def __init__(self, sensor_type="OrbbecAstra", sensor_scale=1.0):
app.Canvas.__init__(self, keys='interactive', size=(1280, 1024))
self.title = 'RGBDMultiView'
self.quaternion = Quaternion() # for mouse movement
self.cam_params = GetCameraParameters(sensor_type, sensor_scale)
self.fov = 30
ps = self.pixel_scale
self.playbackSpeed = 1
# view and model control variables
self.tshift = 0.05 # the amount to translate by
self.rshift = 0.05 # amount to increase rotation by
self.scaleFactor = 1000 # the amount to scale the input model by
self.default_camera_view()
self.view = np.dot(self.rotMat, self.transMat)
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
self.GL_progs = {} # name : data for a single frame
self.apply_zoom()
gloo.set_state('translucent', clear_color='gray')
self.timer = app.Timer('auto', connect=self.on_timer, start=False)
def arcball(x, y, w, h):
r = (w + h) / 2.0
x = -(2.0 * x - w) / r
y = (2.0 * y - h) / r
h = math.hypot(x, y)
if h > 1:
return Quaternion(0, x / h, y / h, 0)
else:
return Quaternion(0, x, y, math.sqrt(1 - h**2))
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive', size=(400, 400))
self.cube = BoxVisual(1.0, 0.5, 0.25, color='red', edge_color='black')
self.cube.transform = transforms.MatrixTransform()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.quaternion = Quaternion()
self.show()
def sample_quat(rx, ry, rz, degrees=False):
""" Classmethod to create a quaternion given the euler angles.
"""
if degrees:
rx, ry, rz = np.radians([rx, ry, rz])
# Obtain quaternions
qx = Quaternion(np.cos(rx / 2), np.sin(rx / 2), 0, 0)
qy = Quaternion(np.cos(ry / 2), 0, np.sin(ry / 2), 0)
qz = Quaternion(np.cos(rz / 2), 0, 0, np.sin(rz / 2))
# Almost done
return qx * qy * qz
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.cube.transform.matrix = self.quaternion.get_matrix()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.update()
def test_quaternion2euler(qtbot):
"""Test quaternion to euler angle conversion."""
# Test roundtrip degrees
angles = (12, 53, 92)
q = Quaternion.create_from_euler_angles(*angles, degrees=True)
ea = quaternion2euler(q, degrees=True)
np.testing.assert_allclose(ea, angles)
# Test roundtrip radians
angles = (0.1, -0.2, 1.2)
q = Quaternion.create_from_euler_angles(*angles)
ea = quaternion2euler(q)
np.testing.assert_allclose(ea, angles)
def transformCube(self, t, q):
quaternion = Quaternion(*q)
self._transform.reset()
self._transform.matrix = quaternion.get_matrix()
self._transform.translate(t)
x, y, z = t
self._xPos = np.append(self._xPos, x)
self._yPos = np.append(self._yPos, y)
self._zPos = np.append(self._zPos, z)
self._plot.set_data((self._xPos.transpose(), self._yPos.transpose(),
self._zPos.transpose()),
symbol=None)
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.rotMat = self.quaternion.get_matrix()
self.view = np.dot(self.rotMat, self.transMat)
for k, prog in self.GL_progs.items():
prog['u_view'] = self.view
prog['u_model'] = self.model
self.update()
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive',
size=(400, 400))
self.cube = CubeVisual((1.0, 0.5, 0.25), color='red',
edge_color='black')
self.quaternion = Quaternion()
# Create a TransformSystem that will tell the visual how to draw
self.cube_transform = transforms.AffineTransform()
self.cube_transform.scale((100, 100, 0.001))
self.cube_transform.translate((200, 200))
self.tr_sys = transforms.TransformSystem(self)
self.tr_sys.visual_to_document = self.cube_transform
self.show()
class Canvas(app.Canvas):
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive',
size=(400, 400))
self.cube = CubeVisual((1.0, 0.5, 0.25), color='red',
edge_color='black')
self.quaternion = Quaternion()
# Create a TransformSystem that will tell the visual how to draw
self.cube_transform = transforms.AffineTransform()
self.cube_transform.scale((100, 100, 0.001))
self.cube_transform.translate((200, 200))
self.tr_sys = transforms.TransformSystem(self)
self.tr_sys.visual_to_document = self.cube_transform
self.show()
def on_draw(self, event):
gloo.set_viewport(0, 0, *self.physical_size)
gloo.clear('white')
self.tr_sys.auto_configure()
self.cube.draw(self.tr_sys)
