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raycaster_fccV2.py
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raycaster_fccV2.py
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"""
raycaster_fccV2.py
# Copyright (c) 2021, Minho Kim
# Computer Graphics Lab, Dept. of Computer Science, University of Seoul
# All rights reserved.
"""
from OpenGL.GL import *
import numpy as np
import os
import glfw
import glm
class VolumeInfo:
def __init__(self, filename, dtype, dim, scale, level, inverted):
self.filename = filename
self.dtype = dtype
self.dim = dim
self.scale = scale
self.level = level
self.inverted = inverted
try:
path_volume = os.environ['VOLUME_PATH']
except:
path_volume = './'
volumes = {
'ML_25' :VolumeInfo(path_volume + 'ML_25_f32.raw', np.float32, (49,49,49), (1,1,1), 0.5, False),
'ML_50' :VolumeInfo(path_volume + 'ML_50_f32.raw', np.float32, (99,99,99), (1,1,1), 0.5, False),
}
###################################################################################################################
# bounding box of the volume
#
# - the bounding box may be composed of smaller min/max boxes for culling
###################################################################################################################
class BBox:
# dim: resolution of the volume dataset
# scale: scaling of the volume dataset. Strictly speaking, if scale is not (1,1,1)
# then we get a different lattice.
#------------------------------------------------------------------------------------------------------------------------
def __init__(self, _dim, scale, size_fbo):
self.dim = _dim
self.fbo = FBO_bbox(size_fbo[0], size_fbo[1])
# - Shaders to render the bounding box containing the whole volume.
# - Used to set the starting/ending point of each ray.
# - Less efficient than using `bbox_minmax.*' shaders.
# - Used when `minmax' parameter of `render' function is FALSE.
self.prog_bbox = Program('bbox.vert', 'bbox.frag', ['MVP', 'scale'])
self.size = self.dim
# - Used to fit the whole volume in viewport by re-scaling.
self.size_max = max(self.size)
# - The scaling of the bounding box.
# - We obtain the properly scaled bounding box by applying this to a unit cube.
self.scale_bbox = tuple(self.size[i]/self.size_max for i in range(3))
# - Used to convert from [0,1]^3 space to the lattice space.
# - Passed as `scale_axes' to raycasting shader.
self.scale_axes = tuple(((self.dim[i])*self.size[i])/self.size_max for i in range(3))
positions = np.array([ 0, 0, 1,
1, 0, 1,
1, 1, 1,
0, 1, 1,
0, 0, 0,
1, 0, 0,
1, 1, 0,
0, 1, 0],
dtype=np.float32)
indices = np.array([ 0, 1, 2, 2, 3, 0, # front
1, 5, 6, 6, 2, 1, # top
7, 6, 5, 5, 4, 7, # back
4, 0, 3, 3, 7, 4, # bottom
4, 5, 1, 1, 0, 4, # left
3, 2, 6, 6, 7, 3 # right
], dtype=np.int8)
# Setting up the VAO for the bbox
self.vao = glGenVertexArrays(1)
glBindVertexArray(self.vao)
self.vbo_position = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, self.vbo_position)
glBufferData(GL_ARRAY_BUFFER, len(positions)*ctypes.sizeof(ctypes.c_float), positions, GL_STATIC_DRAW)
glEnableVertexAttribArray(0)
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 0, None)
self.vbo_idx = glGenBuffers(1)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vbo_idx)
self.size_indices = len(indices)
glBufferData(GL_ELEMENT_ARRAY_BUFFER, len(indices)*ctypes.sizeof(ctypes.c_ubyte), indices, GL_STATIC_DRAW)
glBindVertexArray(0)
#------------------------------------------------------------------------------------------------------------------------
def render(self, MVP):
glUseProgram(self.prog_bbox.id)
glUniformMatrix4fv(self.prog_bbox.uniform_locs['MVP'], 1, GL_FALSE, MVP)
glUniform3fv(self.prog_bbox.uniform_locs['scale'], 1, self.scale_bbox)
glBindVertexArray(self.vao)
glDrawElements(GL_TRIANGLES, self.size_indices, GL_UNSIGNED_BYTE, ctypes.c_void_p(0))
glBindVertexArray(0)
glUseProgram(0)
#------------------------------------------------------------------------------------------------------------------------
def render_backfaces(self, MVP):
glDepthFunc(GL_GREATER)
glClearDepth(0)
glClearColor(0, 0, 0, 1)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT )
glEnable(GL_CULL_FACE)
glCullFace(GL_FRONT)
self.render(MVP)
glDisable(GL_CULL_FACE)
#------------------------------------------------------------------------------------------------------------------------
def render_frontfaces(self, MVP):
glDepthFunc(GL_LESS)
glClearDepth(1)
glClearColor(0, 0, 0, 1)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT )
glEnable(GL_CULL_FACE)
glCullFace(GL_BACK)
self.render(MVP)
glDisable(GL_CULL_FACE)
#------------------------------------------------------------------------------------------------------------------------
def render_bbox(self, MVP):
glViewport(0, 0, self.fbo.width, self.fbo.height)
glBindFramebuffer(GL_FRAMEBUFFER, self.fbo.fbo)
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, self.fbo.buf_back, 0)
self.render_backfaces(MVP)
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, self.fbo.buf_front, 0)
self.render_frontfaces(MVP)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
###################################################################################################################
class Volume:
#------------------------------------------------------------------------------------------------------------------------
def __init__(self, info, size_fbo_bbox):
self.load_data(info)
self.bbox = BBox(self.info.dim, self.info.scale, size_fbo_bbox)
self.dim_tex = [self.info.dim[0], self.info.dim[1], self.info.dim[2], 1]
self.upload_data()
#------------------------------------------------------------------------------------------------------------------------
def load_data(self, info):
self.info = info
scale = 1
self.dim_max = max(max(self.info.dim[0], self.info.dim[1]), self.info.dim[2])
if info.inverted:
