def set_state(self):
gl.glPushMatrix()
gl.glLoadMatrixf(
(gl.GLfloat *
16)(*(self.matrix.getColumn(0) + self.matrix.getColumn(1) +
self.matrix.getColumn(2) + self.matrix.getColumn(3))))
def load_matrix(self):
# Create ctype array of the matrix
orient = (GLfloat * 16)(*self.orient)
glMatrixMode(GL_MODELVIEW)
glLoadMatrixf(orient)
# Create ctype array of the eye vector
eye = (GLfloat * 3)(*self.eye)
# The translation matrix T is simply the inverse translation to the eye location.
glTranslatef(-eye[0], -eye[1], -eye[2])
def __init__(self,image_fname=None,pmat=None,window_coords=None,**kwargs):
if window_coords is None:
# set default value
window_coords = 'y down'
super(MyAppWindow, self).__init__(**kwargs)
self.calib = decompose(pmat)
self.window_coords = window_coords
self.img = pyglet.image.load(image_fname).get_texture(rectangle=True)
if self.window_coords=='y up':
self.img = self.img.get_transform(flip_y=True)
self.img.anchor_x = self.img.anchor_y = 0
self.width = self.img.width
self.height = self.img.height
checks = pyglet.image.create(32, 32, pyglet.image.CheckerImagePattern())
self.background = pyglet.image.TileableTexture.create_for_image(checks)
# Enable alpha blending, required for image.blit.
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.cyl = PointCylinder()
# set modelview matrix to camera extrinsic parameters
if 0:
# do it directly
e = np.vstack((self.calib['extrinsic'],[[0,0,0,1]])) # These HZ eye coords have +Z in front of camera.
coord_xform = np.eye(4)
coord_xform[1,1]=-1 # flip Y coordinate in eye space (OpenGL has +Y as up, HZ has -Y)
coord_xform[2,2]=-1 # flip Z coordinate in eye space (OpenGL has -Z in front of camera, HZ has +Z)
e2 = np.dot( coord_xform, e)
extrinsic = map(float,e2.T.flat)
extrinsic = (gl.GLfloat * 16)(*extrinsic)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadMatrixf(extrinsic)
else:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt( *r['all_args'] )
gl.glDisable(gl.GL_DEPTH_TEST)
def on_resize(self, width, height):
# load HZ matrix into OpenGL equivalent
x0 = 0
y0 = 0
self.gl_viewport_args = x0, y0, self.img.width, self.img.height
gl.glViewport(*self.gl_viewport_args)
znear, zfar = .1, 1000.
proj = convert_hz_intrinsic_to_opengl_projection(self.calib['intrinsic'],
x0,y0,self.img.width,self.img.height, znear, zfar,
window_coords=self.window_coords)
m = map(float,proj.T.flat)
m = (gl.GLfloat * 16)(*m)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadMatrixf(m)
gl.glMatrixMode(gl.GL_MODELVIEW)
return pyglet.event.EVENT_HANDLED
def __init__(self,image_fname=None,pmat=None,window_coords=None,**kwargs):
if window_coords is None:
# set default value
window_coords = 'y down'
super(MyAppWindow, self).__init__(**kwargs)
self.calib = decompose(pmat)
self.window_coords = window_coords
self.img = pyglet.image.load(image_fname).get_texture(rectangle=True)
if self.window_coords=='y up':
self.img = self.img.get_transform(flip_y=True)
self.img.anchor_x = self.img.anchor_y = 0
self.width = self.img.width
self.height = self.img.height
checks = pyglet.image.create(32, 32, pyglet.image.CheckerImagePattern())
self.background = pyglet.image.TileableTexture.create_for_image(checks)
# Enable alpha blending, required for image.blit.
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.cyl = PointCylinder()
# set modelview matrix to camera extrinsic parameters
if 0:
# do it directly
e = np.vstack((self.calib['extrinsic'],[[0,0,0,1]])) # These HZ eye coords have +Z in front of camera.
coord_xform = np.eye(4)
coord_xform[1,1]=-1 # flip Y coordinate in eye space (OpenGL has +Y as up, HZ has -Y)
coord_xform[2,2]=-1 # flip Z coordinate in eye space (OpenGL has -Z in front of camera, HZ has +Z)
e2 = np.dot( coord_xform, e)
extrinsic = map(float,e2.T.flat)
extrinsic = (gl.GLfloat * 16)(*extrinsic)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadMatrixf(extrinsic)
else:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt( *r['all_args'] )
gl.glDisable(gl.GL_DEPTH_TEST)
def on_resize(self, width, height):
# load HZ matrix into OpenGL equivalent
x0 = 0
y0 = 0
self.gl_viewport_args = x0, y0, self.img.width, self.img.height
gl.glViewport(*self.gl_viewport_args)
znear, zfar = .1, 1000.
