class StatusWindow(Window):
def __init__(self, parent):
global nomix_set_status
super(StatusWindow, self).__init__(parent, 'Status')
# self.setLayout(GridLayout(orientation=Orientation.Vertical))
self.setSize((1410, 90))
self.setPosition((15, 750))
self.label = Label(self, '', 'sans-bold')
self.label.setFixedSize((1400, 50))
self.label.setPosition((15, 50))
nomix_set_status = self.set_status
def set_status(self, status):
self.label.setCaption(status)
class VoxelGridViewer(ViewerApp):
"""Viewer to visualize a given fixed voxelgrid"""
def __init__(self, voxel_grids, normals=None, mesh_file=None):
super(VoxelGridViewer, self).__init__()
self.disp_idx = 0
self.voxel_grids = voxel_grids
self.normals = normals
if mesh_file is not None:
self.mesh = TriangleMesh(mesh_file)
else:
self.mesh = None
window = Window(self, "VoxelGridViewer")
window.setPosition((15, 15))
window.setLayout(GroupLayout())
tools = Widget(window)
tools.setLayout(
BoxLayout(Orientation.Horizontal, Alignment.Middle, 0, 5))
self.label = Label(window, self.voxel_grids[self.disp_idx][0])
self.selected_voxel = None
self.performLayout()
def keyboardEvent(self, key, scancode, action, modifiers):
if super(VoxelGridViewer, self).keyboardEvent(key, scancode, action,
modifiers):
return True
num_keys = [
glfw.KEY_1, glfw.KEY_2, glfw.KEY_3, glfw.KEY_4, glfw.KEY_5,
glfw.KEY_6, glfw.KEY_7, glfw.KEY_8, glfw.KEY_9, glfw.KEY_0
]
if action == glfw.PRESS and key in num_keys:
idx = num_keys.index(key)
self.disp_idx = np.minimum(len(self.voxel_grids) - 1, idx)
self.label.setCaption(self.voxel_grids[self.disp_idx][0])
self.performLayout()
return True
return False
def update_displayed_scattering(self, p):
d = get_view_ray_dir(p, self.size(), self.camera)
if self.mesh:
intersector = self.mesh.mesh.ray
its_loc, ray_idx, tri_idx = intersector.intersects_location(
self.camera.pos[np.newaxis, :], d[np.newaxis, :])
if len(its_loc) > 0:
dist_to_cam = np.sum((its_loc - self.camera.pos)**2, axis=1)
its_loc = np.array(its_loc[np.argmin(dist_to_cam), :],
dtype=np.float32)
voxel_idx = self.voxel_grids[0][1].point_to_vox_idx(its_loc)
# Update displayed voxel
self.render_context.its_loc = its_loc
self.selected_voxel = voxel_idx
print('Voxel Index: {}'.format(voxel_idx))
print('Selected point {}'.format(its_loc))
def mouseButtonEvent(self, p, button, action, modifier):
if super(VoxelGridViewer,
self).mouseButtonEvent(p, button, action, modifier):
return True
if button == 0 and action == glfw.PRESS and modifier == 0 and self.mesh is not None:
self.update_displayed_scattering(p)
return True
return False
def drawContents(self):
super(VoxelGridViewer, self).drawContents()
self.render_context.shader.bind()
gl.Enable(gl.DEPTH_TEST)
draw_box(self.render_context.shader,
self.voxel_grids[self.disp_idx][1].vxbb_min,
self.voxel_grids[self.disp_idx][1].vxbb_max,
self.camera.viewproj, np.array([1, 1, 0], dtype=np.float32))
if self.mesh is not None:
self.mesh.draw_contents(self.camera, self.render_context,
self.voxel_grids[self.disp_idx][1])
self.voxel_grids[self.disp_idx][1].draw_contents(
self.camera, self.render_context)
if self.normals is not None:
self.normals.draw_contents(self.camera, self.render_context)
if self.selected_voxel is not None:
vxgrid = self.voxel_grids[0][1]
voxel_diag_ws = (vxgrid.vxbb_max -
vxgrid.vxbb_min) / vxgrid.voxel_grid_res
# Round position to index
minvox = (self.selected_voxel / vxgrid.voxel_grid_res) * \
(vxgrid.vxbb_max - vxgrid.vxbb_min) + vxgrid.vxbb_min
maxvox = minvox + voxel_diag_ws
draw_box(self.render_context.shader, minvox, maxvox,
self.camera.viewproj, np.array([1, 0, 0],
dtype=np.float32))