def resetVariables(self):
"""Initialize all the internal variables of the widget"""
self.sqrzoom = 1;
self.sqrOffsetX = 0
self.sqrOffsetY = 0
# This variables are used to move the rightImg using the mouse
self.mousex = -1
self.mousey = -1
self.colors = RandomColors()
self.red, self.green, self.blue = self.colors.getColors()
def __init__(self, imw, imh,parent = None):
"""Constructor, recives QMainWindow, and two PIL Images"""
# Size of the widget
self.winWidth = imw
self.winHeight = imh
self.imw = self.winWidth
self.imh = self.winHeight
self.presButton = None
self.hnear = .1 #Closest depth that the camera see
self.hfar = 60
self.colors = RandomColors()
self.red, self.green, self.blue = self.colors.getColors()
self.resetView()
QGLWidget.__init__(self, parent)
# It is important, PtsManager is a Singleton so if some points are
# already loaded by another class then, those points will be imported
self.ptsManager = PtsManager()
self.calcMaxValues()
class LandmarkViewer(QGLWidget):
""" 3D Landmark viewer"""
def __init__(self, imw, imh,parent = None):
"""Constructor, recives QMainWindow, and two PIL Images"""
# Size of the widget
self.winWidth = imw
self.winHeight = imh
self.imw = self.winWidth
self.imh = self.winHeight
self.presButton = None
self.hnear = .1 #Closest depth that the camera see
self.hfar = 60
self.colors = RandomColors()
self.red, self.green, self.blue = self.colors.getColors()
self.resetView()
QGLWidget.__init__(self, parent)
# It is important, PtsManager is a Singleton so if some points are
# already loaded by another class then, those points will be imported
self.ptsManager = PtsManager()
self.calcMaxValues()
def calcMaxValues(self):
"""Computes the maximum abs values from the landmarks"""
self.maxx, self.maxy, self.maxz = self.ptsManager.maxValues()
def resetView(self):
# There are 3 display modes 1 -> shows the 2 images side by side
# 2 Shows only the left image, 3 shows only the right image
self.displayMode = 2
self.psize = 5 #Size of the landmarks
self.zoom = 1
#This values are used to rotate the points.
# They should be expressed in angles
self.rotx = 0
self.roty = 0
self.rotz = 0
self.transx = 0
self.transy = 0
self.transz = 0
self.ptsOffsetX = 0
self.ptsOffsetY = 0
# self.zpos = -self.hnear; #Z position of the square exactly where hnear is
self.zpos = -self.hfar/2; #Z position of the square exactly where hnear is
def drawPoints(self, pts):
"""Draws the landmarks in a 3D space"""
colorIndex = 1
glBegin(GL_POINTS)
for pt in pts:
#Changing the color for each point
r = self.red[colorIndex % self.colors.difColors]
g = self.green[colorIndex % self.colors.difColors]
b = self.blue[colorIndex % self.colors.difColors]
glColor3f(r,g,b)
#Normalize all the values between -self.hfar/6 and self.hfar/6
# print "-----------PLOTING-----------------"
# print pt.x, pt.y, pt.z
norx, nory, norz = self.normCord(pt.x, pt.y, pt.z, self.hfar/5)
glVertex3f(norx, nory, norz )
colorIndex = colorIndex + 1
glColor3f(1,1,1)
glEnd()
def initializeGL(self):
"""Initialize all the OpenGL paramaters """
glClearColor(0.0, 0.0, 0.0, 1.0)#Black background
glEnable(GL_TEXTURE_2D);#Enable texturing
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
self.setMinimumSize(50,50)
def mouseMoveEvent(self,mouseEvent):
"""Receives events from the mouse, moves the rightImg position"""
x, y = [mouseEvent.x(), mouseEvent.y()]
if(self.presButton == Qt.LeftButton):
self.roty = self.roty - float(self.mousex - x)/10 #Rotate over y
self.rotx = self.rotx - float(self.mousey - y)/10 #Rotate over x