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.cube_transform.matrix = self.quaternion.get_matrix()
self.cube_transform.scale((100, 100, 0.001))
self.cube_transform.translate((200, 200))
self.update()
class Canvas(app.Canvas):
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive',
size=(400, 400))
self.cube = CubeVisual((1.0, 0.5, 0.25), color='red',
edge_color='black')
self.quaternion = Quaternion()
# Create a TransformSystem that will tell the visual how to draw
self.cube_transform = transforms.AffineTransform()
self.cube_transform.scale((100, 100, 0.001))
self.cube_transform.translate((200, 200))
self.tr_sys = transforms.TransformSystem(self)
self.tr_sys.visual_to_document = self.cube_transform
self.show()
def on_draw(self, event):
gloo.set_viewport(0, 0, *self.physical_size)
gloo.clear('white')
self.tr_sys.auto_configure()
self.cube.draw(self.tr_sys)
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.cube_transform.matrix = self.quaternion.get_matrix()
self.cube_transform.scale((100, 100, 0.001))
self.cube_transform.translate((200, 200))
self.update()
class Canvas(app.Canvas):
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive', size=(400, 400))
self.cube = BoxVisual(1.0, 0.5, 0.25, color='red', edge_color='black')
self.cube.transform = transforms.MatrixTransform()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.quaternion = Quaternion()
self.show()
def on_resize(self, event):
vp = (0, 0, self.physical_size[0], self.physical_size[1])
self.context.set_viewport(*vp)
self.cube.transforms.configure(canvas=self, viewport=vp)
def on_draw(self, event):
self.context.clear('white')
self.cube.draw()
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.cube.transform.matrix = self.quaternion.get_matrix()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.update()
class Canvas(app.Canvas):
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive',
size=(400, 400))
self.cube = CubeVisual((1.0, 0.5, 0.25), color='red',
edge_color='black')
self.cube.transform = transforms.MatrixTransform()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.quaternion = Quaternion()
self.show()
def on_resize(self, event):
vp = (0, 0, self.physical_size[0], self.physical_size[1])
self.context.set_viewport(*vp)
self.cube.transforms.configure(canvas=self, viewport=vp)
def on_draw(self, event):
self.context.clear('white')
self.cube.draw()
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.cube.transform.matrix = self.quaternion.get_matrix()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.update()
def __init__(self, path_to_script = None):
"""Standard __init__ method.
Parameters
----------
path_to_script : str
path to script
Attributes
----------
command_series : list
list of script commands
end: int
max frame
command_list: list
list of dictionaries with each element reprenting one operation. Keys are:
'start': int
start from of operation
'end': int
start from of operation
'operation': str
type of operation, e.g. 'zoom', 'rotate'
'params': list
list of parameters needed for operation e.g [2] for 'zoom'
states_dict : list
list of dictionaries defining napari viewer states for each frame. Dictionaries have keys:
'frame': int, frame
'rotate': vispy quaternion, camera rotation
'translate': tuple, camera center
'zoom': float, camera zooming factor
'vis': list of booleans, visibility of layers
'time': int, time-point
key_frames: list
same as states_dict but only elements containing a change are conserved
"""
if path_to_script is None:
raise TypeError('You need to pass a string with a path to a script')
else:
self.path_to_script = path_to_script
#instantiate Quaternion object
self.q = Quaternion()
def update(ev):
global y, p, tx, ty, tz, q1, q2, signx, signy, signz
q1 = Quaternion.create_from_axis_angle(y, 0, 0, 1, degrees=True)
q2 = Quaternion.create_from_axis_angle(p, 0, 1, 0, degrees=True)
q = q1 * q2
mp.transformCube((tx, ty, tz), (q.w, q.x, q.y, q.z))
mp.update()
y += 1
p += 3
tx += signx * 0.08
ty += signy * 0.05
tz += signy * 0.02
if abs(tx) > 3:
signx *= -1
if abs(ty) > 3:
signy *= -1
if abs(tz) > 3:
signz *= -1
def test_quaternion2euler(angles, degrees):
"""Test quaternion to euler angle conversion."""