proj = convert_hz_intrinsic_to_opengl_projection(self.calib['intrinsic'],
x0,y0,self.img.width,self.img.height, znear, zfar,
window_coords=self.window_coords)
m = map(float,proj.T.flat)
m = (gl.GLfloat * 16)(*m)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadMatrixf(m)
gl.glMatrixMode(gl.GL_MODELVIEW)
return pyglet.event.EVENT_HANDLED
def billboard_matrix():
"""
Removes rotational components of
current matrix so that primitives
are always drawn facing the viewer.
|1|0|0|x|
|0|1|0|x|
|0|0|1|x| (x means left unchanged)
|x|x|x|x|
"""
m = get_model_matrix()
# XXX: for i in range(11): m[i] = i ?
m[0] = 1
m[1] = 0
m[2] = 0
m[4] = 0
m[5] = 1
m[6] = 0
m[8] = 0
m[9] = 0
m[10] = 1
pgl.glLoadMatrixf(m)
def billboard_matrix():
"""
Removes rotational components of
current matrix so that primitives
are always drawn facing the viewer.
|1|0|0|x|
|0|1|0|x|
|0|0|1|x| (x means left unchanged)
|x|x|x|x|
"""
m = get_model_matrix()
# XXX: for i in range(11): m[i] = i ?
m[0] = 1
m[1] = 0
m[2] = 0
m[4] = 0
m[5] = 1
m[6] = 0
m[8] = 0
m[9] = 0
m[10] = 1
pgl.glLoadMatrixf(m)
def mult_rot_matrix(self, rot):
pgl.glPushMatrix()
pgl.glLoadMatrixf(rot)
pgl.glMultMatrixf(self._rot)
self._rot = get_model_matrix()
pgl.glPopMatrix()
def euler_rotate(self, angle, x, y, z):
pgl.glPushMatrix()
pgl.glLoadMatrixf(self._rot)
pgl.glRotatef(angle, x, y, z)
self._rot = get_model_matrix()
pgl.glPopMatrix()
def blit_to_texture(self, target, level, x, y, z, internalformat=None):
'''Draw this image to to the currently bound texture at `target`.
If `internalformat` is specified, glTexImage is used to initialise
the texture; otherwise, glTexSubImage is used to update a region.
'''
data_format = self.format
data_pitch = abs(self._current_pitch)
# Determine pixel format from format string
matrix = None
format, type = self._get_gl_format_and_type(data_format)
if format is None:
if (len(data_format) in (3, 4)
and gl.gl_info.have_extension('GL_ARB_imaging')):
# Construct a color matrix to convert to GL_RGBA
def component_column(component):
try:
pos = 'RGBA'.index(component)
return [0] * pos + [1] + [0] * (3 - pos)
except ValueError:
return [0, 0, 0, 0]
# pad to avoid index exceptions
lookup_format = data_format + 'XXX'
matrix = (component_column(lookup_format[0]) +
component_column(lookup_format[1]) +
component_column(lookup_format[2]) +
component_column(lookup_format[3]))
format = {3: gl.GL_RGB, 4: gl.GL_RGBA}.get(len(data_format))
type = gl.GL_UNSIGNED_BYTE
gl.glMatrixMode(gl.GL_COLOR)
gl.glPushMatrix()
gl.glLoadMatrixf((gl.GLfloat * 16)(*matrix))
else:
# Need to convert data to a standard form
data_format = {
1: 'L',
2: 'LA',
3: 'RGB',
4: 'RGBA'
}.get(len(data_format))
format, type = self._get_gl_format_and_type(data_format)
# Workaround: don't use GL_UNPACK_ROW_LENGTH
if gl.current_context._workaround_unpack_row_length:
data_pitch = self.width * len(data_format)
