def on_draw(self):
gl.glClearColor(0, 0.0, 0.0, 1.)
self.clear()
width, height = self.get_size()
gl.glViewport(0, 0, width, height)
K_gl = get_projector_gl_intrinsics()
TF = get_extrinsics()
R = np.array([[-1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., -1., 0.],
[0., 0., 0., 1.]])
full_mat = np.ascontiguousarray((K_gl.dot(TF.dot(R))).astype('f4'))
with self.prog.using():
self.prog.uniforms.Mvp = full_mat.tolist()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
gl.glPointSize(25.)
distance = (0, 0, 1)
gl.glPointParameterfv(gl.GL_POINT_DISTANCE_ATTENUATION,
(gl.GLfloat * 3)(*distance))
gl.glEnable(gl.GL_POINT_SPRITE)
self.vertex_info.draw(gl.GL_POINTS)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, width, 0, height, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
gl.glDisable(gl.GL_DEPTH_TEST)
gl.glDisable(gl.GL_BLEND)
self.fps_display.draw()
def set_state(self):
gl.glPushAttrib( gl.GL_ENABLE_BIT )
gl.glBindTexture( gl.GL_TEXTURE_2D, self.texture.id )
gl.glEnable( gl.GL_POINT_SPRITE )
gl.glDisable( gl.GL_LIGHTING )
if self.attenuate:
quadratic = (gl.GLfloat * 3)()
quadratic[:] = (1.0, 0.0, 0.01)
gl.glPointParameterfv( gl.GL_POINT_DISTANCE_ATTENUATION, quadratic )
max_size = gl.GLfloat()
gl.glGetFloatv( gl.GL_POINT_SIZE_MAX, max_size )
gl.glPointParameterf( gl.GL_POINT_FADE_THRESHOLD_SIZE, 60.0 )
gl.glPointParameterf( gl.GL_POINT_SIZE_MIN, 1.0 )
gl.glPointParameterf( gl.GL_POINT_SIZE_MAX, max_size )
gl.glTexEnvf( gl.GL_POINT_SPRITE, gl.GL_COORD_REPLACE, gl.GL_TRUE )
gl.glPointSize( self.point_size )
def on_draw():
window.clear()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_LINE_SMOOTH)
width, height = window.get_size()
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(60, width / float(height), 0.01, 20)
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
# texcoords are [0..1] and relative to top-left pixel corner, add 0.5 to center
gl.glTranslatef(0.5 / image_data.width, 0.5 / image_data.height, 0)
image_texture = image_data.get_texture()
# texture size may be increased by pyglet to a power of 2
tw, th = image_texture.owner.width, image_texture.owner.height
gl.glScalef(image_data.width / float(tw),
image_data.height / float(th), 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
gl.glTranslatef(0, 0, state.distance)
gl.glRotated(state.pitch, 1, 0, 0)
gl.glRotated(state.yaw, 0, 1, 0)
if any(state.mouse_btns):
axes(0.1, 4)
gl.glTranslatef(0, 0, -state.distance)
gl.glTranslatef(*state.translation)
gl.glColor3f(0.5, 0.5, 0.5)
gl.glPushMatrix()
gl.glTranslatef(0, 0.5, 0.5)
grid()
gl.glPopMatrix()
psz = max(window.get_size()) / float(max(w, h)) if state.scale else 1
gl.glPointSize(psz)
distance = (0, 0, 1) if state.attenuation else (1, 0, 0)
gl.glPointParameterfv(gl.GL_POINT_DISTANCE_ATTENUATION,
(gl.GLfloat * 3)(*distance))
if state.lighting:
ldir = [0.5, 0.5, 0.5] # world-space lighting
ldir = np.dot(state.rotation, (0, 0, 1)) # MeshLab style lighting
ldir = list(ldir) + [0] # w=0, directional light
gl.glLightfv(gl.GL_LIGHT0, gl.GL_POSITION, (gl.GLfloat * 4)(*ldir))
gl.glLightfv(gl.GL_LIGHT0, gl.GL_DIFFUSE,
(gl.GLfloat * 3)(1.0, 1.0, 1.0))
gl.glLightfv(gl.GL_LIGHT0, gl.GL_AMBIENT,
(gl.GLfloat * 3)(0.75, 0.75, 0.75))
gl.glEnable(gl.GL_LIGHT0)
gl.glEnable(gl.GL_NORMALIZE)
gl.glEnable(gl.GL_LIGHTING)
gl.glColor3f(1, 1, 1)
texture = image_data.get_texture()
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
gl.glTexParameteri(gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER,
gl.GL_NEAREST)
# comment this to get round points with MSAA on
gl.glEnable(gl.GL_POINT_SPRITE)
if not state.scale and not state.attenuation:
gl.glDisable(gl.GL_MULTISAMPLE) # for true 1px points with MSAA on
vertex_list.draw(gl.GL_POINTS)
gl.glDisable(texture.target)
if not state.scale and not state.attenuation:
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glDisable(gl.GL_LIGHTING)
gl.glColor3f(0.25, 0.25, 0.25)
frustum(depth_intrinsics)
axes()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, width, 0, height, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
gl.glDisable(gl.GL_DEPTH_TEST)
fps_display.draw()
def on_draw():
window.clear()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_LINE_SMOOTH)
width, height = window.get_size()