# Test for degrees
q = Quaternion.create_from_euler_angles(*angles, degrees)
ea = quaternion2euler(q, degrees=degrees)
q_p = Quaternion.create_from_euler_angles(*ea, degrees=degrees)
# We now compare the corresponding quaternions ; they should be equals or opposites (as they're already unit ones)
q_values = np.array([q.w, q.x, q.y, q.z])
q_p_values = np.array([q_p.w, q_p.x, q_p.y, q_p.z])
nn_zero_ind = np.argmax((q_values != 0) & (q_p_values != 0))
q_values *= np.sign(q_values[nn_zero_ind])
q_p_values *= np.sign(q_p_values[nn_zero_ind])
np.testing.assert_allclose(q_values, q_p_values)
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.model = self.quaternion.get_matrix()
self.program['u_model'] = self.model
self.update()
elif event.button == 2 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
self.translate += (y1 - y0)
self.translate = max(-1, self.translate)
self.view = translate((0, 0, -self.translate), dtype=np.float32)
self.program['u_view'] = self.view
self.update()
def __init__(self, pdbdata, mode='cpk'):
#Startup
app.Canvas.__init__(self, keys='interactive', size=(W, H))
#Loading shaders
self.program = gloo.Program(vertex, fragment)
#Analyze pdb file
self.parser = PDBParser(QUIET=True, PERMISSIVE=True)
self.structure = self.parser.get_structure('model', pdbdata)
#Mode selection
if mode not in Canvas.visualization_modes:
raise Exception('Not recognized visualization mode %s' % mode)
self.mode = mode
#Get the data of our atoms
self.atom_information()
#Camera settings
self.translate = max(abs(np.concatenate(self.coordinates))) + 40
self.translate = max(-1, self.translate)
self.view = translate((0, 0, -self.translate), dtype=np.float32)
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
self.program['u_projection'] = self.projection
self.quaternion = Quaternion()
#Load data depending on the mode
self.apply_zoom()
self.load_data()
#self.lines = visuals.LinePlotVisual(self.chain_coords[1], width= 5.0, marker_size= 0.0, color=self.chain_colors[1])
gloo.set_state(depth_test=True, clear_color='white')
self.show()
def __init__(self, rview, zview=None, zoom_speed=0.1, move_speed=0.01):
""" Constructor
Parameters
----------
rview : float
Radius of inscribed sphere within the field of view.
zview : float
Distance to the z-clip plane from the origin.
zoom_speed : float
How sensitive the field of view to mouse wheel rolling.
move_speed : float
How sensitive the translation of view to mouse dragging.
"""
self.rview = rview
self.zview = zview if zview else rview
self.zoom_speed = zoom_speed
self.move_speed = move_speed
self._translation = (0.0, 0.0, 0.0)
self._quaternion = Quaternion()
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive',
size=(400, 400))
self.cube = CubeVisual((1.0, 0.5, 0.25), color='red',
edge_color='black')
self.cube.transform = transforms.MatrixTransform()
self.cube.transform.scale((100, 100, 0.001))
self.cube.transform.translate((200, 200))
self.quaternion = Quaternion()
self.show()
def set_view(self, view):
"""(Re-)set camera position.
