def block_setup(self):
"""Initialize blockplayer stuff"""
glxcontext.makecurrent()
main.initialize()
config.load('data/newest_calibration')
opennpy.align_depth_to_rgb()
dataset.setup_opencl()
self.blocks = None
self.block_loop_quit = False
self.block_initialized = True
self.block_loop()
def test_offscreen_triangle(size=(200, 200)):
glxcontext.makecurrent()
width, height = size
# Set up the frame buffer
fbo = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, fbo)
rbc = glGenRenderbuffers(1)
glBindRenderbuffer(GL_RENDERBUFFER, rbc)
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGB8, width, height)
glFramebufferRenderbuffer(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT0,
GL_RENDERBUFFER, rbc)
glViewport(0, 0, width, height)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glOrtho(0, width, 0, height, -1, 1)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glClearColor(0, 0, 0, 0)
glClear(GL_COLOR_BUFFER_BIT)
# Draw a triangle of area portion 0.375
glColor3ub(11, 13, 17)
glBegin(GL_TRIANGLES)
glVertex2f(0.75*width, 0.25*height)
glVertex2f(0.25*width, 0.25*height)
glVertex2f(0.50*width, 0.75*height)
glEnd()
glFinish()
# Get the pixels back and check they're right
pixels = glReadPixels(0, 0, width, height, GL_RGB, GL_UNSIGNED_BYTE, outputType='array')
check = pixels.mean(0).mean(0)
assert np.all(check == [11 / 8., 13 / 8., 17 / 8.])
print 'Offscreen render produced correct results'
def initialize():
global initialized
glxcontext.makecurrent()
if initialized: return
global fbo
global rb, rbc, rbs
fbo = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, fbo)
# Create three render buffers:
# 1) xyz/depth 2) normals 3) 4) internal depth
rbXYZD,rbN,rbInds,rbD = glGenRenderbuffers(4)
# 1) XYZ/D buffer
glBindRenderbuffer(GL_RENDERBUFFER, rbXYZD)
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA32F, 640, 480)
glFramebufferRenderbuffer(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT0,
GL_RENDERBUFFER, rbXYZD)
# 2) Normals buffer
glBindRenderbuffer(GL_RENDERBUFFER, rbN)
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGBA32F, 640, 480)
glFramebufferRenderbuffer(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT1,
GL_RENDERBUFFER, rbN)
# 3) Index buffer
glBindRenderbuffer(GL_RENDERBUFFER, rbInds)
glRenderbufferStorage(GL_RENDERBUFFER, GL_RGB8, 640, 480)
glFramebufferRenderbuffer(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT2,
GL_RENDERBUFFER, rbInds)
# 4) depth buffer
glBindRenderbuffer(GL_RENDERBUFFER, rbD)
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT24, 640, 480)
glFramebufferRenderbuffer(GL_FRAMEBUFFER,
GL_DEPTH_ATTACHMENT,
GL_RENDERBUFFER, rbD)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
global VERTEX_SHADER, FRAGMENT_SHADER, SYNTHSHADER
# This vertex shader simulates a range image camera. It takes in
# camera (kinect) parameters as well as model parameters. It project
# the model points into the camera space in order to get the right
# correct geometry. We additionally precompute the world-coordinates
# XYZ for each pixel, as well as the world-coordinate normal vectors.
# (This eliminates some of the steps that would normally be computed
# using image processing, i.e. filtering, subtraction, normals.)
VERTEX_SHADER = shaders.compileShader("""#version 120
varying vec4 v_xyz;
varying vec3 n_xyz;
varying vec4 position;
varying vec4 color;
mat3 mat4tomat3(mat4 m) { return mat3(m[0].xyz, m[1].xyz, m[2].xyz); }
void main() {
v_xyz = gl_ModelViewMatrix * gl_Vertex;
n_xyz = normalize(gl_NormalMatrix * gl_Normal);
position = gl_ModelViewProjectionMatrix * gl_Vertex;
gl_Position = position;
color = gl_Color;
}""", GL_VERTEX_SHADER)
FRAGMENT_SHADER = shaders.compileShader("""#version 120
varying vec4 v_xyz;
varying vec3 n_xyz;
varying vec4 position;
varying vec4 color;
varying out vec4 xyzd;
varying out vec4 nxyz;
varying out vec4 inds;
void main() {
xyzd.w = 200 / (1.0 - position.z/position.w);
xyzd.xyz = v_xyz.xyz;
nxyz.xyz = n_xyz;
inds = color;
}""", GL_FRAGMENT_SHADER)
SYNTHSHADER = shaders.compileProgram(VERTEX_SHADER, FRAGMENT_SHADER)
initialized = True
def test_create():
glxcontext.makecurrent()
print 'GL_VERSION:', glGetString(GL_VERSION)
print 'GL_RENDERER:', glGetString(GL_RENDERER)
import time
import json
import glob
import cPickle as pickle
import glxcontext
from blockplayer import dataset
from blockplayer import grid
from blockplayer import main
out_path = os.path.join('data/experiments','output')
# Create an offscreen opengl context
glxcontext.makecurrent()
from OpenGL.GL import glGetString, GL_VERSION
print("GL Version String: ", glGetString(GL_VERSION))
def once():
depth = dataset.depth
rgb = dataset.rgb
main.update_frame(depth, rgb)
def run_grid():
datasets = glob.glob('data/sets/study_*')
try:
os.mkdir(out_path)
except OSError: