram('data/graphics/shaders/nd-normal.vert', 'data/graphics/shaders/nd-color.frag')
            self.color_shader.bind_uniform_buffer('global_data', self.globaldata)

            # Compile shaders and link text shader program
            self.text_shader = BlueSkyProgram('data/graphics/shaders/nd-text.vert', 'data/graphics/shaders/nd-text.frag')
            self.text_shader.bind_uniform_buffer('global_data', self.globaldata)

        except RuntimeError as e:
            qCritical('Error compiling shaders in radarwidget: ' + e.args[0])
            return

        # Set initial zoom
        self.globaldata.set_zoom(4.0)

        self.create_objects() 

def initializeGL(self):
        self.was_valid_in_init = self.isValid()
        gl.glClearColor(0, 0, 0, 0) 

def gl_clear(self):
        from OpenGL import GL
        
        bg = self.bg_color
        if bg:
            r = bg[0] / 255.0
            g = bg[1] / 255.0
            b = bg[2] / 255.0
            GL.glClearColor(r, g, b, 0.0)
        GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT) 

def __init__(self):
    """Initializes the fullscreen quad renderer."""
    GL.glClearColor(0, 0, 0, 0)
    self._init_geometry()
    self._init_texture()
    self._init_shaders() 

def render_stereo_targets(self):
        GL.glClearColor(0, 0, 0, 1)
        GL.glEnable(GL.GL_MULTISAMPLE)
        # Left Eye
        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.left_eye_desc.render_framebuffer_id)
        GL.glViewport(0, 0, self.render_width, self.render_height)
        self.render_scene(openvr.Eye_Left)
        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, 0)
        GL.glDisable(GL.GL_MULTISAMPLE)
        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self.left_eye_desc.render_framebuffer_id)
        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self.left_eye_desc.resolve_framebuffer_id)
        GL.glBlitFramebuffer(
            0, 0, self.render_width, self.render_height,
            0, 0, self.render_width, self.render_height,
            GL.GL_COLOR_BUFFER_BIT, GL.GL_LINEAR)
        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, 0)
        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0)
        # Right Eye
        GL.glEnable(GL.GL_MULTISAMPLE)
        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.right_eye_desc.render_framebuffer_id)
        GL.glViewport(0, 0, self.render_width, self.render_height)
        self.render_scene(openvr.Eye_Right)
        GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, 0)
        GL.glDisable(GL.GL_MULTISAMPLE)
        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, self.right_eye_desc.render_framebuffer_id)
        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, self.right_eye_desc.resolve_framebuffer_id)
        GL.glBlitFramebuffer(
            0, 0, self.render_width, self.render_height,
            0, 0, self.render_width, self.render_height,
            GL.GL_COLOR_BUFFER_BIT, GL.GL_LINEAR)
        GL.glBindFramebuffer(GL.GL_READ_FRAMEBUFFER, 0)
        GL.glBindFramebuffer(GL.GL_DRAW_FRAMEBUFFER, 0) 

def run_main_loop(self):
        while not glfw.window_should_close(self.window):
            self.handle_input()
            self.render_frame()
            glfw.swap_buffers(self.window)
            GL.glClearColor(0, 0, 0, 1)
            GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
            glfw.poll_events() 

def gl_clear(self):
        #from OpenGL import GL
        
        bg = self.bg_color
        if bg:
            r = bg[0] / 255.0
            g = bg[1] / 255.0
            b = bg[2] / 255.0
            GL.glClearColor(r, g, b, 0.0)
        GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT) 

def clear(self):
        if self.drawBackground:
            GL.glClearColor(0.25, 0.27, 0.77, 1.0)
        else:
            GL.glClearColor(0.0, 0.0, 0.0, 0.0)
        GL.glClear(GL.GL_DEPTH_BUFFER_BIT | GL.GL_COLOR_BUFFER_BIT) 

def clear(self):
        if self.drawBackground:
            GL.glClearColor(0.25, 0.27, 0.77, 1.0)
        else:
            GL.glClearColor(0.0, 0.0, 0.0, 0.0)
        GL.glClear(GL.GL_DEPTH_BUFFER_BIT | GL.GL_COLOR_BUFFER_BIT) 

def setClearColor(self, c):
        GL.glClearColor(c.redF(), c.greenF(), c.blueF(), c.alphaF()) 