Parameters
----------
view : XY | XZ | YZ
"""
if isinstance(view, Quaternion):
q = view
elif view == 'XY':
q = Quaternion(w=1, x=.4, y=0, z=0)
elif view == 'XZ':
q = Quaternion(w=1, x=-.4, y=0, z=0)
elif view == 'YZ':
q = Quaternion(w=.6, x=0.5, y=0.5, z=-.4)
else:
raise TypeError(f'Unable to set view from {type(view)}')
self.camera3d._quaternion = q
# This is necessary to force a redraw
self.camera3d.set_range()
def handle_mouse(self, last_pos, cur_pos):
va = _get_arcball_vector(*cur_pos, *self.size)
vb = _get_arcball_vector(*last_pos, *self.size)
angle = min(np.arccos(min(1.0, np.dot(va, vb))) * self.rotate_speed,
self.max_speed)
axis_in_camera_coord = np.cross(va, vb)
cam_to_world = self.view_mat()[:3, :3].T
axis_in_world_coord = cam_to_world.dot(axis_in_camera_coord)
rotation_quat = Quaternion.create_from_axis_angle(angle,
*axis_in_world_coord)
self.position = rotation_quat.rotate_point(self.position)
def handle_mouse(self, last_pos, cur_pos):
va = _get_arcball_vector(*cur_pos, *self.size)
vb = _get_arcball_vector(*last_pos, *self.size)
angle = min(np.arccos(min(1.0, np.dot(va, vb))) * self.rotate_speed,
self.max_speed)
axis_in_camera_coord = np.cross(va, vb)
cam_to_world = self.view_mat()[:3, :3].T
axis_in_world_coord = cam_to_world.dot(axis_in_camera_coord)
rotation_quat = Quaternion.create_from_axis_angle(angle,
*axis_in_world_coord)
self.position = rotation_quat.rotate_point(self.position)
def __init__(self, pdbdata, mode='cpk'):
#Startup
app.Canvas.__init__(self, keys='interactive', size=(W, H))
#Loading shaders
self.program = gloo.Program(vertex, fragment)
#Analyze pdb file
self.parser = PDBParser(QUIET=True, PERMISSIVE=True)
self.structure = self.parser.get_structure('model', pdbdata)
#DSSP prediction
self.pmodel = self.structure[0]
self.dssp = DSSP(self.pmodel, pdbdata)
#Mode selection
if mode not in Canvas.visualization_modes:
raise Exception('Not recognized visualization mode %s' % mode)
self.mode = mode
#Camera settings
self.translate = 50
self.translate = max(-1, self.translate)
self.view = translate((0, 0, -self.translate), dtype=np.float32)
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
self.program['u_projection'] = self.projection
self.quaternion = Quaternion()
#Load data depending on the mdoe
self.apply_zoom()
self.atom_information()
self.load_data()
self.show()
def __init__(self):
app.Canvas.__init__(self, 'Cube', keys='interactive',
size=(400, 400))
self.cube = CubeVisual((1.0, 0.5, 0.25), color='red',
edge_color='black')
self.quaternion = Quaternion()
# Create a TransformSystem that will tell the visual how to draw
self.cube_transform = transforms.AffineTransform()
self.cube_transform.scale((100, 100, 0.001))
self.cube_transform.translate((200, 200))
self.tr_sys = transforms.TransformSystem(self)
self.tr_sys.visual_to_document = self.cube_transform
self.show()
def getOrientation(self):
if self.QuadState == None:
# if not connected to gs-control.py, being run as stand alone script
self.orientation_quat = (
vis_util.sample_quat(0, 0.5, 0, degrees=True) *
self.orientation_quat).normalize()