else:
self.transy = self.transy + float(self.mousey - y)/30 #Translate over y
self.transx = self.transx - float(self.mousex - x)/30 #Translate over x
# self.transz = self.transz - float(self.mousey - y)/10 #Translate over x
self.mousex, self.mousey = x , y
self.updateGL()
def normCord(self,x,y,z,normValue):
"""Normalize the coordinates all the values between -10 and 10"""
#The values are only positive numbers, so I need to center them
x = x - self.maxx/2
y = y - self.maxy/2
z = z - self.maxz/2
# And then normalize them
normx = (x/(self.maxx/2))*normValue
normy = (y/(self.maxy/2))*normValue
normz = (z/(self.maxz/2))*normValue
return normx,normy,normz
def mousePressEvent(self,mouseEvent):
"""Receives events from the mouse"""
self.mousex, self.mousey = [mouseEvent.x(), mouseEvent.y()]
if(mouseEvent.button() == Qt.RightButton):
self.presButton = Qt.RightButton
if(mouseEvent.button() == Qt.LeftButton):
self.presButton = Qt.LeftButton
self.updateGL()
def modifyZoom(self, amount):
"""Used to increase and decrease the zoom"""
self.zoom = self.zoom + amount
self.updateGL()
def wheelEvent(self, wheelEvent):
"""Use wheel in mouse to change zoom"""
delta = self.hfar/40
if( wheelEvent.delta() >0):
self.modifyZoom(-delta)
else:
self.modifyZoom(delta)
def updateGL(self):
"""Updates the display. Its a public slot"""
self.paintGL()
self.swapBuffers()
def paintGL(self):
"""Glut display function."""
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glColorMask( True, True, True, True )
self.updateCamera()
self.render()#We are only displaying the left rightImg
def resizeGL(self, w, h):
""" Resize the width and height of the square """
#The main window has a top toolbar of size 50
glViewport(0,0, w, h)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
self.winHeight = h
self.winWidth = w
self.updateGL()
def keyPressEvent(self,key):
"""Manage the keys pressed by the user"""
if( (key.text() == '1')or (key.text() == '2')or (key.text() == '3')):
self.displayMode = int(key.text())
if( (key.text() == 'r')or (key.text() == 'R')):
self.resetView()
self.updateGL()
def updateCamera(self):
"""Updates the position of the cameras"""
winw, winh = [self.winWidth, self.winHeight]#Set rightImg size as local variables
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# This formula is straight forward from http://www.lighthouse3d.com/opengl/viewfrustum/index.php?defvf
#In this case the choosen camera (left or right) needs to see
#exactly one of the rightImgs
ratio = float(winw)/float(winh)
gluPerspective(45, ratio , 1,self.hfar)
gluLookAt( 0,0,0,0,0,-1,0,1,0 )
def render(self):
"""Render the scene."""
#Size of the rectangle. Reduce the size of the border
glPushMatrix()
#Translate more less to the center in z
glTranslate(self.transx,self.transy,self.zoom-(self.hfar/2))
glRotatef(self.rotx,1,0,0)
glRotatef(self.roty,0,1,0)
glRotatef(self.rotz,0,0,1)
# More less 20 lines along the z axis
self.drawXYZplanes(30,(self.hfar/2))
self.ptsManager = PtsManager()
glPointSize(self.psize)
if(self.displayMode == 1):
self.drawPoints(self.ptsManager.leftpts)
self.drawPoints(self.ptsManager.rightpts)
if(self.displayMode == 2):
self.drawPoints(self.ptsManager.leftpts)
if(self.displayMode == 3):
self.drawPoints(self.ptsManager.rightpts)
glPopMatrix()
def drawXYZplanes(self,lines,size):
glColor(.5,0,0)
glPointSize(self.psize*2)
glBegin(GL_POINTS)
glVertex3f(0,0,0) # Bottom Left Of The Texture and Quad
glEnd()
glBegin(GL_LINES)
for i in range(lines):
# Horizontal lines along the z axis
glVertex3f( -size, 0, i*(size/lines))
