def on_changed(self, which):
if 'frustum' in which:
w = self.frustum['width']
h = self.frustum['height']
self.glf = OsContext(w, h, typ=GL_FLOAT)
self.glf.Viewport(0, 0, w, h)
self.glb = OsContext(w, h, typ=GL_UNSIGNED_BYTE)
self.glb.Viewport(0, 0, w, h)
if 'frustum' in which or 'camera' in which:
setup_camera(self.glb, self.camera, self.frustum)
setup_camera(self.glf, self.camera, self.frustum)
# pass
if not hasattr(self, 'num_channels'):
self.num_channels = 3
if not hasattr(self, 'bgcolor'):
self.bgcolor = Ch(np.array([.5] * self.num_channels))
which.add('bgcolor')
if not hasattr(self, 'overdraw'):
self.overdraw = True
if 'bgcolor' in which or ('frustum' in which
and hasattr(self, 'bgcolor')):
self.glf.ClearColor(self.bgcolor.r[0],
self.bgcolor.r[1 % self.num_channels],
self.bgcolor.r[2 % self.num_channels], 1.)
class BoundaryRenderer(BaseRenderer):
terms = 'f', 'frustum', 'num_channels'
dterms = 'camera',
@property
def shape(self):
return (self.frustum['height'], self.frustum['width'],
self.num_channels)
def compute_r(self):
tmp = self.camera.r
return self.color_image
def compute_dr_wrt(self, wrt):
if wrt is not self.camera:
return None
visibility = self.boundaryid_image
shape = visibility.shape
visible = np.nonzero(visibility.ravel() != 4294967295)[0]
num_visible = len(visible)
barycentric = self.barycentric_image
return common.dImage_wrt_2dVerts(self.color_image, visible, visibility,
barycentric, self.frustum['width'],
self.frustum['height'],
self.v.r.size / 3, self.vpe)
def on_changed(self, which):
if 'frustum' in which:
w = self.frustum['width']
h = self.frustum['height']
self.glf = OsContext(w, h, typ=GL_FLOAT)
self.glf.Viewport(0, 0, w, h)
self.glb = OsContext(w, h, typ=GL_UNSIGNED_BYTE)
self.glb.Viewport(0, 0, w, h)
if 'frustum' in which or 'camera' in which:
setup_camera(self.glb, self.camera, self.frustum)
setup_camera(self.glf, self.camera, self.frustum)
if not hasattr(self, 'overdraw'):
self.overdraw = True
@depends_on(terms + dterms)
def color_image(self):
self._call_on_changed()
result = self.boundarybool_image.astype(np.float64)
return np.dstack([result for i in range(self.num_channels)])
def on_changed(self, which):
if 'frustum' in which:
w = self.frustum['width']
h = self.frustum['height']
self.glf = OsContext(w, h, typ=GL_FLOAT)
self.glf.Viewport(0, 0, w, h)
self.glb = OsContext(w, h, typ=GL_UNSIGNED_BYTE)
self.glb.Viewport(0, 0, w, h)
if 'frustum' in which or 'camera' in which:
setup_camera(self.glb, self.camera, self.frustum)
setup_camera(self.glf, self.camera, self.frustum)
if not hasattr(self, 'overdraw'):
self.overdraw = True
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)
class PersonRenderer:
def __init__(self, in_camera, in_imSize, in_personModel):
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):
self.gl.Clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
self.gl.EnableClientState(GL_VERTEX_ARRAY)
self.gl.DisableClientState(GL_COLOR_ARRAY)
self.gl.VertexPointer(np.ascontiguousarray(in_vertexArray).reshape((-1,3)))
self.gl.DrawElements(GL_TRIANGLES, np.asarray(in_faceArray, np.uint32).ravel())
return self.gl.getImage()
def __init__(self, in_camera, in_imSize, in_personModel):
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)
class DepthRenderer(BaseRenderer):
terms = 'f', 'frustum', 'background_image', 'overdraw'
dterms = 'camera', 'v'
@property
def shape(self):
return (self.frustum['height'], self.frustum['width'])
def compute_r(self):
tmp = self.camera.r
return self.depth_image.reshape(
(self.frustum['height'], self.frustum['width']))
def compute_dr_wrt(self, wrt):
if wrt is not self.camera and wrt is not self.v:
return None
visibility = self.visibility_image
visible = np.nonzero(visibility.ravel() != 4294967295)[0]
barycentric = self.barycentric_image
if wrt is self.camera:
shape = visibility.shape
depth = self.depth_image
if self.overdraw:
result1 = common.dImage_wrt_2dVerts_bnd(
depth, visible, visibility, barycentric,
self.frustum['width'], self.frustum['height'],
self.v.r.size / 3, self.f,
self.boundaryid_image != 4294967295)
else:
result1 = common.dImage_wrt_2dVerts(depth, visible, visibility,
barycentric,
self.frustum['width'],
self.frustum['height'],
self.v.r.size / 3, self.f)
# result1 = common.dImage_wrt_2dVerts(depth, visible, visibility, barycentric, self.frustum['width'], self.frustum['height'], self.v.r.size/3, self.f)
return result1
elif wrt is self.v:
IS = np.tile(col(visible), (1, 9)).ravel()
JS = col(self.f[visibility.ravel()[visible]].ravel())
JS = np.hstack((JS * 3, JS * 3 + 1, JS * 3 + 2)).ravel()