#self.orientation_quat = Quaternion(0.9659258262890683, -0.25881904510252074, 0, 0) * self.orientation_quat
return self.orientation_quat
else:
hh = self.QuadState.heading
gg = Quaternion()
gg.w = hh.w
gg.x = hh.z
gg.y = hh.y
gg.z = -hh.x
return gg.normalize()
def Quadcopter(self, nr, nc, r, l):
quad_frame, colors = vis_util.create_quad_frame(rows=nr,
cols=nc,
radius=r,
length=l,
offset=True)
quad_mesh = vis_util.MyMeshData()
quad_mesh.set_vertices(quad_frame.get_vertices())
quad_mesh.set_faces(quad_frame.get_faces())
quad_mesh.set_vertex_colors(colors)
vertices, filled, outline = quad_mesh.get_glTriangles()
# make vertex array, etc
self.filled_buf = gloo.IndexBuffer(filled)
self.outline_buf = gloo.IndexBuffer(outline)
self.vertices_buff = gloo.VertexBuffer(vertices)
# orientation
if self.QuadState == None:
self.orientation_quat = Quaternion(1, 0, 0, 0)
def getOrientation(self):
if self.QuadState == None:
# if not connected to gs-control.py, being run as stand alone script
self.orientation_quat = (vis_util.sample_quat(0, 0.5, 0, degrees=True) * self.orientation_quat).normalize()
#self.orientation_quat = Quaternion(0.9659258262890683, -0.25881904510252074, 0, 0) * self.orientation_quat
return self.orientation_quat
else:
hh = self.QuadState.heading
gg = Quaternion()
gg.w = hh.w
gg.x = hh.z
gg.y = hh.y
gg.z = -hh.x
return gg.normalize()
def estimate(quat_packet, ns_qstate):
"""
quat_packet: list of 8 raw bytes
convert to signed int16; converted to float32; update ns_qstate.heading;
"""
for i in range(0, 8, 2):
data[i // 2] = (quat_packet[i] << 8) | quat_packet[i + 1]
if data[i // 2] & 0x8000:
data[i // 2] = data[i // 2] - 0x10000
qq = np.array([
float(data[0]) / 16384.0,
float(data[1]) / 16384.0,
float(data[2]) / 16384.0,
float(data[3]) / 16384.0
],
dtype=np.float32)
# quat_packet -> data -> quaternion
# The order is weird, right?
# That's because of the way GroundStation and Quadcopter Coordinate Systems are aligned
# This weird order just converts rotation in Quad-system to GS-system
ns_qstate.heading = Quaternion(qq[0], -qq[1], -qq[3], qq[2])
ns_qstate.rpy = getRPY(ns_qstate.heading)
#print(ns_qstate.heading)
print(ns_qstate.rpy * 180.0 / np.pi)
def __init__(self, vertices, colors, K, nH, nW, faces = 0, image_grid = 0, labels = 0,
nframes = 1, edge_thresh = 1000):
app.Canvas.__init__(self, keys='interactive', size=(nW, nH))
numPnts = vertices.shape[0] / nframes
self.frame = 0
self.nframes = nframes
self.npoints = numPnts
self.has_labels = 0
self.per_frame_label = 0
self.faces_buf = {}
if( isinstance(labels, np.ndarray) ):
self.per_frame_label = 1
self.has_labels = 1
seg_colors = np.zeros([np.prod(labels.shape), 4]).astype(np.float32)
cmap = cmx.rainbow(np.linspace(0, 1, np.maximum( np.max(labels) + 1,
len(np.unique(labels) ) ) ) )
# cmap = np.array([[1.0000, 0.2857, 0, 1.0],
# [1.0000, 0.5714, 0, 1.0],
# [1.0000, 0.8571, 0, 1.0],
# [0.8571, 1.0000, 0, 1.0],
# [0.5714, 1.0000, 0, 1.0],
# [ 0, 1.0000, 0.8571, 1.0],
# [ 0, 0.8571, 1.0000, 1.0],
# [ 0, 0.5714, 1.0000, 1.0],
# [ 0, 0.2857, 1.0000, 1.0],
# [ 0, 0, 1.0000, 1.0],
# [0.2857, 0, 1.0000, 1.0],
# [0.8571, 0, 1.0000, 1.0]])
for i in np.unique(labels):
