def __init__(self, width, height):
self.window = None
self.window_width, self.window_height = width, height
self.key_state = [False] * 256
self.mouse_position = None
self.camera = OrbitCamera()
self.camera_state = CameraState.NONE
def __init__(self, width, height):
self.window = None
self.window_width, self.window_height = width, height
self.key_state = [False]*256
self.mouse_position = None
self.camera = OrbitCamera()
self.camera_state = CameraState.NONE
class DemoBase(object):
def __init__(self, width, height):
self.window = None
self.window_width, self.window_height = width, height
self.key_state = [False]*256
self.mouse_position = None
self.camera = OrbitCamera()
self.camera_state = CameraState.NONE
def run(self):
glut.glutInit()
glut.glutInitDisplayMode(glut.GLUT_RGBA | glut.GLUT_DOUBLE
| glut.GLUT_ALPHA | glut.GLUT_DEPTH)
glut.glutInitWindowSize(self.window_width, self.window_height)
self.window = glut.glutCreateWindow("Point cloud test")
glut.glutDisplayFunc(self.display_base)
glut.glutIdleFunc(self.display_base)
glut.glutReshapeFunc(self.resize_event)
glut.glutKeyboardFunc(self.keyboard_press_event)
glut.glutKeyboardUpFunc(self.keyboard_up_event)
glut.glutMouseFunc(self.mouse_button_event)
glut.glutMotionFunc(self.mouse_moved_event)
self.init_gl(self.window_width, self.window_height)
glut.glutMainLoop()
def init_gl(self, width, height):
gl.glClearColor(0.2, 0.2, 0.2, 0.0)
gl.glEnable(gl.GL_DEPTH_TEST)
self.resize_event(width, height)
def resize_event(self, width, height):
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
glu.gluPerspective(60, width/float(height), 50.0, 8000.0)
gl.glMatrixMode(gl.GL_MODELVIEW)
self.window_width = width
self.window_height = height
def display_base(self):
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# Prepare the model-view matrix.
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt(*self.camera.get_glulookat_parameters())
self.display()
glut.glutSwapBuffers()
def keyboard_press_event(self, key, x, y):
if key == chr(27):
glut.glutDestroyWindow(self.window)
sys.exit(0)
self.key_state[ord(key)] = True
def keyboard_up_event(self, key, x, y):
self.key_state[ord(key)] = False
def mouse_button_event(self, button, state, x, y):
self.mouse_position = (x,y)
if state == glut.GLUT_UP:
self.camera_state = CameraState.NONE
elif button == glut.GLUT_LEFT_BUTTON:
self.camera_state = CameraState.ROTATION
elif button == glut.GLUT_RIGHT_BUTTON:
self.camera_state = CameraState.ZOOM
elif button == glut.GLUT_MIDDLE_BUTTON:
self.camera_state = CameraState.TRANSLATION
def mouse_moved_event(self, x, y):
offset = map(sub, (x,y), self.mouse_position)
if self.camera_state == CameraState.ROTATION:
self.camera.rotate(*[i/100.0 for i in offset])
elif self.camera_state == CameraState.TRANSLATION:
self.camera.translate(offset[0]*3, -offset[1]*3)
elif self.camera_state == CameraState.ZOOM:
self.camera.zoom(offset[1])
self.mouse_position = (x,y)
class DemoBase(object):
def __init__(self, width, height):
self.window = None
self.window_width, self.window_height = width, height
self.key_state = [False] * 256
self.mouse_position = None
self.camera = OrbitCamera()
self.camera_state = CameraState.NONE
def run(self):
glut.glutInit()
glut.glutInitDisplayMode(glut.GLUT_RGBA | glut.GLUT_DOUBLE
| glut.GLUT_ALPHA | glut.GLUT_DEPTH)
glut.glutInitWindowSize(self.window_width, self.window_height)
self.window = glut.glutCreateWindow("Point cloud test")
glut.glutDisplayFunc(self.display_base)
glut.glutIdleFunc(self.display_base)
glut.glutReshapeFunc(self.resize_event)
glut.glutKeyboardFunc(self.keyboard_press_event)
glut.glutKeyboardUpFunc(self.keyboard_up_event)
glut.glutMouseFunc(self.mouse_button_event)
glut.glutMotionFunc(self.mouse_moved_event)
self.init_gl(self.window_width, self.window_height)
glut.glutMainLoop()
def init_gl(self, width, height):
gl.glClearColor(0.2, 0.2, 0.2, 0.0)
gl.glEnable(gl.GL_DEPTH_TEST)
self.resize_event(width, height)
def resize_event(self, width, height):
gl.glViewport(0, 0, width, height)
gl.glMatrixMode(gl.GL_PROJECTION)
gl.glLoadIdentity()
glu.gluPerspective(60, width / float(height), 50.0, 8000.0)
gl.glMatrixMode(gl.GL_MODELVIEW)
self.window_width = width
self.window_height = height
def display_base(self):
gl.glClear(gl.GL_COLOR_BUFFER_BIT | gl.GL_DEPTH_BUFFER_BIT)
# Prepare the model-view matrix.
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt(*self.camera.get_glulookat_parameters())
self.display()
glut.glutSwapBuffers()
def keyboard_press_event(self, key, x, y):
if key == chr(27):
glut.glutDestroyWindow(self.window)
sys.exit(0)
self.key_state[ord(key)] = True
def keyboard_up_event(self, key, x, y):
self.key_state[ord(key)] = False
def mouse_button_event(self, button, state, x, y):
self.mouse_position = (x, y)
if state == glut.GLUT_UP:
self.camera_state = CameraState.NONE
elif button == glut.GLUT_LEFT_BUTTON:
self.camera_state = CameraState.ROTATION
elif button == glut.GLUT_RIGHT_BUTTON:
self.camera_state = CameraState.ZOOM
elif button == glut.GLUT_MIDDLE_BUTTON:
self.camera_state = CameraState.TRANSLATION
def mouse_moved_event(self, x, y):
offset = map(sub, (x, y), self.mouse_position)
if self.camera_state == CameraState.ROTATION:
self.camera.rotate(*[i / 100.0 for i in offset])
elif self.camera_state == CameraState.TRANSLATION:
self.camera.translate(offset[0] * 3, -offset[1] * 3)
elif self.camera_state == CameraState.ZOOM:
self.camera.zoom(offset[1])
self.mouse_position = (x, y)
