def main(self):
self.setup_atb()
self.fig.window.push_handlers(self.on_init, self.on_mouse_drag,
self.on_mouse_scroll, self.on_key_press,
self.on_key_release)
self.fig.window.push_handlers(atb.glumpy.Handlers(self.fig.window))
self.fig.window.push_handlers(self.on_draw)
self.fig.window.set_title(self.title)
glumpy.show()
def main(self): self.setup_atb() self.fig.window.push_handlers( self.on_init, self.on_mouse_drag, self.on_mouse_scroll, self.on_key_press, self.on_key_release) self.fig.window.push_handlers(atb.glumpy.Handlers(self.fig.window)) self.fig.window.push_handlers(self.on_draw) self.fig.window.set_title(self.title) glumpy.show()
def play(z, T=5.):
"""
T: duration in second of a period
TODO: currently failing on MacOsX - use numpyGL?
"""
global t, t0, frames
N_X, N_Y, N_frame = z.shape
import glumpy
fig = glumpy.figure((N_X, N_Y))
Z = z[:, :, 0].T.astype(np.float32)
image = glumpy.image.Image(Z) #, interpolation='nearest', colormap=glumpy.colormap.Grey, vmin=0, vmax=1)
t0, frames, t = 0, 0, 0
@fig.event
def on_draw():
fig.clear()
image.draw(x=0, y=0, z=0, width=fig.width, height=fig.height )
@fig.event
def on_key_press(symbol, modifiers):
if symbol == glumpy.window.key.TAB:
if fig.window.get_fullscreen():
fig.window.set_fullscreen(0)
else:
fig.window.set_fullscreen(1)
if symbol == glumpy.window.key.ESCAPE:
import sys
sys.exit()
@fig.event
def on_idle(dt):
global t, t0, frames
t += dt
frames = frames + 1
if t-t0 > 5.0:
fps = float(frames)/(t-t0)
print('FPS: %.2f (%d frames in %.2f seconds)' % (fps, frames, t-t0))
frames, t0 = 0, t
# computing the frame more closely to the actual time
Z[...] = z[:, :, np.int(np.mod(t, T)/T * N_frame)].T.astype(np.float32)
#Z[...] = z[:, :, frames % N_frame].T.astype(np.float32)
image.update()
fig.redraw()
glumpy.show()
def play(z, T=5.):
"""
T: duration in second of a period
TODO: currently failing on MacOsX - use numpyGL?
"""
global t, t0, frames
N_X, N_Y, N_frame = z.shape
import glumpy
fig = glumpy.figure((N_X, N_Y))
Z = z[:, :, 0].T.astype(np.float32)
image = glumpy.image.Image(Z) #, interpolation='nearest', colormap=glumpy.colormap.Grey, vmin=0, vmax=1)
t0, frames, t = 0, 0, 0
@fig.event
def on_draw():
fig.clear()
image.draw(x=0, y=0, z=0, width=fig.width, height=fig.height )
@fig.event
def on_key_press(symbol, modifiers):
if symbol == glumpy.window.key.TAB:
if fig.window.get_fullscreen():
fig.window.set_fullscreen(0)
else:
fig.window.set_fullscreen(1)
if symbol == glumpy.window.key.ESCAPE:
import sys
sys.exit()
@fig.event
def on_idle(dt):
global t, t0, frames
t += dt
frames = frames + 1
if t-t0 > 5.0:
fps = float(frames)/(t-t0)
print('FPS: %.2f (%d frames in %.2f seconds)' % (fps, frames, t-t0))
frames, t0 = 0, t
# computing the frame more closely to the actual time
Z[...] = z[:, :, np.int(np.mod(t, T)/T * N_frame)].T.astype(np.float32)
#Z[...] = z[:, :, frames % N_frame].T.astype(np.float32)
image.update()
fig.redraw()
glumpy.show()
def dantien(feed_func, layout, update_rate=5):
ts = TimeSeries(feed_func)
cols = len(layout[0])
rows = len(layout)
fig = glumpy.figure()
for x, y in product(range(cols), range(rows)):