seg_colors[:,3] = 1.0
if(i != -1):
mask = labels == i
seg_colors[mask.reshape(-1),:] = cmap[i,:]
self.seg_colors = seg_colors
self.has_faces = 0
self.draw_points = 1
if( isinstance(faces, dict) ):
self.has_faces = 1
for f in range(nframes):
self.faces = faces[f]
vertices_f = vertices[f*numPnts:(f+1)*numPnts,:]
mask = self.remove_long_edges(self.faces, vertices_f, edge_thresh)
faces_temp = self.faces[mask, :]
self.faces_buf[f] = gloo.IndexBuffer(faces_temp)
elif(image_grid):
self.has_faces = 1
### we have two types of edges
indices = np.array(range(nH*nW)).astype(np.uint32).reshape((-1,1))
triangles_type1 = np.hstack((indices, indices+1, indices + nW))
triangles_type2 = np.hstack((indices, indices+nW-1, indices + nW))
mask1 = np.ones((nH,nW),dtype=bool)
mask2 = np.ones((nH,nW),dtype=bool)
mask1[:,-1] = False
mask1[-1,:] = False
mask2[:, 0] = False
mask2[-1,:] = False
self.faces = np.vstack((
triangles_type1[mask1.reshape(-1), :],
triangles_type2[mask2.reshape(-1), :]))
## all the frames use the same faces
if(self.has_labels):
if(not self.per_frame_label):
# remove connections between different labels
labels_temp = labels.reshape(-1)
mask01 = labels_temp[self.faces[:,0]] == labels_temp[self.faces[:,1]]
mask02 = labels_temp[self.faces[:,0]] == labels_temp[self.faces[:,2]]
mask12 = labels_temp[self.faces[:,1]] == labels_temp[self.faces[:,2]]
mask = np.logical_and(mask01, mask02)
mask = np.logical_and(mask, mask12)
self.faces = self.faces[mask,:]
for f in range(nframes):
vertices_f = vertices[f*numPnts:(f+1)*numPnts,:]
mask = self.remove_long_edges(self.faces, vertices_f, edge_thresh)
faces_temp = self.faces[mask, :]
self.faces_buf[f] = gloo.IndexBuffer(faces_temp)
# different frames have different faces
if(self.has_labels):
if(self.per_frame_label):
for f in range(nframes):
labels_temp = labels[f*numPnts:(f+1)*numPnts].reshape(-1)
mask01 = labels_temp[self.faces[:,0]] == labels_temp[self.faces[:,1]]
mask02 = labels_temp[self.faces[:,0]] == labels_temp[self.faces[:,2]]
mask12 = labels_temp[self.faces[:,1]] == labels_temp[self.faces[:,2]]
mask = np.logical_and(mask01, mask02)
mask = np.logical_and(mask, mask12)
faces_temp = self.faces[mask,:]
vertices_f = vertices[f*numPnts:(f+1)*numPnts,:]
mask = self.remove_long_edges(faces_temp, vertices_f, edge_thresh)
faces_temp = faces_temp[mask,:]
self.faces_buf[f] = gloo.IndexBuffer(faces_temp)
self.vertices = vertices
self.colors = np.hstack((colors,
np.ones((colors.shape[0], 1)).astype(np.float32)))
self.update_color = 0
if(colors.shape[0] == numPnts * nframes):
self.update_color = 1
# data contains the data to render
self.data = np.zeros(numPnts, [('a_position', np.float32, 3),
('a_color', np.float32, 4),
('a_seg_color', np.float32, 4)])
self.data['a_position'] = self.vertices[0:numPnts,:]
self.data['a_color'] = self.colors[0:numPnts,:]
if(self.has_labels):
self.data['a_seg_color'] = self.seg_colors[0:numPnts,:]
else:
self.data['a_seg_color'] = self.colors[0:numPnts,:]
