class LandmarkViewer(QGLWidget): """ 3D Landmark viewer""" def __init__(self, imw, imh,parent = None): """Constructor, recives QMainWindow, and two PIL Images""" # Size of the widget self.winWidth = imw self.winHeight = imh self.imw = self.winWidth self.imh = self.winHeight self.presButton = None self.hnear = .1 #Closest depth that the camera see self.hfar = 60 self.colors = RandomColors() self.red, self.green, self.blue = self.colors.getColors() self.resetView() QGLWidget.__init__(self, parent) # It is important, PtsManager is a Singleton so if some points are # already loaded by another class then, those points will be imported self.ptsManager = PtsManager() self.calcMaxValues() def calcMaxValues(self): """Computes the maximum abs values from the landmarks""" self.maxx, self.maxy, self.maxz = self.ptsManager.maxValues() def resetView(self): # There are 3 display modes 1 -> shows the 2 images side by side # 2 Shows only the left image, 3 shows only the right image self.displayMode = 2 self.psize = 5 #Size of the landmarks self.zoom = 1 #This values are used to rotate the points. # They should be expressed in angles self.rotx = 0 self.roty = 0 self.rotz = 0 self.transx = 0 self.transy = 0 self.transz = 0 self.ptsOffsetX = 0 self.ptsOffsetY = 0 # self.zpos = -self.hnear; #Z position of the square exactly where hnear is self.zpos = -self.hfar/2; #Z position of the square exactly where hnear is def drawPoints(self, pts): """Draws the landmarks in a 3D space""" colorIndex = 1 glBegin(GL_POINTS) for pt in pts: #Changing the color for each point r = self.red[colorIndex % self.colors.difColors] g = self.green[colorIndex % self.colors.difColors] b = self.blue[colorIndex % self.colors.difColors] glColor3f(r,g,b) #Normalize all the values between -self.hfar/6 and self.hfar/6 # print "-----------PLOTING-----------------" # print pt.x, pt.y, pt.z norx, nory, norz = self.normCord(pt.x, pt.y, pt.z, self.hfar/5) glVertex3f(norx, nory, norz ) colorIndex = colorIndex + 1 glColor3f(1,1,1) glEnd() def initializeGL(self): """Initialize all the OpenGL paramaters """ glClearColor(0.0, 0.0, 0.0, 1.0)#Black background glEnable(GL_TEXTURE_2D);#Enable texturing glMatrixMode(GL_PROJECTION) glLoadIdentity() self.setMinimumSize(50,50) def mouseMoveEvent(self,mouseEvent): """Receives events from the mouse, moves the rightImg position""" x, y = [mouseEvent.x(), mouseEvent.y()] if(self.presButton == Qt.LeftButton): self.roty = self.roty - float(self.mousex - x)/10 #Rotate over y self.rotx = self.rotx - float(self.mousey - y)/10 #Rotate over x else: self.transy = self.transy + float(self.mousey - y)/30 #Translate over y self.transx = self.transx - float(self.mousex - x)/30 #Translate over x # self.transz = self.transz - float(self.mousey - y)/10 #Translate over x self.mousex, self.mousey = x , y self.updateGL() def normCord(self,x,y,z,normValue): """Normalize the coordinates all the values between -10 and 10""" #The values are only positive numbers, so I need to center them x = x - self.maxx/2 y = y - self.maxy/2 z = z - self.maxz/2 # And then normalize them normx = (x/(self.maxx/2))*normValue normy = (y/(self.maxy/2))*normValue normz = (z/(self.maxz/2))*normValue return normx,normy,normz def mousePressEvent(self,mouseEvent): """Receives events from the mouse""" self.mousex, self.mousey = [mouseEvent.x(), mouseEvent.y()] if(mouseEvent.button() == Qt.RightButton): self.presButton = Qt.RightButton if(mouseEvent.button() == Qt.LeftButton): self.presButton = Qt.LeftButton self.updateGL() def modifyZoom(self, amount): """Used to increase and decrease the zoom""" self.zoom = self.zoom + amount self.updateGL() def wheelEvent(self, wheelEvent): """Use wheel in mouse to change zoom""" delta = self.hfar/40 if( wheelEvent.delta() >0): self.modifyZoom(-delta) else: self.modifyZoom(delta) def updateGL(self): """Updates the display. Its a public slot""" self.paintGL() self.swapBuffers() def paintGL(self): """Glut display function.""" glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) glColorMask( True, True, True, True ) self.updateCamera() self.render()#We are only displaying the left rightImg def resizeGL(self, w, h): """ Resize the width and height of the square """ #The main window has a top toolbar of size 50 glViewport(0,0, w, h) glMatrixMode(GL_PROJECTION) glLoadIdentity() self.winHeight = h self.winWidth = w self.updateGL() def keyPressEvent(self,key): """Manage the keys pressed by the user""" if( (key.text() == '1')or (key.text() == '2')or (key.text() == '3')): self.displayMode = int(key.text()) if( (key.text() == 'r')or (key.text() == 'R')): self.resetView() self.updateGL() def updateCamera(self): """Updates the position of the cameras""" winw, winh = [self.winWidth, self.winHeight]#Set rightImg size as local variables glMatrixMode(GL_PROJECTION) glLoadIdentity() glMatrixMode(GL_MODELVIEW) glLoadIdentity() # This formula is straight forward from http://www.lighthouse3d.com/opengl/viewfrustum/index.php?defvf #In this case the choosen camera (left or right) needs to see #exactly one of the rightImgs ratio = float(winw)/float(winh) gluPerspective(45, ratio , 1,self.hfar) gluLookAt( 0,0,0,0,0,-1,0,1,0 ) def render(self): """Render the scene.""" #Size of the rectangle. Reduce the size of the border glPushMatrix() #Translate more less to the center in z glTranslate(self.transx,self.transy,self.zoom-(self.hfar/2)) glRotatef(self.rotx,1,0,0) glRotatef(self.roty,0,1,0) glRotatef(self.rotz,0,0,1) # More less 20 lines along the z axis self.drawXYZplanes(30,(self.hfar/2)) self.ptsManager = PtsManager() glPointSize(self.psize) if(self.displayMode == 1): self.drawPoints(self.ptsManager.leftpts) self.drawPoints(self.ptsManager.rightpts) if(self.displayMode == 2): self.drawPoints(self.ptsManager.leftpts) if(self.displayMode == 3): self.drawPoints(self.ptsManager.rightpts) glPopMatrix() def drawXYZplanes(self,lines,size): glColor(.5,0,0) glPointSize(self.psize*2) glBegin(GL_POINTS) glVertex3f(0,0,0) # Bottom Left Of The Texture and Quad glEnd() glBegin(GL_LINES) for i in range(lines): # Horizontal lines along the z axis glVertex3f( -size, 0, i*(size/lines)) glVertex3f( size, 0, i*(size/lines)) glVertex3f( -size, 0, -i*(size/lines)) glVertex3f( size, 0, -i*(size/lines)) #Vertical lines along the z axis glVertex3f( i*(size/lines), 0, -size) glVertex3f( i*(size/lines), 0, size) glVertex3f( -i*(size/lines), 0, -size) glVertex3f( -i*(size/lines), 0, size) # Horizontal lines along the y axis glVertex3f( 0, i*(size/lines), size) glVertex3f( 0, i*(size/lines), -size) glVertex3f( 0, -i*(size/lines), size) glVertex3f( 0, -i*(size/lines), -size) # Verticallines along the y axis glVertex3f( 0, size, i*(size/lines)) glVertex3f( 0, -size, i*(size/lines)) glVertex3f( 0, size, -i*(size/lines)) glVertex3f( 0, -size, -i*(size/lines)) glEnd()
class DigitizerWidget(QGLWidget): """ 3D Digitizer widget""" def __init__(self, parent,leftImg, rightImg): """Constructor, recives QMainWindow, and two PIL Images""" QGLWidget.__init__(self, parent) self.hnear = .1; #Closest depth that the camera sees self.hfar = 50; #Farest depth that the camera sees self.zpos = -self.hnear; #Z position of the square exactly where hnear is # Size of the widget self.winWidth = 100 self.winHeight = 100 # There are 3 display modes 1 -> shows the 2 images side by side # 2 Shows only the left image, 3 shows only the right image self.displayMode = 1 self.psize = 4 #Size of the landmarks self.hideImg = False self.textureIds = [-1, -1] # Ids of the textures self.ptsManager = PtsManager() self.resetVariables() self.rightImg = rightImg self.leftImg = leftImg self.imw, self.imh = self.rightImg.size self.updateSqrSize() def resetVariables(self): """Initialize all the internal variables of the widget""" self.sqrzoom = 1; self.sqrOffsetX = 0 self.sqrOffsetY = 0 # This variables are used to move the rightImg using the mouse self.mousex = -1 self.mousey = -1 self.colors = RandomColors() self.red, self.green, self.blue = self.colors.getColors() def drawPoints(self): glPushMatrix() glPointSize(self.psize) colorIndex = 1 glBegin(GL_POINTS) pts = [] if(self.displayMode == 2): pts = self.ptsManager.leftpts if(self.displayMode == 3): pts = self.ptsManager.rightpts for pt in pts: #Changing the color for each point r = self.red[colorIndex % self.colors.difColors] g = self.green[colorIndex % self.colors.difColors] b = self.blue[colorIndex % self.colors.difColors] glColor3f(r,g,b) glx, gly = self.imgCoorToGlCoor(pt.x, pt.y) #Displaying vertex glVertex3f( glx,gly, self.zpos) # Bottom Left Of The Texture and Quad colorIndex = colorIndex + 1 glColor3f(1,1,1) glEnd() glPopMatrix() def initializeGL(self): """Initialize all the OpenGL paramaters """ glClearColor(0.0, 0.0, 0.0, 1.0)#Black background glEnable(GL_TEXTURE_2D);#Enable texturing glMatrixMode(GL_PROJECTION) glLoadIdentity() self.setMinimumSize(50,50) self.updateSqrSize() self.resetVariables() self.loadTextures(self.leftImg,self.rightImg) self.updateGL() def updateSqrSize(self): """ Updates the square size. Is the biggest square proportional the the original leftImage that can be fited inside the window""" if( (self.displayMode == 2) or (self.displayMode == 3) ): if( (self.imw > self.winWidth) or (self.imh > self.winHeight) ): if(self.imw > self.winWidth): self.sqw = self.winWidth self.sqh = int(self.sqw*(float(self.imh)/float(self.imw))) if(self.sqh > self.winHeight): self.sqh = self.winHeight self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh))) else: self.sqh = self.winHeight self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh))) else: # The rightImg is smaller than the window in both directions. Then we maintain # the original size of the rightImg self.sqw = self.imw self.sqh = self.imh else: if(self.displayMode == 1): if( (2*self.imw > self.winWidth) or (self.imh > self.winHeight) ): if(2*self.imw > self.winWidth): self.sqw = self.winWidth/2 self.sqh = int(self.sqw*(float(self.imh)/float(self.imw))) if(self.sqh > self.winHeight): self.sqh = self.winHeight self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh))) else: self.sqh = self.winHeight self.sqw = int(self.winHeight*(float(self.imw)/float(self.imh))) else: # The rightImg is smaller than the window in both directions. Then we maintain # the original size of the rightImg self.sqw = self.imw self.sqh = self.imh def loadTextures(self,newleftImg,newrightImg): """Loads a texture """ self.rightImg = newrightImg self.leftImg = newleftImg self.imw, self.imh = self.rightImg.size self.textureIds[0] = self.bindTexture(ImageQt.ImageQt(self.leftImg),GL_TEXTURE_2D) self.textureIds[1] = self.bindTexture(ImageQt.ImageQt(self.rightImg),GL_TEXTURE_2D) def mouseMoveEvent(self,mouseEvent): """Receives events from the mouse, moves the rightImg position""" x, y = [mouseEvent.x(), mouseEvent.y()] self.sqrOffsetX = self.sqrOffsetX + (self.mousex - x) self.sqrOffsetY = self.sqrOffsetY + (self.mousey - y) self.mousex, self.mousey = x , y self.updateGL() def windowToGlCoor(self,x,y): glx = x - self.winWidth/2 gly = self.winHeight/2 - y return glx, gly def glCoorToImage(self,x,y): """ Transform a glCoordinate into Image coordinate inside [imw,imh]""" # Actual size of the image sizew, sizeh = float(self.sqw*self.sqrzoom), float(self.sqh*self.sqrzoom) # Origin of the image in the GL coordinates ox, oy = (-sizew/2 - self.sqrOffsetX), (-sizeh/2 + self.sqrOffsetY) # Ratio of the original image and the displayed one ratiox, ratioy = (self.imw/sizew), (self.imh/sizeh) imx = (x - ox)*ratiox imy = (y - oy)*ratioy return imx, imy def imgCoorToGlCoor(self,x,y): """Transform an image coordinate into GL coordinate""" # Actual size of the image sizew, sizeh = float(self.sqw*self.sqrzoom), float(self.sqh*self.sqrzoom) # Origin of the image in the GL coordinates ox, oy = (-sizew/2 - self.sqrOffsetX), (-sizeh/2 + self.sqrOffsetY) # Ratio of the original image and the displayed one ratiox, ratioy = (self.imw/sizew), (self.imh/sizeh) glx = x/ratiox + ox gly = y/ratioy + oy return glx, gly def mousePressEvent(self,mouseEvent): """Receives events from the mouse""" self.mousex, self.mousey = [mouseEvent.x(), mouseEvent.y()] if(mouseEvent.button() == Qt.RightButton): # Change