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(60, width / float(height), 0.01, 20)
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
# texcoords are [0..1] and relative to top-left pixel corner, add 0.5 to center
gl.glTranslatef(0.5 / image_data.width, 0.5 / image_data.height, 0)
# texture size may be increased by pyglet to a power of 2
tw, th = image_data.texture.owner.width, image_data.texture.owner.height
gl.glScalef(image_data.width / float(tw),
image_data.height / float(th), 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
gl.glTranslatef(0, 0, state.distance)
gl.glRotated(state.pitch, 1, 0, 0)
gl.glRotated(state.yaw, 0, 1, 0)
""" if any(state.mouse_btns):
axes(0.1, 4) """
gl.glTranslatef(0, 0, -state.distance)
gl.glTranslatef(*state.translation)
gl.glColor3f(0.5, 0.5, 0.5)
gl.glPushMatrix()
gl.glTranslatef(0, 0.5, 0.5)
#grid()
gl.glPopMatrix()
psz = 1
gl.glPointSize(psz)
distance = (1, 0, 0)
gl.glPointParameterfv(gl.GL_POINT_DISTANCE_ATTENUATION,
(gl.GLfloat * 3)(*distance))
gl.glColor3f(1, 1, 1)
texture = image_data.get_texture()
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
gl.glTexParameteri(
gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER, gl.GL_NEAREST)
# comment this to get round points with MSAA on
gl.glEnable(gl.GL_POINT_SPRITE)
gl.glDisable(gl.GL_MULTISAMPLE) # for true 1px points with MSAA on
vertex_list.draw(gl.GL_POINTS)
gl.glDisable(texture.target)
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glDisable(gl.GL_LIGHTING)
gl.glColor3f(0.25, 0.25, 0.25)
#frustum(depth_intrinsics)
#axes()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, width, 0, height, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
gl.glDisable(gl.GL_DEPTH_TEST)
def on_draw():
window.clear()
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_LINE_SMOOTH)
width, height = window.get_size()
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.gluPerspective(60, width / float(height), 0.01, 20)
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
# texcoords are [0..1] and relative to top-left pixel corner, add 0.5 to center
gl.glTranslatef(0.5 / image_data.width, 0.5 / image_data.height, 0)
# texture size may be increased by pyglet to a power of 2
tw, th = image_data.texture.owner.width, image_data.texture.owner.height
gl.glScalef(image_data.width / float(tw),
image_data.height / float(th), 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
gl.glTranslatef(0, 0, state.distance)
gl.glRotated(state.pitch, 1, 0, 0)
gl.glRotated(state.yaw, 0, 1, 0)
if any(state.mouse_btns):
axes(0.1, 4)
gl.glTranslatef(0, 0, -state.distance)
gl.glTranslatef(*state.translation)
gl.glColor3f(0.5, 0.5, 0.5)
gl.glPushMatrix()
gl.glTranslatef(0, 0.5, 0.5)
grid()
gl.glPopMatrix()
psz = max(window.get_size()) / float(max(w, h)) if state.scale else 1
gl.glPointSize(psz)
distance = (0, 0, 1) if state.attenuation else (1, 0, 0)
gl.glPointParameterfv(gl.GL_POINT_DISTANCE_ATTENUATION,
(gl.GLfloat * 3)(*distance))
if state.lighting:
ldir = [0.5, 0.5, 0.5] # world-space lighting
ldir = np.dot(state.rotation, (0, 0, 1)) # MeshLab style lighting
ldir = list(ldir) + [0] # w=0, directional light
gl.glLightfv(gl.GL_LIGHT0, gl.GL_POSITION, (gl.GLfloat * 4)(*ldir))
gl.glLightfv(gl.GL_LIGHT0, gl.GL_DIFFUSE,
(gl.GLfloat * 3)(1.0, 1.0, 1.0))
gl.glLightfv(gl.GL_LIGHT0, gl.GL_AMBIENT,
(gl.GLfloat * 3)(0.75, 0.75, 0.75))
gl.glEnable(gl.GL_LIGHT0)
gl.glEnable(gl.GL_NORMALIZE)
gl.glEnable(gl.GL_LIGHTING)
gl.glColor3f(1, 1, 1)
texture = image_data.get_texture()
gl.glEnable(texture.target)
gl.glBindTexture(texture.target, texture.id)
gl.glTexParameteri(
gl.GL_TEXTURE_2D, gl.GL_TEXTURE_MAG_FILTER, gl.GL_NEAREST)
# comment this to get round points with MSAA on
gl.glEnable(gl.GL_POINT_SPRITE)
if not state.scale and not state.attenuation:
gl.glDisable(gl.GL_MULTISAMPLE) # for true 1px points with MSAA on
vertex_list.draw(gl.GL_POINTS)
gl.glDisable(texture.target)
if not state.scale and not state.attenuation:
gl.glEnable(gl.GL_MULTISAMPLE)
gl.glDisable(gl.GL_LIGHTING)
gl.glColor3f(0.25, 0.25, 0.25)
frustum(depth_intrinsics)
axes()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
gl.glOrtho(0, width, 0, height, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.glMatrixMode(gl.GL_TEXTURE)
gl.glLoadIdentity()
gl.glDisable(gl.GL_DEPTH_TEST)
fps_display.draw()