cons = layout[y][x]
subfig = fig.add_figure(cols=cols, rows=rows, position=[x,rows-y-1])
cons(subfig, ts)
@fig.timer(update_rate)
def update(_):
ts.eat()
@fig.event('on_idle')
def idle(_):
fig.redraw()
glumpy.show()
import OpenGL.GL as gl
from glumpy import figure, show
top_left = figure()
top_right = top_left.split('right')
bottom_left = top_left.split('bottom', size=.75)
bottom_right = top_right.split('bottom', size=.25)
@top_left.event
def on_draw():
top_left.clear(1, 0, 0, 1)
@top_right.event
def on_draw():
top_right.clear(0, 0, 1, 1)
@bottom_right.event
def on_draw():
bottom_right.clear(0, 1, 0, 1)
@bottom_left.event
def on_draw():
bottom_left.clear(1, 1, 1, 1)
show()
@fig.event
def on_draw():
fig.clear()
sim.draw()
@fig.event
def on_idle(dt):
if sim.frames_until_pause != 0:
sim.frames_until_pause -= 1
try:
sim.learner.next()
except:
logging.exception('error while training !')
sys.exit()
if opts.save_frames and 0 == sim.frames % opts.save_frames:
save_frame(sim.frames_saved, fig.width, fig.height)
sim.frames_saved += 1
fig.redraw()
@fig.event
def on_key_press(key, modifiers):
if key == glumpy.window.key.ESCAPE:
sys.exit()
if key == glumpy.window.key.SPACE:
sim.frames_until_pause = sim.frames_until_pause == 0 and -1 or 0
if key == glumpy.window.key.ENTER:
if sim.frames_until_pause >= 0:
sim.frames_until_pause = 1
glumpy.show()
fig32 = fig3.add_figure(cols=2, rows=2, position=[0, 1], size=[1, 1])
fig33 = fig3.add_figure(cols=2, rows=2, position=[1, 0], size=[1, 2])
@fig1.event
def on_draw():
fig1.clear(1, 0, 0, 1)
@fig2.event
def on_draw():
fig2.clear(0, 1, 0, 1)
@fig31.event
def on_draw():
fig31.clear(0, 0, 1, 1)
@fig32.event
def on_draw():
fig32.clear(0, 0, 0, 1)
@fig33.event
def on_draw():
fig33.clear(1, 1, 1, 1)
show()
Z[...] = FD.SV.transpose()
I.update()
fig.redraw()
if EnableVideo:
fileName = FILE + str(FD.t / 100) + ".jpg"
FD.save_video(fig, fileName)
else:
#Retrieve the receiver signals from the computing device to the host
FD.saveOutput() #FD.receivers_signals
# Save simulation data: receivers, dt, dr, dz
FD.save_data(FILE)
sys.exit()
glumpy.show()
else:
# main loop
while (FD.t < TimeIter):
FD.RunCL()
if FD.t % 500 == 0:
print FD.t, " of total iterations: ", TimeIter
print time.time() - start
#Retrieve the receiver signals from the computing device to the host
FD.saveOutput() #FD.receivers_signals
# Save simulation data: receivers, dt, dr, dz
FD.save_data(FILE)
def main(simulator):
fig = glumpy.figure()
world = fig.add_figure()
@fig.event
def on_init():
gl.glEnable(gl.GL_BLEND)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_BLEND)
gl.glEnable(gl.GL_COLOR_MATERIAL)
gl.glColorMaterial(gl.GL_FRONT_AND_BACK, gl.GL_AMBIENT_AND_DIFFUSE)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
@fig.event
def on_draw():
fig.clear()
# draw the opengl driving world.
w = world.width
h = world.height
x = world.x
y = world.y
gl.glBegin(gl.GL_QUADS)
gl.glColor(0.2, 0.2, 0.2)
gl.glNormal(0, 0, 1)
gl.glVertex(x, y, 0)
gl.glVertex(x + w, y, 0)
gl.glVertex(x + w, y + h, 0)
gl.glVertex(x, y + h, 0)
gl.glEnd()
z = min(w, h) / 300.