def main():
    imgui.create_context()
    window = impl_glfw_init()
    impl = GlfwRenderer(window)

    while not glfw.window_should_close(window):
        glfw.poll_events()
        impl.process_inputs()

        imgui.new_frame()

        if imgui.begin_main_menu_bar():
            if imgui.begin_menu("File", True):

                clicked_quit, selected_quit = imgui.menu_item(
                    "Quit", 'Cmd+Q', False, True
                )

                if clicked_quit:
                    exit(1)

                imgui.end_menu()
            imgui.end_main_menu_bar()

        imgui.show_test_window()

        imgui.begin("Custom window", True)
        imgui.text("Bar")
        imgui.text_colored("Eggs", 0.2, 1., 0.)
        imgui.end()

        gl.glClearColor(1., 1., 1., 1)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)

        imgui.render()
        impl.render(imgui.get_draw_data())
        glfw.swap_buffers(window)

    impl.shutdown()
    glfw.terminate() 

def render(self, context):
        self.shader.bind()

        self.setUniforms(self.shader, context.uniforms)
        self.shader.uniformf("screenSize", *self.getSize())

        gl.glClearColor(*self.clearColor)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)
        gl.glDisable(gl.GL_DEPTH_TEST)

        transforms = self.computeBoneTransforms()

        boneMatrixArray = []
        for i, transform in enumerate(transforms):
            boneMatrix = transform.matrix
            boneMatrix.p = transform.transparency #Abuse unused matrix location

            overwrite = transform.damping > 0.0
            if overwrite and self.oldFrameData.get(transform.bone.name):
                overwrite = self.dampenBoneTransform(context, transform)

            if overwrite:
                self.oldFrameData[transform.bone.name] = SkinnedFrameData(context.shownTime, transform)

            boneMatrixArray.extend(utils.matrixToList(boneMatrix))
        self.shader.uniformMatrix4fArray("boneMatrices", boneMatrixArray)

        for transform in transforms:
            self.renderBoneTransform(transform, context)

        for i in range(2):
            gl.glActiveTexture(gl.GL_TEXTURE0 + i)
            gl.glBindTexture(gl.GL_TEXTURE_2D, 0)

        gl.glActiveTexture(gl.GL_TEXTURE0)

        self.shader.unbind() 

def render(self, context):
        self.shader.bind()

        gl.glDisable(gl.GL_BLEND)
        gl.glEnable(gl.GL_DEPTH_TEST)

        gl.glClearDepth(1.0)
        gl.glClearColor(*self.clearColor)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)

        view, projection = createDefaultMatrices(self.width, self.height, context)
        self.shader.uniformMatrix4f(shader.VIEW_MATRIX, view)
        self.shader.uniformMatrix4f(shader.PROJ_MATRIX, projection)

        self.setUniforms(self.shader, context.uniforms)

        for tag, entry in self.models.items():
            mesh = entry.mesh

            entry.textureMap.bindTextures(self.shader)

            self.shader.uniformMatrix4f(shader.WORLD_MATRIX, entry.matrix)

            self.bindAttributeArray(self.shader, "inPosition", mesh.vertices, 3)
            self.bindAttributeArray(self.shader, "inNormal", mesh.normals, 3)
            self.bindAttributeArray(self.shader, "inUv", mesh.uvs, 2)
            gl.glDrawArrays(gl.GL_TRIANGLES, 0, len(mesh.vertices) // 3)
            self.unbindAttributeArray(self.shader, "inPosition")
            self.unbindAttributeArray(self.shader, "inNormal")
            self.unbindAttributeArray(self.shader, "inUv")

            entry.textureMap.unbindTextures()

        gl.glEnable(gl.GL_BLEND)
        gl.glDisable(gl.GL_DEPTH_TEST)

        self.shader.unbind() 

def main():
    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)
    dcam.Resize(pangolin.Viewport(0,0,640*2,480*2))

    while not pangolin.ShouldQuit():
        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)
        
        # Render OpenGL Cube
        pangolin.glDrawColouredCube()

        # Draw Point Cloud
        points = np.random.random((100000, 3)) * 10
        colors = np.zeros((len(points), 3))
        colors[:, 1] = 1 -points[:, 0] / 10.
        colors[:, 2] = 1 - points[:, 1] / 10.
        colors[:, 0] = 1 - points[:, 2] / 10.

