def set_fov(self, fov):
self.fov = fov
# this is vertical fov
P = perspective(self.fov,
float(self.width) / float(self.height), 0.01, 100)
self.P = np.ascontiguousarray(P, np.float32)
def __init__(self,
width=512,
height=512,
vertical_fov=90,
device_idx=0,
use_fisheye=False,
msaa=False):
"""
:param width: width of the renderer output
:param height: width of the renderer output
:param vertical_fov: vertical field of view for the renderer
:param device_idx: which GPU to run the renderer on
:param use_fisheye: use fisheye shader or not
"""
self.shaderProgram = None
self.fbo = None
self.color_tex_rgb, self.color_tex_normal, self.color_tex_semantics, self.color_tex_3d = None, None, None, None
self.depth_tex = None
self.VAOs = []
self.VBOs = []
self.textures = []
self.objects = []
self.visual_objects = []
self.vertex_data = []
self.shapes = []
self.texUnitUniform = None
self.width = width
self.height = height
self.faces = []
self.instances = []
self.fisheye = use_fisheye
# self.context = glcontext.Context()
# self.context.create_opengl_context((self.width, self.height))
available_devices = get_available_devices()
if device_idx < len(available_devices):
device = available_devices[device_idx]
logging.info("Using device {} for rendering".format(device))
else:
logging.info(
"Device index is larger than number of devices, falling back to use 0"
)
device = 0
self.device_idx = device_idx
self.device_minor = device
self.msaa = msaa
if platform.system() == 'Darwin':
from gibson2.core.render.mesh_renderer import GLFWRendererContext
self.r = GLFWRendererContext.GLFWRendererContext(width, height)
else:
self.r = MeshRendererContext.MeshRendererContext(
width, height, device)
self.r.init()
self.glstring = self.r.getstring_meshrenderer()
logging.debug('Rendering device and GL version')
logging.debug(self.glstring)
self.colors = [[1, 0, 0], [0, 1, 0], [0, 0, 1]]
self.lightcolor = [1, 1, 1]
logging.debug('Is using fisheye camera: {}'.format(self.fisheye))
if self.fisheye:
[self.shaderProgram,
self.texUnitUniform] = self.r.compile_shader_meshrenderer(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/fisheye_vert.shader')).
readlines()).replace("FISHEYE_SIZE", str(self.width / 2)),
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/fisheye_frag.shader')).
readlines()).replace("FISHEYE_SIZE", str(self.width / 2)))
else:
[self.shaderProgram,
self.texUnitUniform] = self.r.compile_shader_meshrenderer(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/vert.shader')).readlines()),
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/frag.shader')).readlines()))
self.lightpos = [0, 0, 0]
self.setup_framebuffer()
self.vertical_fov = vertical_fov
self.camera = [1, 0, 0]
self.target = [0, 0, 0]
self.up = [0, 0, 1]
P = perspective(self.vertical_fov,
float(self.width) / float(self.height), 0.01, 100)
V = lookat(self.camera, self.target, up=self.up)
self.V = np.ascontiguousarray(V, np.float32)
self.P = np.ascontiguousarray(P, np.float32)
self.materials_mapping = {}
self.mesh_materials = []
def __init__(self,
width=512,
height=512,
fov=90,
device_idx=0,
use_fisheye=False):
"""
:param width: width of the renderer output
:param height: width of the renderer output
:param fov: vertical field of view for the renderer
:param device_idx: which GPU to run the renderer on
:param use_fisheye: use fisheye shader or not
"""
self.shaderProgram = None
self.fbo = None
self.color_tex_rgb, self.color_tex_normal, self.color_tex_semantics, self.color_tex_3d = None, None, None, None
self.depth_tex = None
self.VAOs = []
self.VBOs = []
self.textures = []
self.objects = []
self.visual_objects = []
self.texUnitUniform = None
self.width = width
self.height = height
self.faces = []
self.instances = []
self.fisheye = use_fisheye
# self.context = glcontext.Context()
# self.context.create_opengl_context((self.width, self.height))
available_devices = get_available_devices()