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glTranslate(x + w / 2., y + h / 2., 10)
gl.glScale(z, z, 1)
a, b = simulator.agent.position
gl.glTranslate(-a, -b, 0)
gl.glLight(gl.GL_LIGHT0, gl.GL_POSITION, (0, 0, 100, 1))
# draw lanes.
gl.glLineWidth(2)
gl.glColor(0, 0, 0)
for lane in simulator.lanes:
gl.glBegin(gl.GL_LINE_STRIP)
for a, b in lane:
gl.glVertex(a, b, 1)
gl.glEnd()
# draw cars.
simulator.leader.draw(sys.modules[__name__], 1, 0, 0)
simulator.agent.draw(sys.modules[__name__], 1, 1, 0)
gl.glPopMatrix()
@fig.event
def on_idle(dt):
global elapsed
elapsed += dt
while elapsed > simulator.dt:
elapsed -= simulator.dt
try:
simulator.step()
except StopIteration:
sys.exit()
fig.redraw()
@fig.event
def on_key_press(key, modifiers):
if key == glumpy.window.key.ESCAPE:
sys.exit()
elif key == glumpy.window.key.SPACE:
global ESTIMATE
ESTIMATE ^= ESTIMATE
else:
simulator.reset()
fig.redraw()
glumpy.show()
def browser(data_path, video_path, pts_path, cam_intrinsics_path):
record = Temp()
record.path = None
record.writer = None
c = Temp()
c.captures = [cv2.VideoCapture(path) for path in video_path]
total_frames = min([cap.get(7) for cap in c.captures])
record.fps = min([cap.get(5) for cap in c.captures])
r, img_arr = c.captures[0].read()
if len(c.captures)==2:
r, img_arr2 =c.captures[1].read()
img_arr = cv2.cvtColor(img_arr, cv2.COLOR_BGR2RGB)
fig = glumpy.figure((img_arr.shape[1], img_arr.shape[0]))
image = glumpy.Image(img_arr)
image.x, image.y = 0,0
# gaze object
gaze = Temp()
gaze.list = np.load(pts_path)
# gaze.x_pos = gaze.list[:,0]
# gaze.y_pos = gaze.list[:,1]
# gaze.dt = gaze.list[:,2]
gaze_list = list(gaze.list)
gaze_point = Point(color=(255,0,0,0.3), scale=40.0)
positions_by_frame = [[] for frame in range(int(gaze_list[-1][-1]) + 1)]
while gaze_list:
s = gaze_list.pop(0)
frame = int(s[-1])
positions_by_frame[frame].append({'x': s[0], 'y': s[1], 'dt': s[2]})
gaze.map = positions_by_frame
# keyframe list object
framelist = Temp()
framelist.keyframes = []
framelist.otherframes = []
cam_intrinsics = Temp()
cam_intrinsics.H_map = []
g_pool = Temp()
if cam_intrinsics_path is not None:
cam_intrinsics.K = np.load(cam_intrinsics_path[0])
cam_intrinsics.dist_coefs = np.load(cam_intrinsics_path[1])
atb.init()
bar = Bar("Browser", data_path, total_frames, framelist, dict(label="Controls",
help="Scene controls", color=(50,50,50), alpha=50,
text='light', position=(10, 10), size=(200, 440)))
def draw():
gaze_point.draw()
def on_draw():
fig.clear(0.0, 0.0, 0.0, 1.0)
image.draw(x=image.x, y=image.y, z=0.0,
width=fig.width, height=fig.height)
draw()
def on_close():
pass
print "Close event !"
