def main():
global calib, cyl
src_dir = os.path.split(os.path.abspath(__file__))[0]
data_dir = os.path.join(src_dir, '..', 'data')
pmat = np.loadtxt(os.path.join(data_dir, 'cameramatrix.txt'))
calib = decompose(pmat)
width = 752
height = 480
glut.glutInit()
glut.glutInitWindowSize(width, height)
glut.glutInitDisplayMode(glut.GLUT_RGBA | glut.GLUT_DEPTH | glut.GLUT_ACCUM
| glut.GLUT_DOUBLE)
glut.glutCreateWindow("calib_test_pyopengl")
cyl = PointCylinder()
if 1:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt(*r['all_args'])
gl.glDisable(gl.GL_DEPTH_TEST)
glut.glutDisplayFunc(on_draw)
on_resize(width, height)
glut.glutMainLoop()
def main():
global calib, cyl
src_dir = os.path.split(os.path.abspath(__file__))[0]
data_dir = os.path.join(src_dir,'..','data')
pmat = np.loadtxt( os.path.join(data_dir, 'cameramatrix.txt') )
calib = decompose(pmat)
width = 752
height = 480
glut.glutInit()
glut.glutInitWindowSize(width,height)
glut.glutInitDisplayMode(glut.GLUT_RGBA | glut.GLUT_DEPTH | glut.GLUT_ACCUM | glut.GLUT_DOUBLE)
glut.glutCreateWindow("calib_test_pyopengl");
cyl = PointCylinder()
if 1:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt( *r['all_args'] )
gl.glDisable(gl.GL_DEPTH_TEST)
glut.glutDisplayFunc(on_draw)
on_resize(width,height)
glut.glutMainLoop()
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 __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)
#!/usr/bin/env python
import os
import numpy as np
from calib_test_utils import get_gluLookAt
data_dir = os.path.split(os.path.abspath(__file__))[0]
pmat = np.loadtxt( os.path.join(data_dir, 'cameramatrix.txt') )
r = get_gluLookAt(pmat)
for n in ['eye','center','up']:
print 'osg::Vec3 %s = osg::Vec3(%s,%s,%s);'%tuple([n]+r[n])
#!/usr/bin/env python
import os
import numpy as np
from calib_test_utils import get_gluLookAt
data_dir = os.path.split(os.path.abspath(__file__))[0]
pmat = np.loadtxt(os.path.join(data_dir, 'cameramatrix.txt'))
r = get_gluLookAt(pmat)
for n in ['eye', 'center', 'up']:
print 'osg::Vec3 %s = osg::Vec3(%s,%s,%s);' % tuple([n] + r[n])
