def gl_display_in_window(self,world_tex_id):
"""
here we map a selected surface onto a seperate window.
"""
if self._window and self.detected:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
clear_gl_screen()
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_from_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, 1, 0, 1,-1,1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
#apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
draw_named_texture(world_tex_id)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
# now lets get recent pupil positions on this surface:
draw_points_norm(self.gaze_on_srf,color=RGBA(0.,8.,.5,.8), size=80)
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
if self.window_should_close:
self.close_window()
def _draw_heatmap(self, surface):
# TODO The heatmap is computed in undistorted space. For the visualization to
# be precisely correct we would have to distort the heatmap accordingly.
if self.heatmap_mode == Heatmap_Mode.WITHIN_SURFACE:
self.heatmap_textures[surface].update_from_ndarray(
surface.within_surface_heatmap
)
else:
self.heatmap_textures[surface].update_from_ndarray(
surface.across_surface_heatmap
)
width, height = self.tracker.camera_model.resolution
img_corners = np.array(
[(0, height), (width, height), (width, 0), (0, 0)], dtype=np.float32
)
norm_trans = _get_points_to_norm_trans(img_corners)
trans_mat = norm_trans @ surface.surf_to_dist_img_trans
trans_mat = gl_utils.cvmat_to_glmat(trans_mat)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glOrtho(0, 1, 0, 1, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
# apply trans_mat to our quad - this will stretch the quad such that the ref suface will span the window extends
gl.glLoadMatrixf(trans_mat)
self.heatmap_textures[surface].draw()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
def _draw_heatmap(self, surface):
# TODO The heatmap is computed in undistorted space. For the visualization to
# be precisely correct we would have to distort the heatmap accordingly.
if self.heatmap_mode == Heatmap_Mode.WITHIN_SURFACE:
self.heatmap_textures[surface].update_from_ndarray(
surface.within_surface_heatmap
)
else:
self.heatmap_textures[surface].update_from_ndarray(
surface.across_surface_heatmap
)
width, height = self.tracker.camera_model.resolution
img_corners = np.array(
[(0, height), (width, height), (width, 0), (0, 0)], dtype=np.float32
)
norm_trans = _get_points_to_norm_trans(img_corners)
trans_mat = norm_trans @ surface.surf_to_dist_img_trans
trans_mat = gl_utils.cvmat_to_glmat(trans_mat)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glOrtho(0, 1, 0, 1, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
# apply trans_mat to our quad - this will stretch the quad such that the ref suface will span the window extends
gl.glLoadMatrixf(trans_mat)
self.heatmap_textures[surface].draw()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
def gl_display_in_window(self,world_tex):
"""
here we map a selected surface onto a seperate window.
"""
if self._window and self.detected:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
clear_gl_screen()
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_from_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, 1, 0, 1,-1,1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
#apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
world_tex.draw()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
# now lets get recent pupil positions on this surface:
for gp in self.gaze_on_srf:
draw_points_norm([gp['norm_pos']],color=RGBA(0.0,0.8,0.5,0.8), size=80)
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display_in_window_3d(self, world_tex):
"""
here we map a selected surface onto a seperate window.
"""
K, img_size = (
self.g_pool.capture.intrinsics.K,
self.g_pool.capture.intrinsics.resolution,
)
if self._window and self.camera_pose_3d is not None:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
glClearColor(0.8, 0.8, 0.8, 1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
self.trackball.push()
glMatrixMode(GL_MODELVIEW)
draw_coordinate_system(l=self.real_world_size["x"])
glPushMatrix()
glScalef(self.real_world_size["x"], self.real_world_size["y"], 1)
draw_polyline(
[[0, 0], [0, 1], [1, 1], [1, 0]],
color=RGBA(0.5, 0.3, 0.1, 0.5),
thickness=3,
)
glPopMatrix()
# Draw the world window as projected onto the plane using the homography mapping
glPushMatrix()
glScalef(self.real_world_size["x"], self.real_world_size["y"], 1)
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_from_screen)
glMultMatrixf(m)
glTranslatef(0, 0, -0.01)
world_tex.draw()
draw_polyline(
[[0, 0], [0, 1], [1, 1], [1, 0]],
color=RGBA(0.5, 0.3, 0.6, 0.5),
thickness=3,
)
glPopMatrix()
# Draw the camera frustum and origin using the 3d tranformation obtained from solvepnp
glPushMatrix()
glMultMatrixf(self.camera_pose_3d.T.flatten())
draw_frustum(img_size, K, 150)
glLineWidth(1)
draw_frustum(img_size, K, 0.1)
draw_coordinate_system(l=5)
glPopMatrix()
self.trackball.pop()
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display_in_window_3d(self,world_tex,camera_intrinsics):
"""
here we map a selected surface onto a seperate window.
