class Renderer:
def __init__(self, in_camera, in_imSize):
width = in_imSize[0]
height = in_imSize[1]
self.gl = OsContext(width, height, typ = GL_FLOAT)
# set camera
self.gl.MatrixMode(GL_PROJECTION)
self.gl.LoadIdentity();
pixel_center_offset = 0.5
f = np.mean(in_camera.focalLength)
cx = in_camera.principalPoint[0]
cy = in_camera.principalPoint[1]
near = 1.
far = 1e2
right = (width - (cx + pixel_center_offset)) * (near / f)
left = - (cx + pixel_center_offset) * (near / f)
top = -(height - (cy + pixel_center_offset)) * (near / f)
bottom = (cy + pixel_center_offset) * (near / f)
self.gl.Frustum(left, right, bottom, top, near, far)
self.gl.MatrixMode(GL_MODELVIEW);
self.gl.LoadIdentity(); # I
self.gl.Rotatef(180, 1, 0, 0) # I * xR(pi)
view_matrix = in_camera.GetViewMatrix()
view_mtx = np.asarray(np.vstack((view_matrix, np.array([0, 0, 0, 1]))), np.float32, order='F')
self.gl.MultMatrixf(view_mtx) # I * xR(pi) * V
self.gl.Enable(GL_DEPTH_TEST)
self.gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
self.gl.Disable(GL_LIGHTING)
self.gl.Disable(GL_CULL_FACE)
self.gl.PixelStorei(GL_PACK_ALIGNMENT,1)
self.gl.PixelStorei(GL_UNPACK_ALIGNMENT,1)
self.gl.UseProgram(0)
def Render(self, in_vertexArray, in_faceArray, in_colorArray = None):
self.gl.Clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
self.gl.EnableClientState(GL_VERTEX_ARRAY)
if (in_colorArray is None):
self.gl.DisableClientState(GL_COLOR_ARRAY)
else:
self.gl.EnableClientState(GL_COLOR_ARRAY)
self.gl.VertexPointer(np.ascontiguousarray(in_vertexArray).reshape((-1,3)))
if not (in_colorArray is None):
self.gl.ColorPointerd(np.ascontiguousarray(in_colorArray).reshape((-1, 3)))
self.gl.DrawElements(GL_TRIANGLES, np.asarray(in_faceArray, np.uint32).ravel())
return self.gl.getImage()