self.center = np.mean(vertices, axis=0)
self.program = gloo.Program(vert, frag)
self.program.bind(gloo.VertexBuffer(self.data))
# self.program['a_color'] = self.data['a_color']
# self.program['a_position'] = self.data['a_position']
# self.program['a_seg_color'] = self.data['a_seg_color']
self.view = translate((0, 0, 0))
self.model = np.eye(4, dtype=np.float32)
gloo.set_viewport(0, 0, self.physical_size[0], self.physical_size[1])
# gloo.set_viewport(0, 0, nW, nH)
if(isinstance(K, np.ndarray)):
projection = projection_from_intrinsics(K, nH, nW)
else:
projection = ortho_projection(nH, nW)
#print projection
self.projection = projection.T
# self.projection = np.ascontiguousarray(projection)
# self.projection = np.ascontiguousarray(projection.T)
# self.projection = perspective(45.0, self.size[0] /
# float(self.size[1]), 2.0, 1000.0)
self.program['u_projection'] = self.projection
self.program['u_model'] = self.model
self.program['u_view'] = self.view
self.program['u_color'] = 1, 1, 1, 1
self.program['u_plot_seg'] = 0
self.program['u_point_size'] = 5
self.nH = nH
self.nW = nW
self.last_x = 0
self.last_y = 0
self.substract_center = translate((-self.center[0],
-self.center[1],
-self.center[2]))
self.add_center = translate((self.center[0],
self.center[1],
self.center[2]))
self.translate_X = self.center[0]
self.translate_Y = self.center[1]
self.translate_Z = self.center[2]
self.scale = - self.center[2] / 100
self.rot_X = 0
self.rot_Y = 0
self.rot_Z = 0
self.quaternion = Quaternion()
self.theta = 0
self.phi = 0
#gloo.set_clear_color('black')
gloo.set_clear_color('white')
gloo.set_state('opaque')
gloo.set_state(depth_test=True)
# gloo.set_polygon_offset(1, 1)
self.show()
class InteractiveViewportMixin(object):
""" Canvas mixin for interactive rotation, translation and zooming
This class implements on_resize, on_mouse_move, on_mouse_press,
on_mouse_release and on_mouse_wheel in such a way that the view matrix and
the projection matrix changes in response to user input.
The derived class should implement on_update_view and on_update_projection
to update the matrices in the shader.
"""
def __init__(self, rview, zview=None, zoom_speed=0.1, move_speed=0.01):
""" Constructor
Parameters
----------
rview : float
Radius of inscribed sphere within the field of view.
zview : float
Distance to the z-clip plane from the origin.
zoom_speed : float
How sensitive the field of view to mouse wheel rolling.
move_speed : float
How sensitive the translation of view to mouse dragging.
"""
self.rview = rview
self.zview = zview if zview else rview
self.zoom_speed = zoom_speed
self.move_speed = move_speed
self._translation = (0.0, 0.0, 0.0)
self._quaternion = Quaternion()
def on_update_view(self, view):
""" Handle view matrix change
"""
pass
def on_update_projection(self, proj):
""" Handle projection matrix change
"""
pass
def get_view_matrix(self):
""" Return current view matrix
"""
return np.dot(self._quaternion.get_matrix(),
transforms.translate(self._translation))
def get_projection_matrix(self):
""" Return current projection matrix
"""
