def draw(self, renderer, draw_pass):
'''Render a color and depth texture pair.'''
if self._first_image:
return
draw = ((draw_pass == self.OPAQUE_DRAW_PASS and self.opaque_texture)
or (draw_pass == self.TRANSPARENT_DRAW_PASS
and not self.opaque_texture))
if not draw:
return
r = renderer
r.disable_shader_capabilities(r.SHADER_LIGHTING | r.SHADER_STEREO_360
| # Avoid geometry shift
r.SHADER_DEPTH_CUE | r.SHADER_SHADOW
| r.SHADER_MULTISHADOW
| r.SHADER_CLIP_PLANES)
r.enable_capabilities |= r.SHADER_ALPHA_DEPTH
# If the desired field of view of the texture does not match the camera field of view
# then adjust projection size. Also if the apect ratio of the target framebuffer and
# the aspect ratio of the texture don't match adjust the projection size.
w, h = r.render_size()
vw, vh = self.size
if vw * h > vh * w:
# Video aspect is wider than window aspect. Fit height, clip width.
sx = (vw / vh) / (w / h)
sy = 1
else:
# Video aspect is narrower than window aspect. Fit width, clip height.
sx = 1
sy = (w / h) / (vw / vh)
cur_proj = r.current_projection_matrix
proj = ((sx, 0, 0, 0), (0, sy, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1))
r.set_projection_matrix(proj)
from chimerax.geometry import place
p0 = place.identity()
cur_view = r.current_view_matrix
r.set_view_matrix(p0)
r.set_model_matrix(p0)
r.enable_blending(False)
Model.draw(self, r, draw_pass)
# Restore view and projection matrices since drawings are not supposed to change these.
r.set_projection_matrix(cur_proj)
r.set_view_matrix(cur_view)
r.enable_capabilities &= ~r.SHADER_ALPHA_DEPTH
r.disable_shader_capabilities(0)
def draw(self, renderer, draw_pass):
'''Render a color and depth texture pair.'''
if self._first_image:
return
if not getattr(renderer, 'mix_video', True):
return
draw = ((draw_pass == self.OPAQUE_DRAW_PASS and self.opaque_texture)
or (draw_pass == self.TRANSPARENT_DRAW_PASS
and not self.opaque_texture))
if not draw:
return
r = renderer
r.disable_shader_capabilities(r.SHADER_LIGHTING | r.SHADER_STEREO_360
| # Avoid geometry shift
r.SHADER_DEPTH_CUE | r.SHADER_SHADOW
| r.SHADER_MULTISHADOW
| r.SHADER_CLIP_PLANES)
r.enable_capabilities |= r.SHADER_DEPTH_TEXTURE
# If the desired field of view of the texture does not match the camera field of view
# then adjust projection size. Also if the apect ratio of the target framebuffer and
# the aspect ratio of the texture don't match adjust the projection size.
w, h = r.render_size()
fx = self._render_field_of_view
rsfx, rsfy = self._realsense_color_field_of_view
from math import atan, radians
rw = atan(radians(fx / 2))
rh = rw * h / w
rsw, rsh = atan(radians(rsfx / 2)), atan(radians(rsfy / 2))
sx, sy = rsw / rw, rsh / rh
cur_proj = r.current_projection_matrix
r.set_projection_matrix(
((sx, 0, 0, 0), (0, sy, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1)))
from chimerax.geometry import place
p0 = place.identity()
cur_view = r.current_view_matrix
r.set_view_matrix(p0)
r.set_model_matrix(p0)
t = self._depth_texture
t.bind_texture(r.depth_texture_unit)
frm = 2**16 / 1000 # Realsense full range in meters (~65).
c = self.session.main_view.camera
from chimerax.vive.vr import SteamVRCamera
if isinstance(c, SteamVRCamera):
# Scale factor from RealSense depth texture 0-1 range
# (~65 meters) to scene units (typically Angstroms).
depth_scale = frm / c.scene_scale
else:
depth_scale = self._depth_scale * frm
from math import tan, radians
cxfov, cyfov = self._realsense_color_field_of_view
dxfov, dyfov = self._realsense_depth_field_of_view
dxscale = tan(radians(0.5 * cxfov)) / tan(radians(0.5 * dxfov))
dyscale = tan(radians(0.5 * cyfov)) / tan(radians(0.5 * dyfov))
r.set_depth_texture_parameters(dxscale, dyscale, depth_scale)
# if r.frame_number % 200 == 1:
# print ('depth params', dxscale, dyscale, depth_scale)
Model.draw(self, r, draw_pass)
# Restore view and projection matrices since drawings are not supposed to change these.
r.set_projection_matrix(cur_proj)
r.set_view_matrix(cur_view)
r.enable_capabilities &= ~r.SHADER_DEPTH_TEXTURE
r.disable_shader_capabilities(0)
def draw(self, renderer, draw_pass):
self._update_graphics(renderer)
Model.draw(self, renderer, draw_pass)