# FIXME: there should be a faster way to get the camera axis.
# But it should be carefully tested with distortion present!
pts = np.array([[self.camera.c.r[0], self.camera.c.r[1], 2],
[self.camera.c.r[0], self.camera.c.r[1], 1]])
pts = self.camera.unproject_points(pts)
cam_axis = pts[0, :] - pts[1, :]
if True: # use barycentric coordinates (correct way)
w = visibility.shape[1]
pxs = np.asarray(visible % w, np.int32)
pys = np.asarray(np.floor(np.floor(visible) / w), np.int32)
bc0 = col(barycentric[pys, pxs, 0])
bc1 = col(barycentric[pys, pxs, 1])
bc2 = col(barycentric[pys, pxs, 2])
bc = np.hstack(
(bc0, bc0, bc0, bc1, bc1, bc1, bc2, bc2, bc2)).ravel()
else: # each vert contributes equally (an approximation)
bc = 1. / 3.
data = np.tile(row(cam_axis), (IS.size / 3, 1)).ravel() * bc
result2 = sp.csc_matrix(
(data, (IS, JS)),
shape=(self.frustum['height'] * self.frustum['width'],
self.v.r.size))
return result2
def on_changed(self, which):
if 'frustum' in which:
w = self.frustum['width']
h = self.frustum['height']
self.glf = OsContext(w, h, typ=GL_FLOAT)
self.glf.Viewport(0, 0, w, h)
self.glb = OsContext(w, h, typ=GL_UNSIGNED_BYTE)
self.glb.Viewport(0, 0, w, h)
if 'frustum' in which or 'camera' in which:
setup_camera(self.glb, self.camera, self.frustum)
setup_camera(self.glf, self.camera, self.frustum)
if not hasattr(self, 'overdraw'):
self.overdraw = True
assert (self.v is self.camera.v)
@depends_on(dterms + terms)
def depth_image(self):
self._call_on_changed()
gl = self.glb
gl.Clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
draw_noncolored_verts(gl, self.camera.v.r, self.f)
result = np.asarray(deepcopy(gl.getDepth()), np.float64)
if self.overdraw:
gl.PolygonMode(GL_FRONT_AND_BACK, GL_LINE)
draw_noncolored_verts(gl, self.camera.v.r, self.f)
overdraw = np.asarray(deepcopy(gl.getDepth()), np.float64)
gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
boundarybool_image = self.boundarybool_image
result = overdraw * boundarybool_image + result * (
1 - boundarybool_image)
if hasattr(self, 'background_image'):
if False: # has problems at boundaries, not sure why yet
bg_px = self.visibility_image == 4294967295
fg_px = 1 - bg_px
result = bg_px * self.background_image + fg_px * result
else:
tmp = np.concatenate(
(np.atleast_3d(result), np.atleast_3d(
self.background_image)),
axis=2)
result = np.min(tmp, axis=2)
return result
def getDepthMesh(self, depth_image=None):
self._call_on_changed() # make everything is up-to-date
v = self.glb.getDepthCloud(depth_image)
w = self.frustum['width']
h = self.frustum['height']
idxs = np.arange(w * h).reshape((h, w))
# v0 is upperleft, v1 is upper right, v2 is lowerleft, v3 is lowerright
v0 = col(idxs[:-1, :-1])
v1 = col(idxs[:-1, 1:])
v2 = col(idxs[1:, :-1])
v3 = col(idxs[1:, 1:])
f = np.hstack((v0, v1, v2, v1, v3, v2)).reshape((-1, 3))
return v, f
class ColoredRenderer(BaseRenderer):
terms = 'f', 'frustum', 'background_image', 'overdraw', 'num_channels'
dterms = 'vc', 'camera', 'bgcolor'
@property
def shape(self):
if not hasattr(self, 'num_channels'):
self.num_channels = 3
if self.num_channels > 1:
return (self.frustum['height'], self.frustum['width'],
self.num_channels)
else:
return (self.frustum['height'], self.frustum['width'])
def compute_r(self):
tmp = self.camera.r
return self.color_image # .reshape((self.frustum['height'], self.frustum['width'], -1)).squeeze()
def compute_dr_wrt(self, wrt):
if wrt is not self.camera and wrt is not self.vc and wrt is not self.bgcolor:
return None
visibility = self.visibility_image
shape = visibility.shape
color = self.color_image
visible = np.nonzero(visibility.ravel() != 4294967295)[0]
num_visible = len(visible)
barycentric = self.barycentric_image
if wrt is self.camera:
if self.overdraw:
return common.dImage_wrt_2dVerts_bnd(