if device_idx < len(available_devices):
device = available_devices[device_idx]
print("using device {}".format(device))
else:
print(
"device index is larger than number of devices, falling back to use 0"
)
device = 0
self.device_idx = device_idx
self.device_minor = device
self.r = MeshRendererContext.MeshRendererContext(width, height, device)
self.r.init()
self.glstring = GL.glGetString(GL.GL_VERSION)
from OpenGL.GL import shaders
self.shaders = shaders
self.colors = colormap
self.lightcolor = [1, 1, 1]
print("fisheye", self.fisheye)
if self.fisheye:
vertexShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/fisheye_vert.shader')).readlines(
)).replace("FISHEYE_SIZE",
str(self.width / 2)),
GL.GL_VERTEX_SHADER)
fragmentShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/fisheye_frag.shader')).readlines(
)).replace("FISHEYE_SIZE",
str(self.width / 2)),
GL.GL_FRAGMENT_SHADER)
else:
vertexShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/vert.shader')).readlines()),
GL.GL_VERTEX_SHADER)
fragmentShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/frag.shader')).readlines()),
GL.GL_FRAGMENT_SHADER)
self.shaderProgram = self.shaders.compileProgram(
vertexShader, fragmentShader)
self.texUnitUniform = GL.glGetUniformLocation(self.shaderProgram,
'texUnit')
self.lightpos = [0, 0, 0]
self.setup_framebuffer()
self.fov = fov
self.camera = [1, 0, 0]
self.target = [0, 0, 0]
self.up = [0, 0, 1]
P = perspective(self.fov,
float(self.width) / float(self.height), 0.01, 100)
V = lookat(self.camera, self.target, up=self.up)
self.V = np.ascontiguousarray(V, np.float32)
self.P = np.ascontiguousarray(P, np.float32)
self.materials_mapping = {}
self.mesh_materials = []
def __init__(self, width=512, height=512, device_idx=0, use_fisheye=False):
self.shaderProgram = None
self.fbo = None
self.color_tex_rgb, self.color_tex_normal, self.color_tex_semantics, self.color_tex_3d = None, None, None, None
self.depth_tex = None
self.VAOs = []
self.VBOs = []
self.textures = []
self.objects = []
self.visual_objects = []
self.texUnitUniform = None
self.width = width
self.height = height
self.faces = []
self.instances = []
self.fisheye = use_fisheye
# self.context = glcontext.Context()
# self.context.create_opengl_context((self.width, self.height))
available_devices = get_available_devices()
assert (device_idx < len(available_devices))
device = available_devices[device_idx]
self.r = CppMeshRenderer.CppMeshRenderer(width, height, device)
self.r.init()
self.glstring = GL.glGetString(GL.GL_VERSION)
from OpenGL.GL import shaders
self.shaders = shaders
self.colors = colormap
self.lightcolor = [1, 1, 1]
print("fisheye", self.fisheye)
if self.fisheye:
vertexShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/fisheye_vert.shader')).readlines(
)).replace("FISHEYE_SIZE",
str(self.width / 2)),
GL.GL_VERTEX_SHADER)
fragmentShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/fisheye_frag.shader')).readlines(
)).replace("FISHEYE_SIZE",
str(self.width / 2)),
GL.GL_FRAGMENT_SHADER)
else:
vertexShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/vert.shader')).readlines()),
GL.GL_VERTEX_SHADER)
fragmentShader = self.shaders.compileShader(
"".join(
open(
os.path.join(os.path.dirname(mesh_renderer.__file__),
'shaders/frag.shader')).readlines()),
GL.GL_FRAGMENT_SHADER)
self.shaderProgram = self.shaders.compileProgram(
vertexShader, fragmentShader)
self.texUnitUniform = GL.glGetUniformLocation(self.shaderProgram,
'texUnit')
self.lightpos = [0, 0, 0]
self.setup_framebuffer()
self.fov = 20
self.camera = [1, 0, 0]
self.target = [0, 0, 0]
self.up = [0, 0, 1]
P = perspective(self.fov,
float(self.width) / float(self.height), 0.01, 100)
V = lookat(self.camera, self.target, up=self.up)
self.V = np.ascontiguousarray(V, np.float32)
self.P = np.ascontiguousarray(P, np.float32)
self.materials_mapping = {}
self.mesh_materials = []