the windows coordinates to OpenGL coordinates glx, gly = self.windowToGlCoor(self.mousex, self.mousey) # Change the OpengGL coordiantes to Image coordinates imx, imy = self.glCoorToImage(glx, gly) if( ((imx>=0) and (imy>=0)) and ((imx<=self.imw) and (imy<=self.imh)) ): if(self.displayMode == 2): self.ptsManager.addLeftPoint(imx,imy) if(self.displayMode == 3): self.ptsManager.addRightPoint(imx,imy) # self.ptsManager.printPoints() else: print "The selected point is outside of the image" self.updateGL() def modifyZoom(self, amount): """Used to increase and decrease the zoom""" self.sqrzoom = max(self.sqrzoom + amount,.1) self.updateGL() def wheelEvent(self,wheelEvent): """Use wheel in mouse to change zoom""" if( wheelEvent.delta() > 0): self.modifyZoom(-.1) else: self.modifyZoom(.1) def updateGL(self): """Updates the display. Its a public slot""" self.updateCamera() self.updateSqrSize() self.paintGL() self.swapBuffers() def paintGL(self): """Glut display function.""" glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT) glColorMask( True, True, True, True ) self.render()#We are only displaying the left rightImg def resizeGL(self, w, h): """ Resize the width and height of the square """ #The main window has a top toolbar of size 50 glViewport(0,0, w, h) glMatrixMode(GL_PROJECTION) glLoadIdentity() self.winHeight = h self.winWidth = w self.updateGL() def keyPressEvent(self,key): """Manage the keys pressed by the user""" if( (key.text() == 'q')or (key.text() == 'Q')): sys.exit(0) if( (key.text() == '1')or (key.text() == '2')or (key.text() == '3')): self.displayMode = int(key.text()) if( (key.text() == 'z') or (key.text() == 'Z')): self.ptsManager.removeLastPoint() if( (key.text() == 'h') or (key.text() == 'H')): self.hideImg = not(self.hideImg) # if( (key.text() == 'r') or (key.text() == 'R')): # self.resetVariables() self.render() self.updateGL() def updateCamera(self): """Updates the position of the cameras""" winw, winh = [self.winWidth, self.winHeight]#Set rightImg size as local variables glMatrixMode(GL_PROJECTION) glLoadIdentity() glMatrixMode(GL_MODELVIEW) glLoadIdentity() # This formula is straight forward from http://www.lighthouse3d.com/opengl/viewfrustum/index.php?defvf #In this case the choosen camera (left or right) needs to see #exactly one of the rightImgs param1 = float(winh)/float(2*(self.hnear)) fov = 2*math.degrees(math.atan(param1)) ratio = float(winw)/float(winh) gluPerspective(fov, ratio , self.hnear,self.hfar) gluLookAt( 0,0,0,0,0,-1,0,1,0 ) def render(self): """Render the scene.""" #Size of the rectangle. Reduce the size of the border sizew = float(self.sqw*self.sqrzoom) sizeh = float(self.sqh*self.sqrzoom) if( not (self.hideImg)): if( (self.displayMode == 2) or (self.displayMode == 3)):#Displays only the left image #Origin of the square containing the texture ox = -sizew/2 - self.sqrOffsetX oy = -sizeh/2 + self.sqrOffsetY if(self.displayMode == 2): self.drawSquare(self.textureIds[0], ox, oy, sizew, sizeh) else: self.drawSquare(self.textureIds[1], ox, oy, sizew, sizeh) else: if(self.displayMode == 1): # Draw left image ox = -sizew - self.sqrOffsetX oy = -sizeh/2 + self.sqrOffsetY self.drawSquare(self.textureIds[0], ox, oy, sizew, sizeh) # Draw right image ox = - self.sqrOffsetX oy = -sizeh/2 + self.sqrOffsetY self.drawSquare(self.textureIds[1], ox, oy, sizew, sizeh) self.drawPoints() def drawSquare(self, textId, ox, oy, sizew, sizeh): """Renders a square with a texture with the size and origin defined""" glPushMatrix() glColor3f(1,1,1) glBindTexture(GL_TEXTURE_2D, textId) zdistance = self.zpos glBegin(GL_QUADS) glTexCoord2f(0.0, 0.0); glVertex3f(ox ,oy, zdistance) # Bottom Left Of The Texture and Quad glTexCoord2f(1.0, 0.0); glVertex3f(ox + sizew,oy, zdistance) # Bottom Right Of The Texture and Quad glTexCoord2f(1.0, 1.0); glVertex3f(ox + sizew,oy + sizeh, zdistance) # Top Right Of The Texture and Quad glTexCoord2f(0.0, 1.0); glVertex3f(ox ,oy + sizeh, zdistance) # Top Left Of The Texture and Quad glEnd() glPopMatrix()