def on_idle(dt):
bar.update_fps(dt)
sleep(0.03)
if bar.play or bar.get_single:
# load new images
r, img1 = c.captures[0].read()
if len(c.captures)==2:
r, img2 =c.captures[1].read()
if r and img1.shape != img2.shape:
img2 = cv2.resize(img2,(img1.shape[1],img1.shape[0]))
if not r:
bar.play.value = 0
return
bar.frame_num.value +=1
#stop playback when at the end of file.
if bar.frame_num.value == 0:
bar.play.value = 0
# Extract corresponing Pupil posistions.
# Here we are taking only the first values of the frame for positions hence 0 index
try:
x_screen, y_screen = denormalize((gaze.map[bar.frame_num.value][0]['x'],
gaze.map[bar.frame_num.value][0]['y']),
fig.width, fig.height, flip_y=True)
img1[int(y_screen), int(x_screen)] = [255,255,255]
# update gaze.x_screen, gaze.y_screen /OPENGL COORIDANTE SYSTEM
gaze.x_screen,gaze.y_screen = flip_horizontal((x_screen,y_screen), fig.height)
gaze_point.update(( gaze.x_screen, gaze.y_screen))
print x_screen, y_screen
except:
pass
if cam_intrinsics_path is not None and bar.display.value is not 0:
# undistor world image
img1 = cv2.undistort(img1, cam_intrinsics.K, cam_intrinsics.dist_coefs)
# Undistort the gaze point based on the distortion coefs
x_screen, y_screen = undistort_point((x_screen, y_screen),
cam_intrinsics.K, cam_intrinsics.dist_coefs)
if bar.display.value in (2,3):
# homography mapping
overlay, H = homography_map(img2, img1) # map img1 onto img2 (the world onto the source video)
# cam_intrinsics.H_map.append([bar.frame_num.value, H])
if overlay is not None:
pt_homog = np.array([x_screen, y_screen, 1])
pt_homog = np.dot(H, pt_homog)
pt_homog /= pt_homog[-1] # normalize the gaze.pts
x_screen, y_screen, z = pt_homog
img1=overlay #overwrite img with the overlay
if bar.display.value == 3:
# cv2.circle(img2, (int(x_screen), int(y_screen)), 10, (0,255,0,100), 1)
img1=img2 #overwrite img1 with the source video
# update the img array
img_arr[...] = cv2.cvtColor(img1, cv2.COLOR_BGR2RGB)
#recorder logic
if bar.record_video.value and not bar.record_running.value:
record.path = os.path.join(bar.data_path, "out.avi")
record.writer = cv2.VideoWriter(record.path,cv2.cv.CV_FOURCC(*'DIVX'),record.fps, (img1.shape[1],img1.shape[0]) )
bar.record_running.value = 1
if bar.record_video.value and bar.record_running.value:
# Save image frames to video writer
try:
cv2.circle(img1, (int(x_screen), int(y_screen)), 20, (0,255,0,100), 1)
except:
pass
record.writer.write(img1)
# Finish all recordings, clean up.
if not bar.record_video.value and bar.record_running.value:
record.writer = None
bar.record_running.value = 0
#just grab one image.
bar.get_single = 0
image.update()
fig.redraw()
if bar.exit:
on_close()
fig.window.stop()
fig.window.push_handlers(on_idle)
fig.window.push_handlers(atb.glumpy.Handlers(fig.window))
fig.window.push_handlers(on_draw)
fig.window.push_handlers(on_close)
fig.window.set_title("Browser")
fig.window.set_position(0,0)
glumpy.show()
def main(simulator):
fig = glumpy.figure()
world = fig.add_figure()
@fig.event
def on_init():
gl.glEnable(gl.GL_BLEND)
gl.glEnable(gl.GL_DEPTH_TEST)
gl.glEnable(gl.GL_BLEND)
gl.glEnable(gl.GL_COLOR_MATERIAL)
gl.glColorMaterial(gl.GL_FRONT_AND_BACK, gl.GL_AMBIENT_AND_DIFFUSE)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
@fig.event
def on_draw():
fig.clear()