glVertex3f( size, 0, i*(size/lines))
glVertex3f( -size, 0, -i*(size/lines))
glVertex3f( size, 0, -i*(size/lines))
#Vertical lines along the z axis
glVertex3f( i*(size/lines), 0, -size)
glVertex3f( i*(size/lines), 0, size)
glVertex3f( -i*(size/lines), 0, -size)
glVertex3f( -i*(size/lines), 0, size)
# Horizontal lines along the y axis
glVertex3f( 0, i*(size/lines), size)
glVertex3f( 0, i*(size/lines), -size)
glVertex3f( 0, -i*(size/lines), size)
glVertex3f( 0, -i*(size/lines), -size)
# Verticallines along the y axis
glVertex3f( 0, size, i*(size/lines))
glVertex3f( 0, -size, i*(size/lines))
glVertex3f( 0, size, -i*(size/lines))
glVertex3f( 0, -size, -i*(size/lines))
glEnd()
class DigitizerWidget(QGLWidget):
""" 3D Digitizer widget"""
def __init__(self, parent,leftImg, rightImg):
"""Constructor, recives QMainWindow, and two PIL Images"""
QGLWidget.__init__(self, parent)
self.hnear = .1; #Closest depth that the camera sees
self.hfar = 50; #Farest depth that the camera sees
self.zpos = -self.hnear; #Z position of the square exactly where hnear is
# Size of the widget
self.winWidth = 100
self.winHeight = 100
# There are 3 display modes 1 -> shows the 2 images side by side
# 2 Shows only the left image, 3 shows only the right image
self.displayMode = 1
self.psize = 4 #Size of the landmarks
self.hideImg = False
self.textureIds = [-1, -1] # Ids of the textures
self.ptsManager = PtsManager()
self.resetVariables()
self.rightImg = rightImg
self.leftImg = leftImg
self.imw, self.imh = self.rightImg.size
self.updateSqrSize()
def resetVariables(self):
"""Initialize all the internal variables of the widget"""
self.sqrzoom = 1;
self.sqrOffsetX = 0
self.sqrOffsetY = 0
# This variables are used to move the rightImg using the mouse
self.mousex = -1
self.mousey = -1
self.colors = RandomColors()
self.red, self.green, self.blue = self.colors.getColors()
def drawPoints(self):
glPushMatrix()
glPointSize(self.psize)
colorIndex = 1
glBegin(GL_POINTS)
pts = []
if(self.displayMode == 2):
pts = self.ptsManager.leftpts
if(self.displayMode == 3):
pts = self.ptsManager.rightpts
for pt in pts:
#Changing the color for each point
r = self.red[colorIndex % self.colors.difColors]
g = self.green[colorIndex % self.colors.difColors]
b = self.blue[colorIndex % self.colors.difColors]
glColor3f(r,g,b)
glx, gly = self.imgCoorToGlCoor(pt.x, pt.y)
#Displaying vertex
glVertex3f( glx,gly, self.zpos) # Bottom Left Of The Texture and Quad
colorIndex = colorIndex + 1
glColor3f(1,1,1)
glEnd()
glPopMatrix()
def initializeGL(self):
"""Initialize all the OpenGL paramaters """
glClearColor(0.0, 0.0, 0.0, 1.0)#Black background
glEnable(GL_TEXTURE_2D);#Enable texturing
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
self.setMinimumSize(50,50)
self.updateSqrSize()
self.resetVariables()
self.loadTextures(self.leftImg,self.rightImg)
self.updateGL()
def updateSqrSize(self):
""" Updates the square size. Is the biggest square proportional the
the original leftImage that can be fited inside the window"""
if( (self.displayMode == 2) or (self.displayMode == 3) ):
if( (self.imw > self.winWidth) or (self.imh > self.winHeight) ):
if(self.imw > self.winWidth):
self.sqw = self.winWidth
self.sqh = int(self.sqw*(float(self.imh)/float(self.imw)))
if(self.sqh > self.winHeight):
self.sqh = self.winHeight
self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh)))
else:
self.sqh = self.winHeight
self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh)))
else:
# The rightImg is smaller than the window in both directions. Then we maintain
# the original size of the rightImg
self.sqw = self.imw
self.sqh = self.imh
else:
if(self.displayMode == 1):
if( (2*self.imw > self.winWidth) or (self.imh > self.winHeight) ):
if(2*self.imw > self.winWidth):
self.sqw = self.winWidth/2
self.sqh = int(self.sqw*(float(self.imh)/float(self.imw)))
if(self.sqh > self.winHeight):
self.sqh = self.winHeight
self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh)))
else:
self.sqh = self.winHeight
self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh)))
else:
# The rightImg is smaller than the window in both directions. Then we maintain
# the original size of the rightImg
self.sqw = self.imw
self.sqh = self.imh
def loadTextures(self,newleftImg,newrightImg):
"""Loads a texture """
self.rightImg = newrightImg
self.leftImg = newleftImg
self.imw, self.imh = self.rightImg.size
self.textureIds[0] = self.bindTexture(ImageQt.ImageQt(self.leftImg),GL_TEXTURE_2D)
self.textureIds[1] = self.bindTexture(ImageQt.ImageQt(self.rightImg),GL_TEXTURE_2D)
def mouseMoveEvent(self,mouseEvent):
"""Receives events from the mouse, moves the rightImg position"""
x, y = [mouseEvent.x(), mouseEvent.y()]
self.sqrOffsetX = self.sqrOffsetX + (self.mousex - x)
self.sqrOffsetY = self.sqrOffsetY + (self.mousey - y)
self.mousex, self.mousey = x , y
self.updateGL()
def windowToGlCoor(self,x,y):
glx = x - self.winWidth/2
gly = self.winHeight/2 - y
return glx, gly
def glCoorToImage(self,x,y):
""" Transform a glCoordinate into Image coordinate inside [imw,imh]"""
# Actual size of the image
sizew, sizeh = float(self.sqw*self.sqrzoom), float(self.sqh*self.sqrzoom)
# Origin of the image in the GL coordinates
ox, oy = (-sizew/2 - self.sqrOffsetX), (-sizeh/2 + self.sqrOffsetY)
# Ratio of the original image and the displayed one
ratiox, ratioy = (self.imw/sizew), (self.imh/sizeh)
imx = (x - ox)*ratiox
imy = (y - oy)*ratioy
return imx, imy
def imgCoorToGlCoor(self,x,y):
"""Transform an image coordinate into GL coordinate"""
# Actual size of the image
sizew, sizeh = float(self.sqw*self.sqrzoom), float(self.sqh*self.sqrzoom)
# Origin of the image in the GL coordinates
ox, oy = (-sizew/2 - self.sqrOffsetX), (-sizeh/2 + self.sqrOffsetY)
# Ratio of the original image and the displayed one
ratiox, ratioy = (self.imw/sizew), (self.imh/sizeh)
glx = x/ratiox + ox
gly = y/ratioy + oy
return glx, gly
def mousePressEvent(self,mouseEvent):
"""Receives events from the mouse"""
self.mousex, self.mousey = [mouseEvent.x(), mouseEvent.y()]
if(mouseEvent.button() == Qt.RightButton):
# Change the windows coordinates to OpenGL coordinates
glx, gly = self.windowToGlCoor(self.mousex, self.mousey)
# Change the OpengGL coordiantes to Image coordinates
imx, imy = self.glCoorToImage(glx, gly)
if( ((imx>=0) and (imy>=0)) and ((imx<=self.imw) and (imy<=self.imh)) ):
if(self.displayMode == 2):
self.ptsManager.addLeftPoint(imx,imy)
if(self.displayMode == 3):
self.ptsManager.addRightPoint(imx,imy)
# self.ptsManager.printPoints()
else:
print "The selected point is outside of the image"
self.updateGL()
def modifyZoom(self, amount):
"""Used to increase and decrease the zoom"""
self.sqrzoom = max(self.sqrzoom + amount,.1)
self.updateGL()
def wheelEvent(self,wheelEvent):
"""Use wheel in mouse to change zoom"""
if( wheelEvent.delta() > 0):
self.modifyZoom(-.1)
else:
self.modifyZoom(.1)
def updateGL(self):
"""Updates the display. Its a public slot"""
self.updateCamera()
self.updateSqrSize()
self.paintGL()
self.swapBuffers()
def paintGL(self):
"""Glut display function."""