        gl.glPointSize(2)
        gl.glColor3f(1.0, 0.0, 0.0)
        # access numpy array directly(without copying data), array should be contiguous.
        pangolin.DrawPoints(points, colors)    

        pangolin.FinishFrame() 

def viewer_refresh(self, q):
    while not q.empty():
      self.state = q.get()

    gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
    gl.glClearColor(0.0, 0.0, 0.0, 1.0)
    self.dcam.Activate(self.scam)

    if self.state is not None:
      if self.state[0].shape[0] >= 2:
        # draw poses
        gl.glColor3f(0.0, 1.0, 0.0)
        pangolin.DrawCameras(self.state[0][:-1])

      if self.state[0].shape[0] >= 1:
        # draw current pose as yellow
        gl.glColor3f(1.0, 1.0, 0.0)
        pangolin.DrawCameras(self.state[0][-1:])

      if self.state[1].shape[0] != 0:
        # draw keypoints
        gl.glPointSize(5)
        gl.glColor3f(1.0, 0.0, 0.0)
        pangolin.DrawPoints(self.state[1], self.state[2])

    pangolin.FinishFrame() 

def setClearColor(self, c):
        GL.glClearColor(c.redF(), c.greenF(), c.blueF(), c.alphaF()) 

def main():
    # Create OpenGL window in single line
    pangolin.CreateWindowAndBind('Main', 640, 480)

    # 3D Mouse handler requires depth testing to be enabled
    gl.glEnable(gl.GL_DEPTH_TEST)


    scam = pangolin.OpenGlRenderState(
        pangolin.ProjectionMatrix(640, 480, 420, 420, 320, 240, 0.1, 1000),
        pangolin.ModelViewLookAt(-1, 1, -1, 0, 0, 0, pangolin.AxisDirection.AxisY))

    # Aspect ratio allows us to constrain width and height whilst fitting within specified
    # bounds. A positive aspect ratio makes a view 'shrink to fit' (introducing empty bars),
    # whilst a negative ratio makes the view 'grow to fit' (cropping the view).
    dcam = pangolin.CreateDisplay()
    dcam.SetBounds(0.0, 1.0, 0.0, 1.0, -640.0/480.0)
    dcam.SetHandler(pangolin.Handler3D(scam))

    # This view will take up no more than a third of the windows width or height, and it
    # will have a fixed aspect ratio to match the image that it will display. When fitting
    # within the specified bounds, push to the top-left (as specified by SetLock).
    dimg = pangolin.Display('image')
    dimg.SetBounds(2./3, 1.0, 0.0, 1./3, 640./480)
    dimg.SetLock(pangolin.Lock.LockLeft, pangolin.Lock.LockTop)


    w, h = 64, 48
    texture = pangolin.GlTexture(w, h, gl.GL_RGB, False, 0, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)

    # Default hooks for exiting (Esc) and fullscreen (tab).
    while not pangolin.ShouldQuit():
        gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
        gl.glClearColor(0.95, 0.95, 0.95, 1.0)

        dcam.Activate(scam)
        gl.glColor3f(1.0, 1.0, 1.0)
        pangolin.glDrawColouredCube()

        # Set some random image data and upload to GPU 
        image = random_image(w, h)
        texture.Upload(image, gl.GL_RGB, gl.GL_UNSIGNED_BYTE)

        # display the image
        dimg.Activate()
        gl.glColor3f(1.0, 1.0, 1.0)
        texture.RenderToViewport()

        pangolin.FinishFrame() 

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() 

def main():
    window = impl_glfw_init()
    imgui.create_context()
    impl = GlfwRenderer(window)

    plot_values = array('f', [sin(x * C) for x in range(L)])
    histogram_values = array('f', [random() for _ in range(20)])

    while not glfw.window_should_close(window):
        glfw.poll_events()
        impl.process_inputs()

        imgui.new_frame()

        imgui.begin("Plot example")
        imgui.plot_lines(
            "Sin(t)",
            plot_values,
            overlay_text="SIN() over time",
            # offset by one item every milisecond, plot values
            # buffer its end wraps around
            values_offset=int(time() * 100) % L,
            # 0=autoscale => (0, 50) = (autoscale width, 50px height)
            graph_size=(0, 50),
        )

        imgui.plot_histogram(
            "histogram(random())",
            histogram_values,
            overlay_text="random histogram",
            # offset by one item every milisecond, plot values
            # buffer its end wraps around
            graph_size=(0, 50),
        )