"""
K,dist_coef,img_size = camera_intrinsics['camera_matrix'],camera_intrinsics['dist_coefs'],camera_intrinsics['resolution']
if self._window and self.camera_pose_3d is not None:
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
glClearColor(.8,.8,.8,1.)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
self.trackball.push()
glMatrixMode(GL_MODELVIEW)
draw_coordinate_system(l=self.real_world_size['x'])
glPushMatrix()
glScalef(self.real_world_size['x'],self.real_world_size['y'],1)
draw_polyline([[0,0],[0,1],[1,1],[1,0]],color = RGBA(.5,.3,.1,.5),thickness=3)
glPopMatrix()
# Draw the world window as projected onto the plane using the homography mapping
glPushMatrix()
glScalef(self.real_world_size['x'], self.real_world_size['y'], 1)
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_from_screen)
glMultMatrixf(m)
glTranslatef(0,0,-.01)
world_tex.draw()
draw_polyline([[0,0],[0,1],[1,1],[1,0]],color = RGBA(.5,.3,.6,.5),thickness=3)
glPopMatrix()
# Draw the camera frustum and origin using the 3d tranformation obtained from solvepnp
glPushMatrix()
glMultMatrixf(self.camera_pose_3d.T.flatten())
draw_frustum(img_size, K, 150)
glLineWidth(1)
draw_frustum(img_size, K, .1)
draw_coordinate_system(l=5)
glPopMatrix()
self.trackball.pop()
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
if self.window_should_close:
self.close_window()
def gl_display_heatmap(self):
if self.detected:
m = cvmat_to_glmat(self.m_to_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, 1, 0, 1, -1, 1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
# apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
self.heatmap_texture.draw()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def gl_display_metrics(self):
if self.metrics_texture and self.detected:
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_to_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, 1, 0, 1, -1, 1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
# apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
self.metrics_texture.draw()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def gl_display_in_window(self,surface):
"""
here we map a selected surface onto a seperate window.
"""
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
clear_gl_screen()
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(surface.m_from_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(0, 1, 0, 1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
#apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
#redraw will use the most recent world img texture and use it again.
redraw_gl_texture( ((0,0),(1,0),(1,1),(0,1)) )
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
#now lets get recent pupil positions on this surface:
try:
gaze_on_surface = [p['realtime gaze on '+surface.name] for p in self.recent_pupil_positions]
except KeyError:
gaze_on_surface = []
draw_gl_points_norm(gaze_on_surface,color=(0.,8.,.5,.8), size=80)
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display_in_window(self, world_tex):
"""
here we map a selected surface onto a separate window.
"""
if self._window and self.surface.detected:
active_window = glfw.get_current_context()
glfw.make_context_current(self._window)
gl_utils.clear_gl_screen()
# cv uses 3x3 gl uses 4x4 transformation matrices
width, height = self.tracker.camera_model.resolution
img_corners = np.array(
[(0, height), (width, height), (width, 0), (0, 0)], dtype=np.float32
)
denorm_trans = _get_norm_to_points_trans(img_corners)
trans_mat = self.surface.dist_img_to_surf_trans @ denorm_trans
trans_mat = gl_utils.cvmat_to_glmat(trans_mat)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glOrtho(0, 1, 0, 1, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
# apply trans_mat to our quad - this will stretch the quad such that the
# surface will span the window extends
gl.glLoadMatrixf(trans_mat)
world_tex.draw()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
self.draw_recent_pupil_positions()
glfw.swap_buffers(self._window)
glfw.make_context_current(active_window)
def gl_display_in_window(self, world_tex):
"""
here we map a selected surface onto a separate window.
"""
if self._window and self.surface.detected:
active_window = glfw.glfwGetCurrentContext()
glfw.glfwMakeContextCurrent(self._window)
gl_utils.clear_gl_screen()
# cv uses 3x3 gl uses 4x4 transformation matrices
width, height = self.tracker.camera_model.resolution
img_corners = np.array(
[(0, height), (width, height), (width, 0), (0, 0)], dtype=np.float32
)
denorm_trans = _get_norm_to_points_trans(img_corners)
trans_mat = self.surface.dist_img_to_surf_trans @ denorm_trans
trans_mat = gl_utils.cvmat_to_glmat(trans_mat)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glOrtho(0, 1, 0, 1, -1, 1)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
# apply trans_mat to our quad - this will stretch the quad such that the
# surface will span the window extends
gl.glLoadMatrixf(trans_mat)
world_tex.draw()
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glPopMatrix()
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPopMatrix()
self.draw_recent_pupil_positions()
glfw.glfwSwapBuffers(self._window)
glfw.glfwMakeContextCurrent(active_window)
def gl_display_in_window(self, surface):
"""
here we map a selected surface onto a seperate window.
"""
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(self._window)
clear_gl_screen()
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(surface.m_from_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(0, 1, 0, 1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
#apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
draw_named_texture(self.g_pool.image_tex)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
#now lets get recent pupil positions on this surface:
try:
gaze_on_surface = [
p['realtime gaze on ' + surface.name]
for p in self.recent_pupil_positions
]
except KeyError:
gaze_on_surface = []
draw_gl_points_norm(gaze_on_surface, color=(0., 8., .5, .8), size=80)
glfwSwapBuffers(self._window)
glfwMakeContextCurrent(active_window)
def gl_display_heatmap(self):
if self.heatmap_texture and self.detected:
# cv uses 3x3 gl uses 4x4 tranformation matricies
m = cvmat_to_glmat(self.m_to_screen)
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
glOrtho(0, 1, 0, 1,-1,1) # gl coord convention
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
#apply m to our quad - this will stretch the quad such that the ref suface will span the window extends
glLoadMatrixf(m)
self.heatmap_texture.draw()
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