# Get data in required format (hopefully will be the same format it's
# already in, unless that's an obscure format, upside-down or the
# driver is old).
data = self._convert(data_format, data_pitch)
if data_pitch & 0x1:
alignment = 1
elif data_pitch & 0x2:
alignment = 2
else:
alignment = 4
row_length = data_pitch / len(data_format)
gl.glPushClientAttrib(gl.GL_CLIENT_PIXEL_STORE_BIT)
gl.glPixelStorei(gl.GL_UNPACK_ALIGNMENT, alignment)
gl.glPixelStorei(gl.GL_UNPACK_ROW_LENGTH, row_length)
self._apply_region_unpack()
gl.glTexParameteri(target, gl.GL_TEXTURE_WRAP_S, gl.GL_CLAMP_TO_EDGE)
gl.glTexParameteri(target, gl.GL_TEXTURE_WRAP_T, gl.GL_CLAMP_TO_EDGE)
gl.glTexParameteri(target, gl.GL_TEXTURE_MAG_FILTER, gl.GL_LINEAR)
gl.glTexParameteri(target, gl.GL_TEXTURE_MIN_FILTER, gl.GL_LINEAR)
if target == gl.GL_TEXTURE_3D:
assert not internalformat
gl.glTexSubImage3D(target, level, x, y, z, self.width, self.height,
1, format, type, data)
elif internalformat:
gl.glTexImage2D(target, level, internalformat, self.width,
self.height, 0, format, type, data)
else:
gl.glTexSubImage2D(target, level, x, y, self.width, self.height,
format, type, data)
gl.glPopClientAttrib()
if matrix:
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
def blit_to_texture(self, target, level, x, y, z, internalformat=None):
'''Draw this image to to the currently bound texture at `target`.
If `internalformat` is specified, glTexImage is used to initialise
the texture; otherwise, glTexSubImage is used to update a region.
'''
data_format = self.format
data_pitch = abs(self._current_pitch)
# Determine pixel format from format string
matrix = None
format, type = self._get_gl_format_and_type(data_format)
if format is None:
if (len(data_format) in (3, 4) and
gl.gl_info.have_extension('GL_ARB_imaging')):
# Construct a color matrix to convert to GL_RGBA
def component_column(component):
try:
pos = 'RGBA'.index(component)
return [0] * pos + [1] + [0] * (3 - pos)
except ValueError:
return [0, 0, 0, 0]
# pad to avoid index exceptions
lookup_format = data_format + 'XXX'
matrix = (component_column(lookup_format[0]) +
component_column(lookup_format[1]) +
component_column(lookup_format[2]) +
component_column(lookup_format[3]))
format = {
3: gl.GL_RGB,
4: gl.GL_RGBA}.get(len(data_format))
type = gl.GL_UNSIGNED_BYTE
gl.glMatrixMode(gl.GL_COLOR)
gl.glPushMatrix()
gl.glLoadMatrixf((gl.GLfloat * 16)(*matrix))
else:
# Need to convert data to a standard form
data_format = {
1: 'L',
2: 'LA',
3: 'RGB',
4: 'RGBA'}.get(len(data_format))
format, type = self._get_gl_format_and_type(data_format)
# Workaround: don't use GL_UNPACK_ROW_LENGTH
if gl.current_context._workaround_unpack_row_length:
data_pitch = self.width * len(data_format)
# Get data in required format (hopefully will be the same format it's
# already in, unless that's an obscure format, upside-down or the
# driver is old).
data = self._convert(data_format, data_pitch)
if data_pitch & 0x1:
alignment = 1
elif data_pitch & 0x2:
alignment = 2
else:
alignment = 4
row_length = data_pitch / len(data_format)
gl.glPushClientAttrib(gl.GL_CLIENT_PIXEL_STORE_BIT)
gl.glPixelStorei(gl.GL_UNPACK_ALIGNMENT, alignment)
gl.glPixelStorei(gl.GL_UNPACK_ROW_LENGTH, row_length)
self._apply_region_unpack()
gl.glTexParameteri(target, gl.GL_TEXTURE_WRAP_S, gl.GL_CLAMP_TO_EDGE)
gl.glTexParameteri(target, gl.GL_TEXTURE_WRAP_T, gl.GL_CLAMP_TO_EDGE)
gl.glTexParameteri(target, gl.GL_TEXTURE_MAG_FILTER, gl.GL_LINEAR)
gl.glTexParameteri(target, gl.GL_TEXTURE_MIN_FILTER, gl.GL_LINEAR)
if target == gl.GL_TEXTURE_3D:
assert not internalformat
gl.glTexSubImage3D(target, level,
x, y, z,
self.width, self.height, 1,
format, type,
data)
elif internalformat:
gl.glTexImage2D(target, level,
internalformat,
self.width, self.height,
0,
format, type,
data)
else:
gl.glTexSubImage2D(target, level,
x, y,
self.width, self.height,
format, type,
data)
gl.glPopClientAttrib()
if matrix:
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
def euler_rotate(self, angle, x, y, z):
pgl.glPushMatrix()
pgl.glLoadMatrixf(self._rot)
pgl.glRotatef(angle, x, y, z)
self._rot = get_model_matrix()
pgl.glPopMatrix()
def mult_rot_matrix(self, rot):
pgl.glPushMatrix()
pgl.glLoadMatrixf(rot)
pgl.glMultMatrixf(self._rot)
self._rot = get_model_matrix()
pgl.glPopMatrix()
