def __init__(self):
pts = generate_cyl_points().T
colors = np.zeros_like(pts)
colors[:,1]=1.0 # all green
n_pts = len(pts)
pts = map(float,pts.flat) # convert to flat list of floats
colors = map(float, colors.flat)
# Create ctypes arrays of the lists
vertices = (gl.GLfloat * (n_pts*3))(*pts)
colors = (gl.GLfloat * (n_pts*3))(*colors)
# Create a list of triangle indices.
indices = range(n_pts)
indices = (gl.GLuint * n_pts)(*indices)
# Compile a display list
self.list = gl.glGenLists(1)
gl.glNewList(self.list, gl.GL_COMPILE)
gl.glPushClientAttrib(gl.GL_CLIENT_VERTEX_ARRAY_BIT)
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
gl.glVertexPointer(3, gl.GL_FLOAT, 0, vertices)
gl.glEnableClientState(gl.GL_COLOR_ARRAY)
gl.glColorPointer(3, gl.GL_FLOAT, 0, colors)
gl.glDrawElements(gl.GL_LINES, len(indices), gl.GL_UNSIGNED_INT, indices)
gl.glPopClientAttrib()
gl.glEndList()
def __init__(self):
pts = generate_cyl_points().T
colors = np.zeros_like(pts)
colors[:,1]=1.0 # all green
n_pts = len(pts)
pts = map(float,pts.flat) # convert to flat list of floats
colors = map(float, colors.flat)
# Create ctypes arrays of the lists
vertices = (gl.GLfloat * (n_pts*3))(*pts)
colors = (gl.GLfloat * (n_pts*3))(*colors)
# Create a list of triangle indices.
indices = range(n_pts)
indices = (gl.GLuint * n_pts)(*indices)
# Compile a display list
self.list = gl.glGenLists(1)
gl.glNewList(self.list, gl.GL_COMPILE)
gl.glPushClientAttrib(gl.GL_CLIENT_VERTEX_ARRAY_BIT)
gl.glEnableClientState(gl.GL_VERTEX_ARRAY)
gl.glVertexPointer(3, gl.GL_FLOAT, 0, vertices)
gl.glEnableClientState(gl.GL_COLOR_ARRAY)
gl.glColorPointer(3, gl.GL_FLOAT, 0, colors)
gl.glDrawElements(gl.GL_POINTS, len(indices), gl.GL_UNSIGNED_INT, indices)
gl.glPopClientAttrib()
gl.glEndList()
def main():
np.set_printoptions(precision=5, linewidth=200)
window_coords = 'y down'
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') )
luminance = scipy.misc.imread( os.path.join(data_dir, 'luminance.png' ) )
img_height, img_width = luminance.shape
cyl_points_3d_h = generate_cyl_points(homog=True,n_segs=50)
debug('cyl_points_3d_h')
debug(cyl_points_3d_h)
if 1:
calib = decompose(pmat)
cyl_points_3d_eye = np.dot( calib['extrinsic'], cyl_points_3d_h )
debug('cyl_points_3d_eye')
debug(cyl_points_3d_eye)
if 1:
e = np.vstack((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 (HZ camera has +y going down, GL has +y going up)
coord_xform[2,2]=-1 # flip Z coordinate (HZ camera looks at +z, GL looks at -z)
#debug('e')
#debug(e)
e2 = np.dot( coord_xform, e)
#debug('e2')
#debug(e2)
cyl_points_3d_eye_hz_h = np.dot( e, cyl_points_3d_h )
cyl_points_3d_eye_opengl_h = np.dot( e2, cyl_points_3d_h )
debug('cyl_points_3d_eye_hz_h')
debug(cyl_points_3d_eye_hz_h)
debug('cyl_points_3d_eye_opengl_h')
debug(cyl_points_3d_eye_opengl_h)
if 1:
cyl_points_2d_h = np.dot(calib['intrinsic'], cyl_points_3d_eye)
cyl_points_2d = cyl_points_2d_h[:2]/cyl_points_2d_h[2]
else:
cyl_points_2d_h = np.dot(pmat, cyl_points_3d_h)
cyl_points_2d = cyl_points_2d_h[:2]/cyl_points_2d_h[2]
debug('cyl_points_2d')
debug(cyl_points_2d)
if 1:
if 1:
x0 = 0
y0 = 0
gl_viewport_args = x0, y0, img_width, img_height
proj = convert_hz_intrinsic_to_opengl_projection(calib['intrinsic'],
x0,y0,img_width,img_height, 0.1, 1000.0,
window_coords=window_coords)
clip = np.dot(proj,cyl_points_3d_eye_opengl_h)
debug('clip')
debug(clip)
ndc = clip[:3,:]/clip[3,:]
debug('ndc')
debug(ndc)
window_x = gl_viewport_args[2]/2.0 * (ndc[0,:] + 1)+int(gl_viewport_args[0])
window_y = gl_viewport_args[3]/2.0 * (ndc[1,:] + 1)+int(gl_viewport_args[1])
window_gl = np.vstack((window_x,window_y))
debug('window_gl')
debug(window_gl)
if 1:
if window_coords=='y down':
luminance = luminance[::-1]
yc = img_height-cyl_points_2d[1,:]
else:
assert window_coords=='y up'
yc = cyl_points_2d[1,:]
plt.imshow(luminance, interpolation='nearest', origin='lower', cmap=matplotlib.cm.gray)
plt.plot( cyl_points_2d[0,:], yc, 'b+', ms=15.0 )
plt.plot( window_x, window_y, 'r.' )
plt.show()
