import cv2
import numpy as np
import pygame as pg
from pygame.locals import *
from OpenGL.GL import *
from OpenGL.GLU import *
from Equirec2Cube import Equirec2Cube as E2C
from Equirec2Cube import Depth2Points as D2P
from EquirecRotate import EquirecRotate as ER
import torch
from torch.autograd import Variable
if __name__ == '__main__':
cube = 512
e2c = E2C(1, 512, 1024, cube, 90, RADIUS=128)
er = ER(512, 1024, RADIUS=128)
e2c_grid = e2c.GetGrid()
e2c_grid = D2P(e2c_grid)(Variable(torch.zeros(6, 1, cube, cube)).cuda() +
128)
e2c_grid = e2c_grid.view(6 * cube * cube, 3).data.cpu().numpy()
#er_grid = er.GetGrid().view(512*1024, 3).data.cpu().numpy()
color = (cv2.imread('0_color.png', cv2.IMREAD_COLOR))
print color.tostring
exit()
color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB) / 255.0
color = e2c.ToCubeTensor(
torch.FloatTensor(
color.reshape(1, 512, 1024, 3).swapaxes(1, 3).swapaxes(2,
3)).cuda())
color = color.transpose(1, 3).transpose(1, 2)
def main():
path = '/media/external/Fu-En.Wang/Data/360/final/rotated/023096db053da27b50cd745ececa2257/3.txt'
color = (cv2.imread('%s/2_color.png' % path, cv2.IMREAD_COLOR))
#color = (cv2.imread('../image.jpg', cv2.IMREAD_COLOR))
color = cv2.resize(color, (6000, 3000))
#plot_grid(color)
#cv2.namedWindow('GG')
#cv2.imshow('GG', color)
#cv2.waitKey()
#exit()
color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB) / 255.0
#color = color.reshape([-1, 3])
#grid = ER(3328, 6656, 128).GetGrid().squeeze(0).view(-1, 3).data.cpu().numpy()
grid = ER(3000, 6000, 128).GetGrid().squeeze(0).view(-1,
3).data.cpu().numpy()
pg.init()
display = (1080, 1080)
pg.display.set_mode(display, DOUBLEBUF | OPENGL)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glEnable(GL_DEPTH_TEST)
#glEnable(GL_TEXTURE_2D)
#glEnable(GL_LINE_SMOOTH)
#glEnable(GL_POINT_SMOOTH)
#glHint(GL_POINT_SMOOTH_HINT, GL_NICEST)
#glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
#'''
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_COLOR_ARRAY)
glVertexPointerf(grid)
glColorPointerf(color)
gluPerspective(95, float(display[0]) / display[1], 0.1, 100000)
# for tgt 2.png
p = np.array([-2, 0, 2.5])
p = p / np.linalg.norm(p) * 256
gluLookAt(p[0], 0, p[2], 0, 0, 0, 0, -1, 0)
# for ref 0.png
#p = np.array([-1, 0, 2.5])
#p = p / np.linalg.norm(p) * 256
#gluLookAt(p[0], 0, p[2], 0, 0, 0, 0, -1, 0)
first = True
state = 'default'
while True:
for event in pg.event.get():
# print event.type
if event.type == pg.QUIT:
# pass
pg.quit()
quit()
elif event.type == pg.MOUSEBUTTONDOWN:
p0 = pg.mouse.get_pos()
state = 'drag'
elif event.type == pg.MOUSEMOTION and state == 'drag':
p1 = pg.mouse.get_pos()
p0 = np.array([p0[0], p0[1]])
p1 = np.array([p1[0], p1[1]])
if np.linalg.norm(p0 - p1) > 50:
w = display[0]
h = display[1]
c_x = (w - 1) / 2
c_y = (h - 1) / 2
#v0 = np.array([2.0*p0[0]/w-1, -2.0*p0[1]/h+1, 1])
#v1 = np.array([2.0*p1[0]/w-1, -2.0*p1[1]/h+1, 1])
v0 = np.array(
[float(p0[0] - c_x) / w,
float(p0[1] - c_y) / h, 1.3])
v1 = np.array(
[float(p1[0] - c_x) / w,
float(p1[1] - c_y) / h, 1.3])
# if np.dot(v0, v1) > 0.999999:
# break
v0 = v0 / np.linalg.norm(v0)