scale *= -1.0
# Always keep in float32 format...
self.data = np.fromfile(info.filename, dtype=info.dtype).astype(np.float32)*scale
#------------------------------------------------------------------------------------------------------------------------
def upload_data(self):
internal_format = GL_R32F
format = GL_RED
self.texid = glGenTextures(1)
glPixelStorei(GL_UNPACK_ALIGNMENT,1)
glBindTexture(GL_TEXTURE_3D, self.texid)
glTexParameterf(GL_TEXTURE_3D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameterf(GL_TEXTURE_3D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER)
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER)
glTexParameteri(GL_TEXTURE_3D, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_BORDER)
glTexImage3D(GL_TEXTURE_3D, 0, internal_format, self.dim_tex[0], self.dim_tex[1], self.dim_tex[2], 0, format, GL_FLOAT, self.data)
glBindTexture(GL_TEXTURE_3D, 0)
self.data = None
###################################################################################################################
class FBO_bbox:
def __init__(self, width, height):
self.width = width
self.height = height
self.fbo = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, self.fbo)
self.buf_back = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.buf_back)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA32F, width, height, 0, GL_RGBA, GL_FLOAT, None)
glBindTexture(GL_TEXTURE_2D, 0)
self.buf_front = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.buf_front)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_BORDER)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_BORDER)
glTexImage2D(GL_TEXTURE_2D, 0,GL_RGBA32F, width, height, 0, GL_RGBA, GL_FLOAT, None)
glBindTexture(GL_TEXTURE_2D, 0)
self.rbo = glGenRenderbuffers(1)
glBindRenderbuffer(GL_RENDERBUFFER, self.rbo)
glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH_COMPONENT, width, height)
glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT, GL_RENDERBUFFER, self.rbo)
glBindRenderbuffer(GL_RENDERBUFFER, 0)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
###################################################################################################################
class QuadFull:
RENDER_MODE_BLINN_PHONG = 0
RENDER_MODE_CURVATURE = 1
NUM_RENDER_MODE = 2
def __init__(self, volume, size_fbo):
self.tex_bbox_back = volume.bbox.fbo.buf_back
self.tex_bbox_front = volume.bbox.fbo.buf_front
self.tex_volume = volume.texid
self.render_mode = self.RENDER_MODE_CURVATURE
uniforms = ['tex_back', 'tex_front', 'tex_volume', 'scale_axes', 'dim',
'level', 'scale_step', 'MV', 'render_mode', 'tex_colormap_2d']
self.prog = Program('raycast_simple.vert', 'fccV2_raycast_open.frag', uniforms)
self.init_colormap()
self.init_vao()
self.scale_step = 0.001
#------------------------------------------------------------------------------------------------------------------------
def init_vao(self):
verts = np.array(
[-1, -1, 0, 0,
1, -1, 1, 0,
1, 1, 1, 1,
-1, 1, 0, 1], dtype=np.float32)
self.vao = glGenVertexArrays(1)
glBindVertexArray(self.vao)
self.vbo = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, self.vbo)
glBufferData(GL_ARRAY_BUFFER, len(verts)*ctypes.sizeof(ctypes.c_float), verts, GL_STATIC_DRAW)
glEnableVertexAttribArray(0)
glVertexAttribPointer(0, 2, GL_FLOAT, GL_FALSE, 4*ctypes.sizeof(ctypes.c_float), None)
