class OGLDraw:
def __init__(self):
"""Constructor"""
# Number of the glut window.
self.window = 0
self.imageExported = False # Stores if the image has been saved to disk
self.loadGeometry()
self.loadBodypartDefs()
def InitGL(self, Width, Height):
"""OpenGL initialization"""
self.colors = colors
# Set viewport color
bgColor = self.normalize(self.colors['Background'])
glClearColor(bgColor[0], bgColor[1], bgColor[2], 0.0)
# Enable dept-buffer clearing
glClearDepth(1.0)
# Set depth test type
glDepthFunc(GL_LESS)
# Enable depth testing
glEnable(GL_DEPTH_TEST)
# Enable smooth shading
glShadeModel(GL_SMOOTH)
# Use shader program
self.initShaders()
glUseProgram(self.shader)
self.defineCamera(Width, Height)
def initShaders(self):
self.shader_vp = '''
#version 120
// Vertex shader
// Output parameters
varying float lin_z;
// Entry point
void main() {
gl_Position = gl_ModelViewMatrix * gl_Vertex;
lin_z = gl_Position.z;
gl_Position = gl_ProjectionMatrix * gl_Position;
gl_FrontColor = gl_Color;
}
'''
self.shader_fp = '''
#version 120
// Fragment (pixel) shader
// Input parameters
// also the output parameters for the vertex shader
varying float lin_z;
// Entry point
void main() {
gl_FragColor = gl_Color;
// Store scaled depth value in alpha channel
gl_FragColor.a = lin_z/100;
// Divide by far plane (TODO calculate from matrix)
}
'''
self.vertex_shader = shaders.compileShader(self.shader_vp,
GL_VERTEX_SHADER)
self.fragment_shader = shaders.compileShader(self.shader_fp,
GL_FRAGMENT_SHADER)
self.shader = shaders.compileProgram(self.vertex_shader,
self.fragment_shader)
def loadGeometry(self):
print '[OGLDraw::loadGeometry] : Loading human geometry'
obj = maketargetlib.Obj("data/base.obj")
self.verts = obj.verts
self.faces = obj.faces
print '[OGLDraw::loadGeometry] : Done loading'
def loadBodypartDefs(self):
print '[OGLDraw::loadBodypartsDefs] : Loading human body parts'
self.hDef = BodyParts()
self.hDef.readVertexDefinitions()
print '[OGLDraw::loadBodypartsDefs] : Done loading'
def getProjMat(self, f, W, H, zNear, zFar):
'''buildPMat(float f, int W, int H, float zNear, float zFar, float* PMat)'''
PMat = [ [2.0*f/W, 0, 0, 0],
[0, 2.0*f/H, 0, 0],
[0, 0, (zFar+zNear)/(zFar-zNear), 1],
[0, 0, -(2*zFar*zNear)/(zFar-zNear), 0] ]
# we ll have to add 1/H and 1/W to get the 1/2 pixel offet later
return PMat
def defineCamera(self, width, height, simple=False):
if simple:
# Simple test projection
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(45.0, float(Width)/float(Height), 0.1, 100.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# Move camera backwards from origin.
glTranslatef(0.0, 0.0, -25.0)
return
# Kinect projection
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
pMat = self.getProjMat(640, width, height, 0.1, 100.0)
glLoadMatrixf(pMat)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# Move camera backwards from origin.
glTranslatef(0.0, 0.0, 25.0)
# Rotate camera 180 degrees around center (along the up vector)
glRotatef(180.0, 0.0, 1.0, 0.0)
def drawHuman(self):
"""
i = 0
while (i < len(self.verts)-3):
self.drawQuad(self.verts[i], self.verts[i+1], self.verts[i+2], self.verts[i+3])
i = i + 4
"""
'''
idx = 0
grp = 6
v = 1
i = 0
glBegin(GL_POINTS)
# DEBUG: draw a single point
color = self.normalize(self.colors[self.hDef.bodyParts[grp]])
glColor3f(color[0], color[1], color[2]) # choose color
vert = self.verts[v]
glVertex3f(vert.x, vert.y, vert.z)
glEnd()
# DEBUG: draw points of one body part
for v in self.hDef.vertices[grp]:
print "Draw pt "+str(v)
color = self.normalize(self.colors[self.hDef.bodyParts[grp]])
glColor3f(color[0], color[1], color[2]) # choose color
vert = self.verts[v-1]
glVertex3f(vert.x, vert.y, vert.z)
i = i+1
if i > 100:
break
glEnd()
'''
#return
idx = 0
for f in self.faces:
color = self.getColor(f[0], f[1], f[2], f[3])
#self.drawQuad(self.verts[f[0]-1], self.verts[f[1]-1], self.verts[f[2]-1], self.verts[f[3]-1], color)
self.drawQuad(f[0]-1, f[1]-1, f[2]-1, f[3]-1, color)
idx = idx +1
if not RENDER_HELPERS and idx > 13100:
break
def drawQuad(self, vert1Idx, vert2Idx, vert3Idx, vert4Idx, color):
if vert1Idx not in self.hDef.groups or \
vert2Idx not in self.hDef.groups or \
vert3Idx not in self.hDef.groups or \
vert4Idx not in self.hDef.groups :
return
#glColor3f(color[0], color[1], color[2]) # choose color
# Draw a square (quadrilateral)
# Start drawing a quad
glBegin(GL_QUADS)
color = self.normalize(self.colors[self.hDef.bodyParts[self.hDef.groups[vert1Idx][0]]])
glColor3f(color[0], color[1], color[2]) # choose color
vert1 = self.verts[vert1Idx]
glVertex3f(vert1.x, vert1.y, vert1.z)
color = self.normalize(self.colors[self.hDef.bodyParts[self.hDef.groups[vert2Idx][0]]])
glColor3f(color[0], color[1], color[2]) # choose color
vert2 = self.verts[vert2Idx]
glVertex3f(vert2.x, vert2.y, vert2.z)
color = self.normalize(self.colors[self.hDef.bodyParts[self.hDef.groups[vert3Idx][0]]])
glColor3f(color[0], color[1], color[2]) # choose color
vert3 = self.verts[vert3Idx]
glVertex3f(vert3.x, vert3.y, vert3.z)
color = self.normalize(self.colors[self.hDef.bodyParts[self.hDef.groups[vert4Idx][0]]])
glColor3f(color[0], color[1], color[2]) # choose color
vert4 = self.verts[vert4Idx]
glVertex3f(vert4.x, vert4.y, vert4.z)
glEnd()
def normalize(self, color):
return [float(color[0])/255, float(color[1])/255, float(color[2])/255]
def getColor(self, vertIdx1, vertIdx2, vertIdx3, vertIdx4):
vGroup = self.getVertGroup(vertIdx1, vertIdx2, vertIdx3, vertIdx4)
if vGroup == -1:
return [1.0, 1.0, 1.0]
return self.normalize(self.colors[self.hDef.bodyParts[vGroup]])
def getVertGroup(self, vertIdx1, vertIdx2, vertIdx3, vertIdx4):
if vertIdx1 not in self.hDef.groups or \
vertIdx2 not in self.hDef.groups or \
vertIdx3 not in self.hDef.groups or \
vertIdx4 not in self.hDef.groups :
return -1
'''
return self.hDef.groups[vertIdx1][0]
for g1 in self.hDef.groups[vertIdx1]:
for g2 in self.hDef.groups[vertIdx2]:
if g2 != g1:
continue
for g3 in self.hDef.groups[vertIdx3]:
if g3 != g2:
continue
for g4 in self.hDef.groups[vertIdx4]:
if g4 != g3:
continue
else:
return g4
return -1
'''
groups = dict()
for v in [vertIdx1, vertIdx2, vertIdx3, vertIdx4]:
for g in self.hDef.groups[v]:
if g not in groups:
groups[g] = 1
else:
groups[g] = groups[g] +1
maxc = 0
bestg = None
for g, c in groups.items():
if c > maxc:
maxc = c
bestg = g
return bestg
def ReSizeGLScene(self, Width, Height):
"""Called when the window is resized"""
if Height == 0: # Prevent A Divide By Zero If The Window Is Too Small
Height = 1
# Reset The Current Viewport And Perspective Transformation
glViewport(0, 0, Width, Height)
self.defineCamera(Width, Height)
def DrawGLScene(self):
"""Main drawing function"""
# Clear The Screen And The Depth Buffer
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
self.drawHuman()
# Export rendered images to file
if not self.imageExported:
self.imageExported = True
print "[OGLDraw::DrawGLScene] : Color plane depths: "
print ' R '+str(glGetIntegerv( GL_RED_BITS ))+' bits'
print ' G '+str(glGetIntegerv( GL_GREEN_BITS ))+' bits'
print ' B '+str(glGetIntegerv( GL_BLUE_BITS ))+' bits'
print ' A '+str(glGetIntegerv( GL_ALPHA_BITS ))+' bits'
# Read pixels back and store in image file (using imagemagick/PIL)
data = glReadPixels(0,0, 640, 480, GL_RGBA, GL_UNSIGNED_BYTE)
image = Image.fromstring("RGBA", (640, 480), data, "raw", "RGBA", 0, -1)
alphaData = image.tostring("raw", "A")
alphaImage = Image.fromstring("L", image.size, alphaData)
alphaImage.show()
alphaImage.save("depth.png")
fullOpaque = Image.new("1", (640, 480), 1)
image.putalpha(fullOpaque)
image.show()
image.save('labels.png', 'PNG')
# since this is double buffered, swap the buffers to display what just got drawn.
glutSwapBuffers()
def keyPressed(self, *args):
"""Keypress input handler"""
# If escape is pressed, kill everything.
if args[0] == ESCAPE:
sys.exit()
def loadBodypartDefs(self):
print '[OGLDraw::loadBodypartsDefs] : Loading human body parts'
self.hDef = BodyParts()
self.hDef.readVertexDefinitions()
print '[OGLDraw::loadBodypartsDefs] : Done loading'