v1 = v1 / np.linalg.norm(v1)
axis = np.cross(v0, v1)
axis = axis / np.linalg.norm(axis)
angle = np.arccos(np.dot(v0, v1))
glRotatef(angle * 180 / np.pi, -axis[0], axis[1], -axis[2])
p1 = p0
elif event.type == pg.MOUSEBUTTONUP:
state = 'default'
#glRotatef(20, 0, 1, 0)
#glTranslatef(20, 0, 0)
glClearColor(1, 1, 1, 1)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glDrawArrays(GL_POINTS, 0, grid.shape[0])
pg.display.flip()
pg.time.wait(100)
def main():
idx = 10
shape = (2048, 1024)
#shape = (600, 300)
#path = '/media/external/Fu-En.Wang/Data/360/final/rotated/023096db053da27b50cd745ececa2257/3.txt'
path = '/media/external/Fu-En.Wang/Data/360/final/rotated/147762e9a81cd45791a4dd953ef792ca/0.txt'
color = (cv2.imread('%s/%d_color.png' % (path, idx), cv2.IMREAD_COLOR))
color = cv2.resize(color, shape)
color = cv2.cvtColor(color, cv2.COLOR_BGR2RGB) / 255.0
depth = (cv2.imread('%s/%d_depth.png' % (path, idx), cv2.IMREAD_GRAYSCALE))
depth = cv2.resize(depth, shape)
depth = depth / 255.0
#cv2.namedWindow('GG')
#cv2.imshow('GG', color)
#cv2.waitKey(0)
#color = color.reshape([-1, 3])
grid = ER(shape[1], shape[0],
128).GetGrid().squeeze(0).view(-1, 3).data.cpu().numpy()
pts = depth.reshape([-1, 1]) * (grid / 128) * 128
pts[pts[:, 1] <= -5] = -128
#print np.max(pts[:, 1])
#exit()
colors = color.reshape([-1, 3])
pg.init()
display = (1080, 1080)
pg.display.set_mode(display, DOUBLEBUF | OPENGL)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glEnable(GL_DEPTH_TEST)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_COLOR_ARRAY)
glVertexPointerf(pts)
glColorPointerf(colors)
gluPerspective(80, float(display[0]) / display[1], 0.1, 100000)
# for tgt 2.png
gluLookAt(0, -30, 0, 0, 0, 0, 0, 0, 1)
# for ref 0.png
#p = np.array([-1, 0, 2.5])
#p = p / np.linalg.norm(p) * 256
#gluLookAt(p[0], 0, p[2], 0, 0, 0, 0, -1, 0)
first = True
state = 'default'
while True:
for event in pg.event.get():
# print event.type
if event.type == pg.QUIT:
# pass
pg.quit()
quit()
elif event.type == pg.MOUSEBUTTONDOWN:
p0 = pg.mouse.get_pos()
state = 'drag'
elif event.type == pg.MOUSEMOTION and state == 'drag':
p1 = pg.mouse.get_pos()
p0 = np.array([p0[0], p0[1]])
p1 = np.array([p1[0], p1[1]])
if np.linalg.norm(p0 - p1) > 20:
w = display[0]
h = display[1]
c_x = (w - 1) / 2
c_y = (h - 1) / 2
#v0 = np.array([2.0*p0[0]/w-1, -2.0*p0[1]/h+1, 1])
#v1 = np.array([2.0*p1[0]/w-1, -2.0*p1[1]/h+1, 1])
v0 = np.array(
[float(p0[0] - c_x) / w,
float(p0[1] - c_y) / h, 1.3])
v1 = np.array(
[float(p1[0] - c_x) / w,
float(p1[1] - c_y) / h, 1.3])
# if np.dot(v0, v1) > 0.999999:
# break
v0 = v0 / np.linalg.norm(v0)
v1 = v1 / np.linalg.norm(v1)
axis = np.cross(v0, v1)
axis = axis / np.linalg.norm(axis)
angle = np.arccos(np.dot(v0, v1))
glRotatef(angle * 180 / np.pi, -axis[0], axis[1], -axis[2])
p1 = p0
elif event.type == pg.MOUSEBUTTONUP:
state = 'default'
#glRotatef(20, 0, 1, 0)
#glTranslatef(20, 0, 0)
glClearColor(1, 1, 1, 1)
#glClearColor(0, 0, 0, 0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glPointSize(1)
glDrawArrays(GL_POINTS, 0, grid.shape[0])
pg.display.flip()
pg.time.wait(100)