# draw the opengl driving world.
w = world.width
h = world.height
x = world.x
y = world.y
gl.glBegin(gl.GL_QUADS)
gl.glColor(0.2, 0.2, 0.2)
gl.glNormal(0, 0, 1)
gl.glVertex(x, y, 0)
gl.glVertex(x + w, y, 0)
gl.glVertex(x + w, y + h, 0)
gl.glVertex(x, y + h, 0)
gl.glEnd()
z = min(w, h) / 300.
gl.glPushMatrix()
gl.glLoadIdentity()
gl.glTranslate(x + w / 2., y + h / 2., 10)
gl.glScale(z, z, 1)
a, b = simulator.agent.position
gl.glTranslate(-a, -b, 0)
gl.glLight(gl.GL_LIGHT0, gl.GL_POSITION, (0, 0, 100, 1))
# draw lanes.
gl.glLineWidth(2)
gl.glColor(0, 0, 0)
for lane in simulator.lanes:
gl.glBegin(gl.GL_LINE_STRIP)
for a, b in lane:
gl.glVertex(a, b, 1)
gl.glEnd()
# draw cars.
simulator.leader.draw(sys.modules[__name__], 1, 0, 0)
simulator.agent.draw(sys.modules[__name__], 1, 1, 0)
gl.glPopMatrix()
@fig.event
def on_idle(dt):
global elapsed
elapsed += dt
while elapsed > simulator.dt:
elapsed -= simulator.dt
try:
simulator.step()
except StopIteration:
sys.exit()
fig.redraw()
@fig.event
def on_key_press(key, modifiers):
if key == glumpy.window.key.ESCAPE:
sys.exit()
elif key == glumpy.window.key.SPACE:
global ESTIMATE
ESTIMATE ^= ESTIMATE
else:
simulator.reset()
fig.redraw()
glumpy.show()
def glumpy_viewer(img_array,
arrays_to_print = [],
commands=None,
cmap=None,
window_shape=(512, 512),
contrast_norm=None
):
"""
Setup and start glumpy main loop to visualize Image array `img_array`.
img_array - an array-like object whose elements are float32 or uint8
ndarrays that glumpy can show. larray objects work here.
arrays_to_print - arrays whose elements will be printed to stdout
after a keypress changes the current position.
"""
if contrast_norm not in (None, 'each', 'all'):
raise ValueError('contrast_norm', contrast_norm)
if contrast_norm == 'all':
np.array(img_array, 'float32')
img_array -= img_array.min()
img_array /= max(img_array.max(), 1e-12)
try:
n_imgs = len(img_array)
except TypeError:
n_imgs = None
state = dict(
pos=0,
fig=glumpy.figure((window_shape[1], window_shape[0])),
I=glumpy.Image(img_array[0], colormap=cmap),
len=n_imgs
)
fig = state['fig']
if commands is None:
commands = _commands
@fig.event
def on_draw():
fig.clear()
state['I'].draw(x=0, y=0, z=0,
width=fig.width, height=fig.height)
@fig.event
def on_key_press(symbol, modifiers):
if chr(symbol) not in commands:
print 'unused key', chr(symbol), modifiers
return
pos = state['pos']
commands[chr(symbol)](state)
if pos == state['pos']:
return
else:
img_i = img_array[state['pos']]
if contrast_norm == 'each':
# -- force copy
img_i = np.array(img_i, 'float32')
img_i -= img_i.min()
img_i /= max(img_i.max(), 1e-12)
#print img_i.shape
#print img_i.dtype
#print img_i.max()
#print img_i.min()
state['I'] = glumpy.Image(img_i,
colormap=cmap,
vmin=0.0,
vmax=1.0
)
print state['pos'], [o[state['pos']] for o in arrays_to_print]
fig.redraw()
glumpy.show()