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glColorMask( True, True, True, True )
self.render()#We are only displaying the left rightImg
def resizeGL(self, w, h):
""" Resize the width and height of the square """
#The main window has a top toolbar of size 50
glViewport(0,0, w, h)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
self.winHeight = h
self.winWidth = w
self.updateGL()
def keyPressEvent(self,key):
"""Manage the keys pressed by the user"""
if( (key.text() == 'q')or (key.text() == 'Q')):
sys.exit(0)
if( (key.text() == '1')or (key.text() == '2')or (key.text() == '3')):
self.displayMode = int(key.text())
if( (key.text() == 'z') or (key.text() == 'Z')):
self.ptsManager.removeLastPoint()
if( (key.text() == 'h') or (key.text() == 'H')):
self.hideImg = not(self.hideImg)
# if( (key.text() == 'r') or (key.text() == 'R')):
# self.resetVariables()
self.render()
self.updateGL()
def updateCamera(self):
"""Updates the position of the cameras"""
winw, winh = [self.winWidth, self.winHeight]#Set rightImg size as local variables
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# This formula is straight forward from http://www.lighthouse3d.com/opengl/viewfrustum/index.php?defvf
#In this case the choosen camera (left or right) needs to see
#exactly one of the rightImgs
param1 = float(winh)/float(2*(self.hnear))
fov = 2*math.degrees(math.atan(param1))
ratio = float(winw)/float(winh)
gluPerspective(fov, ratio , self.hnear,self.hfar)
gluLookAt( 0,0,0,0,0,-1,0,1,0 )
def render(self):
"""Render the scene."""
#Size of the rectangle. Reduce the size of the border
sizew = float(self.sqw*self.sqrzoom)
sizeh = float(self.sqh*self.sqrzoom)
if( not (self.hideImg)):
if( (self.displayMode == 2) or (self.displayMode == 3)):#Displays only the left image
#Origin of the square containing the texture
ox = -sizew/2 - self.sqrOffsetX
oy = -sizeh/2 + self.sqrOffsetY
if(self.displayMode == 2):
self.drawSquare(self.textureIds[0], ox, oy, sizew, sizeh)
else:
self.drawSquare(self.textureIds[1], ox, oy, sizew, sizeh)
else:
if(self.displayMode == 1):
# Draw left image
ox = -sizew - self.sqrOffsetX
oy = -sizeh/2 + self.sqrOffsetY
self.drawSquare(self.textureIds[0], ox, oy, sizew, sizeh)
# Draw right image
ox = - self.sqrOffsetX
oy = -sizeh/2 + self.sqrOffsetY
self.drawSquare(self.textureIds[1], ox, oy, sizew, sizeh)
self.drawPoints()
def drawSquare(self, textId, ox, oy, sizew, sizeh):
"""Renders a square with a texture with the size and origin defined"""
glPushMatrix()
glColor3f(1,1,1)
glBindTexture(GL_TEXTURE_2D, textId)
zdistance = self.zpos
glBegin(GL_QUADS)
glTexCoord2f(0.0, 0.0); glVertex3f(ox ,oy, zdistance) # Bottom Left Of The Texture and Quad
glTexCoord2f(1.0, 0.0); glVertex3f(ox + sizew,oy, zdistance) # Bottom Right Of The Texture and Quad
glTexCoord2f(1.0, 1.0); glVertex3f(ox + sizew,oy + sizeh, zdistance) # Top Right Of The Texture and Quad
glTexCoord2f(0.0, 1.0); glVertex3f(ox ,oy + sizeh, zdistance) # Top Left Of The Texture and Quad
glEnd()
glPopMatrix()