def __init__(clock=None, framerate=None, backend=None):
""" Initialize the main loop
Parameters
----------
clock : Clock
clock to use to run the app (gives the elementary tick)
framerate : int
frames per second
backend : python module
Backend module
"""
global __clock__
options = parser.get_options()
if options.debug:
log.setLevel(logging.DEBUG)
if framerate is None:
framerate = options.framerate
if framerate > 0:
log.info("Running at %d frames/second" % framerate)
else:
log.info("Running at full speed")
if clock is None:
__clock__ = _clock.get_default()
else:
__clock__ = clock
__clock__.set_fps_limit(framerate)
# OpenGL Initialization
gl.glPixelStorei(gl.GL_UNPACK_ALIGNMENT, 1)
gl.glPixelStorei(gl.GL_PACK_ALIGNMENT, 1)
gl.glEnable(gl.GL_VERTEX_PROGRAM_POINT_SIZE)
gl.glEnable(gl.GL_POINT_SPRITE)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
# Initialize timers for all windows
for window in backend.windows():
window._clock = __clock__
# Start timers
for i in range(len(window._timer_stack)):
handler, interval = window._timer_stack[i]
__clock__.schedule_interval(handler, interval)
# Dispatch init event
window.dispatch_event('on_init')
# Dispatch an initial resize event
window.dispatch_event('on_resize', window._width, window._height)
return __clock__
# Author: Tomas Hodan ([email protected]) # Center for Machine Perception, Czech Technical University in Prague # Renders rgb/depth image of a 3D mesh model. import numpy as np from glumpy import app, gloo, gl # Set backend (http://glumpy.readthedocs.io/en/latest/api/app-backends.html) # app.use('pyglet') # app.use('freeglut') # Set logging level from glumpy.log import log import logging log.setLevel(logging.WARNING) # ERROR, WARNING, DEBUG, INFO # Color vertex shader #------------------------------------------------------------------------------- _color_vertex_code = """ uniform mat4 u_mv; uniform mat4 u_mvp; uniform vec3 u_light_eye_pos; attribute vec3 a_position; attribute vec3 a_color; varying vec3 v_color; varying vec3 v_eye_pos; varying vec3 v_L;
# Renders rgb/depth image of a 3D mesh model.
from __future__ import print_function, division
import numpy as np
from glumpy import app, gloo, gl
# Set backend (http://glumpy.readthedocs.io/en/latest/api/app-backends.html)
app.use("glfw")
# app.use('qt5')
# app.use('pyside')
# Set logging level
from glumpy.log import log
import logging
log.setLevel(logging.WARNING) # ERROR, WARNING, DEBUG, INFO
# Color vertex shader
# -------------------------------------------------------------------------------
_color_vertex_code = """
uniform mat4 u_mv;
uniform mat4 u_nm;
uniform mat4 u_mvp;
uniform vec3 u_light_eye_pos;
attribute vec3 a_position;
attribute vec3 a_normal;
attribute vec3 a_color;
attribute vec2 a_texcoord;
varying vec3 v_color;
# Author: Tomas Hodan ([email protected]) # Center for Machine Perception, Czech Technical University in Prague """A Python based renderer.""" import os import numpy as np from glumpy import app, gloo, gl from bop_toolkit_lib import inout from bop_toolkit_lib import misc from bop_toolkit_lib import renderer # Set glumpy logging level. from glumpy.log import log import logging log.setLevel(logging.WARNING) # Options: ERROR, WARNING, DEBUG, INFO. # Set backend (http://glumpy.readthedocs.io/en/latest/api/app-backends.html). # app.use('glfw') # Options: 'glfw', 'qt5', 'pyside', 'pyglet'. # RGB vertex shader. _rgb_vertex_code = """ uniform mat4 u_mv; uniform mat4 u_nm; uniform mat4 u_mvp; uniform vec3 u_light_eye_pos; attribute vec3 a_position; attribute vec3 a_normal; attribute vec3 a_color; attribute vec2 a_texcoord;
def __init__(clock=None, framerate=None, backend=None):
""" Initialize the main loop
Parameters
----------
clock : Clock
clock to use to run the app (gives the elementary tick)
framerate : int
frames per second
backend : python module
Backend module
"""
global __clock__
options = parser.get_options()
if options.debug:
log.setLevel(logging.DEBUG)
if framerate is None:
framerate = options.framerate
if framerate > 0:
log.info("Running at %d frames/second" % framerate)
else:
log.info("Running at full speed")
if clock is None:
__clock__ = _clock.get_default()
else:
__clock__ = clock
__clock__.set_fps_limit(framerate)
# OpenGL Initialization
for window in backend.windows():
window.activate()
gl.glPixelStorei(gl.GL_UNPACK_ALIGNMENT, 1)
gl.glPixelStorei(gl.GL_PACK_ALIGNMENT, 1)
gl.glEnable(gl.GL_VERTEX_PROGRAM_POINT_SIZE)
gl.glEnable(gl.GL_POINT_SPRITE)
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
# Initialize timers for all windows
for window in backend.windows():
window._clock = __clock__
# Start timers
for i in range(len(window._timer_stack)):
handler, interval = window._timer_stack[i]
__clock__.schedule_interval(handler, interval)
# Activate window
window.activate()
# Dispatch init event
window.dispatch_event('on_init')
# Dispatch an initial resize event
window.dispatch_event('on_resize', window._width, window._height)
return __clock__
import numpy as np
from glumpy import app, gloo, gl
# Set backend (http://glumpy.readthedocs.io/en/latest/api/app-backends.html)
app.use('glfw')
# Set logging level
from glumpy.log import log
import logging
#log.setLevel(logging.WARNING) # ERROR, WARNING, DEBUG, INFO
log.setLevel(logging.ERROR)
# Depth vertex shader
# Ref: https://github.com/julienr/vertex_visibility/blob/master/depth.py
#-------------------------------------------------------------------------------
# Getting the depth from the depth buffer in OpenGL is doable, see here:
# http://web.archive.org/web/20130416194336/http://olivers.posterous.com/linear-depth-in-glsl-for-real
# http://web.archive.org/web/20130426093607/http://www.songho.ca/opengl/gl_projectionmatrix.html
# http://stackoverflow.com/a/6657284/116067
# But it is hard to get good precision, as explained in this article:
# http://dev.theomader.com/depth-precision/
#
# Once the vertex is in view space (view * model * v), its depth is simply the
# Z axis. So instead of reading from the depth buffer and undoing the projection
# matrix, we store the Z coord of each vertex in the color buffer. OpenGL allows
# for float32 color buffer components.
_depth_vertex_code = """
uniform mat4 u_mv;
uniform mat4 u_mvp;
attribute vec3 a_position;
attribute vec3 a_color;