color, visible, visibility, barycentric,
self.frustum['width'], self.frustum['height'],
int(self.v.r.size / 3), self.f,
self.boundaryid_image != 4294967295)
else:
return common.dImage_wrt_2dVerts(color, visible, visibility,
barycentric,
self.frustum['width'],
self.frustum['height'],
int(self.v.r.size / 3),
self.f)
elif wrt is self.vc:
return common.dr_wrt_vc(visible,
visibility,
self.f,
barycentric,
self.frustum,
self.vc.size,
num_channels=self.num_channels)
elif wrt is self.bgcolor:
return common.dr_wrt_bgcolor(visibility,
self.frustum,
num_channels=self.num_channels)
def on_changed(self, which):
if 'frustum' in which:
w = self.frustum['width']
h = self.frustum['height']
self.glf = OsContext(w, h, typ=GL_FLOAT)
self.glf.Viewport(0, 0, w, h)
self.glb = OsContext(w, h, typ=GL_UNSIGNED_BYTE)
self.glb.Viewport(0, 0, w, h)
if 'frustum' in which or 'camera' in which:
setup_camera(self.glb, self.camera, self.frustum)
setup_camera(self.glf, self.camera, self.frustum)
# pass
if not hasattr(self, 'num_channels'):
self.num_channels = 3
if not hasattr(self, 'bgcolor'):
self.bgcolor = Ch(np.array([.5] * self.num_channels))
which.add('bgcolor')
if not hasattr(self, 'overdraw'):
self.overdraw = True
if 'bgcolor' in which or ('frustum' in which
and hasattr(self, 'bgcolor')):
self.glf.ClearColor(self.bgcolor.r[0],
self.bgcolor.r[1 % self.num_channels],
self.bgcolor.r[2 % self.num_channels], 1.)
def flow_to(self, v_next, cam_next=None):
return common.flow_to(self, v_next, cam_next)
def filter_for_triangles(self, which_triangles):
cim = self.color_image
vim = self.visibility_image + 1
arr = np.zeros(len(self.f) + 1)
arr[which_triangles + 1] = 1
relevant_pixels = arr[vim.ravel()]
cim2 = cim.copy() * np.atleast_3d(relevant_pixels.reshape(vim.shape))
relevant_pixels = np.nonzero(arr[vim.ravel()])[0]
xs = relevant_pixels % vim.shape[1]
ys = relevant_pixels / vim.shape[1]
return cim2[np.min(ys):np.max(ys), np.min(xs):np.max(xs), :]
@depends_on('f', 'camera', 'vc')
def boundarycolor_image(self):
return self.draw_boundarycolor_image(with_vertex_colors=True)
def draw_color_image(self, gl):
self._call_on_changed()
gl.Clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
# use face colors if given
# FIXME: this won't work for 2 channels
draw_colored_verts(gl, self.v.r, self.f, self.vc.r)
result = np.asarray(
deepcopy(gl.getImage()[:, :, :self.num_channels].squeeze()),
np.float64)
if hasattr(self, 'background_image'):
bg_px = np.tile(
np.atleast_3d(self.visibility_image) == 4294967295,
(1, 1, self.num_channels)).squeeze()
fg_px = 1 - bg_px
result = bg_px * self.background_image + fg_px * result
return result
@depends_on(dterms + terms)
def color_image(self):
gl = self.glf
gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
no_overdraw = self.draw_color_image(gl)
if not self.overdraw:
return no_overdraw
gl.PolygonMode(GL_FRONT_AND_BACK, GL_LINE)
overdraw = self.draw_color_image(gl)
gl.PolygonMode(GL_FRONT_AND_BACK, GL_FILL)
boundarybool_image = self.boundarybool_image
if self.num_channels > 1:
boundarybool_image = np.atleast_3d(boundarybool_image)
return np.asarray((overdraw * boundarybool_image + no_overdraw *
(1 - boundarybool_image)),
order='C')
@depends_on('f', 'frustum', 'camera')
def boundary_images(self):
self._call_on_changed()
return draw_boundary_images(self.glb, self.v.r, self.f, self.vpe,
self.fpe, self.camera)
@depends_on(terms + dterms)
def boundarycolor_image(self):
self._call_on_changed()
gl = self.glf
colors = self.vc.r.reshape((-1, 3))[self.vpe.ravel()]
gl.Clear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
draw_colored_primitives(gl, self.v.r.reshape((-1, 3)), self.vpe,
colors)
return np.asarray(deepcopy(gl.getImage()), np.float64)
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()