glEnableVertexAttribArray(1)
glVertexAttribPointer(1, 2, GL_FLOAT, GL_FALSE, 4*ctypes.sizeof(ctypes.c_float), ctypes.c_void_p(2*ctypes.sizeof(ctypes.c_float)))
glBindVertexArray(0)
#------------------------------------------------------------------------------------------------------------------------
def render_raycast_shading(self, level, volume, MV):
glClearColor(0, 0, 0, 0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, self.tex_bbox_back)
glActiveTexture(GL_TEXTURE1)
glBindTexture(GL_TEXTURE_2D, self.tex_bbox_front)
glActiveTexture(GL_TEXTURE2)
glBindTexture(GL_TEXTURE_3D, self.tex_volume)
glActiveTexture(GL_TEXTURE3)
glBindTexture(GL_TEXTURE_2D, self.tex_colormap_2d)
glUseProgram(self.prog.id)
glUniform1i(self.prog.uniform_locs['tex_back'], 0)
glUniform1i(self.prog.uniform_locs['tex_front'], 1)
glUniform1i(self.prog.uniform_locs['tex_volume'], 2)
glUniform1i(self.prog.uniform_locs['tex_colormap_2d'], 3)
glUniform1f(self.prog.uniform_locs['level'], level)
glUniform3f(self.prog.uniform_locs['scale_axes'], volume.bbox.scale_axes[0], volume.bbox.scale_axes[1], volume.bbox.scale_axes[2])
glUniform3f(self.prog.uniform_locs['dim'], volume.info.dim[0], volume.info.dim[1], volume.info.dim[2])
glUniform1f(self.prog.uniform_locs['scale_step'], self.scale_step)
glUniformMatrix4fv(self.prog.uniform_locs['MV'], 1, GL_FALSE, MV)
glUniform1i(self.prog.uniform_locs['render_mode'], self.render_mode);
glBindVertexArray(self.vao)
glDrawArrays(GL_TRIANGLE_FAN, 0, 4)
glBindVertexArray(0)
#------------------------------------------------------------------------------------------------------------------------
def init_colormap(self):
# 3x3 colormap for min-max curvature
colormap_2d = np.array([[ 1, 0, 0], [ 1, 1, 0], [0,1,0],
[.5,.5,.5], [.5,.5,.5], [0,1,1],
[.5,.5,.5], [.5,.5,.5], [0,0,1]], dtype=np.float32)
self.tex_colormap_2d = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.tex_colormap_2d)
glPixelStorei(GL_UNPACK_ALIGNMENT,1)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, 3, 3, 0, GL_RGB, GL_FLOAT, colormap_2d)
###################################################################################################################
class Program:
def __init__(self, filename_vert, filename_frag, uniforms):
src_vert = open(filename_vert, 'r', encoding="UTF-8").read()
src_frag = open(filename_frag, 'r', encoding="UTF-8").read()
self.id = self.build(src_vert, src_frag, uniforms)
#------------------------------------------------------------------------------------------------------------------------
def compile(self, src, type):
id = glCreateShader(type)
glShaderSource(id, src)
glCompileShader(id)
result = glGetShaderiv(id, GL_COMPILE_STATUS)
if not(result):
print('shader compilation error.')
print(glGetShaderInfoLog(id))
input('press any key to continue.')
raise RuntimeError(
"""Shader compile failure (%s): %s"""%( result, glGetShaderInfoLog( id ),),
src, type,)
return id
#------------------------------------------------------------------------------------------------------------------------
def build(self, src_vert, src_frag, uniforms):
id_vert = self.compile(src_vert, GL_VERTEX_SHADER)
id_frag = self.compile(src_frag, GL_FRAGMENT_SHADER)
program = glCreateProgram()
if not program:
raise RunTimeError('glCreateProgram faled!')