        imgui.end()

        gl.glClearColor(1., 1., 1., 1)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)

        imgui.render()
        impl.render(imgui.get_draw_data())
        glfw.swap_buffers(window)

    impl.shutdown()
    glfw.terminate() 

def main():
    window, gl_context = impl_pysdl2_init()
    imgui.create_context()
    impl = SDL2Renderer(window)

    running = True
    event = SDL_Event()
    while running:
        while SDL_PollEvent(ctypes.byref(event)) != 0:
            if event.type == SDL_QUIT:
                running = False
                break
            impl.process_event(event)
        impl.process_inputs()

        imgui.new_frame()

        if imgui.begin_main_menu_bar():
            if imgui.begin_menu("File", True):

                clicked_quit, selected_quit = imgui.menu_item(
                    "Quit", 'Cmd+Q', False, True
                )

                if clicked_quit:
                    exit(1)

                imgui.end_menu()
            imgui.end_main_menu_bar()

        imgui.show_test_window()

        imgui.begin("Custom window", True)
        imgui.text("Bar")
        imgui.text_colored("Eggs", 0.2, 1., 0.)
        imgui.end()

        gl.glClearColor(1., 1., 1., 1)
        gl.glClear(gl.GL_COLOR_BUFFER_BIT)

        imgui.render()
        impl.render(imgui.get_draw_data())
        SDL_GL_SwapWindow(window)

    impl.shutdown()
    SDL_GL_DeleteContext(gl_context)
    SDL_DestroyWindow(window)
    SDL_Quit() 

def initializeGL(self):
        """Initialize OpenGL, VBOs, upload data on the GPU, etc."""

        # First check for supported GL version
        gl_version = float(gl.glGetString(gl.GL_VERSION)[:3])
        if gl_version < 3.3:
            print(('OpenGL context created with GL version %.1f' % gl_version))
            qCritical("""Your system reports that it supports OpenGL up to version %.1f. The minimum requirement for BlueSky is OpenGL 3.3.
                Generally, AMD/ATI/nVidia cards from 2008 and newer support OpenGL 3.3, and Intel integrated graphics from the Haswell
                generation and newer. If you think your graphics system should be able to support GL>=3.3 please open an issue report
                on the BlueSky Github page (https://github.com/ProfHoekstra/bluesky/issues)""" % gl_version)
            return

        # background color
        gl.glClearColor(*(palette.background + (0,)))
        gl.glEnable(gl.GL_BLEND)
        gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)

        self.globaldata = radarUBO()

        try:
            shpath = path.join(settings.gfx_path, 'shaders')
            # Compile shaders and link color shader program
            self.color_shader = BlueSkyProgram(path.join(shpath, 'radarwidget-normal.vert'), path.join(shpath, 'radarwidget-color.frag'))
            self.color_shader.bind_uniform_buffer('global_data', self.globaldata)

            # Compile shaders and link texture shader program
            self.texture_shader = BlueSkyProgram(path.join(shpath, 'radarwidget-normal.vert'), path.join(shpath, 'radarwidget-texture.frag'))
            self.texture_shader.bind_uniform_buffer('global_data', self.globaldata)

            # Compile shaders and link text shader program
            self.text_shader = BlueSkyProgram(path.join(shpath, 'radarwidget-text.vert'), path.join(shpath, 'radarwidget-text.frag'))
            self.text_shader.bind_uniform_buffer('global_data', self.globaldata)

            self.ssd_shader = BlueSkyProgram(path.join(shpath, 'ssd.vert'), path.join(shpath, 'ssd.frag'), path.join(shpath, 'ssd.geom'))
            self.ssd_shader.bind_uniform_buffer('global_data', self.globaldata)
            self.ssd_shader.loc_vlimits = gl.glGetUniformLocation(self.ssd_shader.program, 'Vlimits')
            self.ssd_shader.loc_nac = gl.glGetUniformLocation(self.ssd_shader.program, 'n_ac')

        except RuntimeError as e:
            print('Error compiling shaders in radarwidget: ' + e.args[0])
            qCritical('Error compiling shaders in radarwidget: ' + e.args[0])
            return

        # create all vertex array objects
        try:
            self.create_objects()
        except Exception as e:
            print('Error while creating RadarWidget objects: ' + e.args[0])