glAttachShader(program, id_vert)
glAttachShader(program, id_frag)
glLinkProgram(program)
status = glGetProgramiv(program, GL_LINK_STATUS)
if not status:
infoLog = glGetProgramInfoLog(program)
glDeleteProgram(program)
glDeleteShader(id_vert)
glDeleteShader(id_frag)
print(infoLog)
raise RuntimeError("Error linking program:\n%s\n", infoLog)
self.uniform_locs = {}
for u in uniforms:
self.uniform_locs[u] = glGetUniformLocation(program, u)
return program
###################################################################################################################
class Scene:
def __init__(self, width, height):
self.width = width
self.height = height
self.view_angle = 21
self.angle_x = 320
self.angle_y = 0
self.position_x = 0
self.position_y = 0
volume_name = 'ML_25'
fbo_size = (width, height)
self.volume = Volume(volumes[volume_name], fbo_size)
self.quad_full = QuadFull(self.volume, fbo_size)
self.refresh_MVP()
self.texid = [self.volume.bbox.fbo.buf_front, self.volume.bbox.fbo.buf_back]
self.level = volumes[volume_name].level
#------------------------------------------------------------------------------------------------------------------------
def refresh_MVP(self):
self.P = glm.perspective(np.radians(self.view_angle), self.width/self.height, 1, 3)
self.MV = glm.translate(glm.mat4(), glm.vec3(self.position_x, self.position_y, -2))
self.MV = glm.rotate(self.MV, np.radians(self.angle_x), glm.vec3(1,0,0))
self.MV = glm.rotate(self.MV, np.radians(self.angle_y), glm.vec3(0,1,0))
self.MVP = np.array(self.P * self.MV)
self.MV = np.array(self.MV)
#------------------------------------------------------------------------------------------------------------------------
def render_shading(self):
self.volume.bbox.render_bbox(self.MVP)
self.quad_full.render_raycast_shading(self.level, self.volume, self.MV)
###################################################################################################################
class RenderWindow:
def __init__(self):
cwd = os.getcwd() # save current working directory
glfw.init() # initialize glfw - this changes cwd
os.chdir(cwd) # restore cwd
glfw.window_hint(glfw.CONTEXT_VERSION_MAJOR, 3)
glfw.window_hint(glfw.CONTEXT_VERSION_MINOR, 3)
glfw.window_hint(glfw.OPENGL_FORWARD_COMPAT, GL_TRUE)
glfw.window_hint(glfw.OPENGL_PROFILE, glfw.OPENGL_CORE_PROFILE)
self.width, self.height = 512,512
self.aspect = self.width/float(self.height)
self.win = glfw.create_window(self.width, self.height, 'raycaster(2nd order fcc Voronoi Spline)', None, None)
glfw.make_context_current(self.win)
glfw.swap_interval(0)
# for retina display...
self.fb_width, self.fb_height = glfw.get_framebuffer_size(self.win)
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0,0.0)
glfw.set_key_callback(self.win, self.onKeyboard)
glfw.set_window_size_callback(self.win, self.onSize)
self.scene = Scene(self.fb_width, self.fb_height)
self.exitNow = False
def onKeyboard(self, win, key, scancode, action, mods):
def set_step_level(mods):
if mods & glfw.MOD_SHIFT:
step_level = 0.01
elif mods & glfw.MOD_CONTROL:
step_level = 0.00001
else:
step_level = 0.0001
return step_level
if action == glfw.PRESS:
# ESC to quit
if key == glfw.KEY_ESCAPE:
self.exitNow = True
elif key == glfw.KEY_RIGHT:
self.scene.angle_y = (self.scene.angle_y + 10) % 360
self.scene.refresh_MVP()
elif key == glfw.KEY_LEFT:
self.scene.angle_y = (self.scene.angle_y - 10) % 360
self.scene.refresh_MVP()
elif key == glfw.KEY_UP:
self.scene.angle_x = (self.scene.angle_x - 10) % 360
self.scene.refresh_MVP()
elif key == glfw.KEY_DOWN:
self.scene.angle_x = (self.scene.angle_x + 10) % 360
self.scene.refresh_MVP()
elif key == glfw.KEY_EQUAL:
self.scene.level = self.scene.level + set_step_level(mods)
print(self.scene.level)
elif key == glfw.KEY_MINUS:
self.scene.level = self.scene.level - set_step_level(mods)
print(self.scene.level)
elif key == glfw.KEY_PAGE_UP:
self.scene.view_angle = self.scene.view_angle - 1
self.scene.refresh_MVP()
print(self.scene.view_angle)
elif key == glfw.KEY_PAGE_DOWN:
self.scene.view_angle = self.scene.view_angle + 1
self.scene.refresh_MVP()
print(self.scene.view_angle)
elif key == glfw.KEY_TAB:
self.scene.quad_full.render_mode = (self.scene.quad_full.render_mode + 1) % self.scene.quad_full.NUM_RENDER_MODE
print("Rendering Mode : ", "Min/max curvature" if self.scene.quad_full.render_mode else "Blinn-Phong")
def onSize(self, win, width, height):
self.aspect = width/float(height)
self.scene.width = width
self.scene.height = height
def run(self):
glfw.set_time(0)
glClearColor(1,1,1,1)
lastT = glfw.get_time()
frames = 0
while not glfw.window_should_close(self.win) and not self.exitNow:
currT = glfw.get_time()
if frames == 20:
elapsed = currT - lastT
print('fps = {}'.format(frames/elapsed))
lastT = currT
frames = 0
self.scene.render_shading()
frames += 1
glfw.swap_buffers(self.win)
glfw.poll_events()
glfw.terminate()
# main() function
def main():
print("Starting raycaster. "
"Press ESC to quit.")
rw = RenderWindow()
rw.run()
# call main
if __name__ == '__main__':
main()