# Determine the field of view of orthographic projection so that the
# sphere of radius rview centered at the origin inscribes the field
# of view.
width, height = self.physical_size
aspect = float(width) / height
if aspect > 1:
top = self.rview
right = self.rview * aspect
else:
top = self.rview / aspect
right = self.rview
assert min(top, right) == self.rview
left = -right
bottom = -top
near = self.zview
far = -self.zview
left -= 1e-6
right += 1e-6
bottom -= 1e-6
top += 1e-6
near -= 1e-6
far += 1e-6
return transforms.ortho(left, right, bottom, top, near, far)
def _update_view(self):
self.on_update_view(self.get_view_matrix())
def _update_projection(self):
self.on_update_projection(self.get_projection_matrix())
def on_resize(self, event):
gloo.set_viewport(0, 0, *event.physical_size)
self._update_projection()
def on_mouse_move(self, event):
""" Left drag to rotate, right drag to tranelate
"""
if event.is_dragging and event.last_event:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
if event.button == 1:
self._quaternion *= arcball(x0, y0, w, h) * arcball(
x1, y1, w, h)
self._update_view()
if event.button == 2:
tx, ty, tz = self._translation
tx += self.move_speed * (x1 - x0)
ty += -self.move_speed * (y1 - y0)
self._translation = (tx, ty, tz)
self._update_view()
def on_mouse_wheel(self, event):
""" Roll mouse wheel to zoom in/out
"""
roll = event.delta[1]
self.rview *= math.exp(-self.zoom_speed * roll)
self._update_projection()
def on_mouse_press(self, event):
if event.button == 1:
cursor = QtGui.QCursor(QtCore.Qt.ClosedHandCursor)
QtGui.QApplication.setOverrideCursor(cursor)
if event.button == 2:
cursor = QtGui.QCursor(QtCore.Qt.SizeAllCursor)
QtGui.QApplication.setOverrideCursor(cursor)
def on_mouse_release(self, event):
QtGui.QApplication.restoreOverrideCursor()
# Serial objects are not pickle-able, hence they cannot be a part of a Manager.Namespace and thus serial port is a global.
arduino = at_talk.radio(args.port, 19200)
# There are multiple namespaces for flexibility
# {ns_comms, ns_qstate, ns_vis, ns_cfg}
mgr = multiprocessing.Manager()
ns_comms = mgr.Namespace()
ns_comms.name = "Communications:\n\tMode that rxControl operates in(comms_mode)\n\tRecieved packet from mpu(quat_packet)\n\tRecieved packet for GS(gs_packet)"
ns_comms.quat_packet = None
ns_comms.gs_packet = None
ns_comms.mode = 'att_est'
ns_qstate = mgr.Namespace()
ns_qstate.name = "QuadState:\n\tAttitude Quaternion(heading)\n\tRPY calc. from the heading(rpy)"
ns_qstate.heading = Quaternion()
ns_qstate.rpy = (0.0, 0.0, 0.0)
ns_cfg = mgr.Namespace()
ns_cfg.a_scale = 16384.0 # Accel 2g
ns_cfg.g_scale = 16.384 # Gyro 2000 dps
ns_cfg.TIME_INTERVAL = 0.02 # ms
ns_cfg.comms_active = False
ns_cfg.this_is_v2 = sys.version_info[0] == 2
# Queues
vis_canvas = visual.Canvas(800, 600, ns_qstate)
sorter = rxControl.Sorter(ns_comms, ns_cfg, ns_qstate, arduino)
ns_cfg.comms_active = True
class Script:
def __init__(self, path_to_script = None):
"""Standard __init__ method.
Parameters
----------
path_to_script : str
path to script
Attributes
----------
command_series : list
list of script commands
end: int
max frame
command_list: list
list of dictionaries with each element reprenting one operation. Keys are:
'start': int
start from of operation
'end': int
start from of operation
'operation': str
type of operation, e.g. 'zoom', 'rotate'
'params': list
list of parameters needed for operation e.g [2] for 'zoom'
states_dict : list
list of dictionaries defining napari viewer states for each frame. Dictionaries have keys:
'frame': int, frame
'rotate': vispy quaternion, camera rotation
'translate': tuple, camera center
'zoom': float, camera zooming factor
'vis': list of booleans, visibility of layers
'time': int, time-point
key_frames: list
same as states_dict but only elements containing a change are conserved
"""
if path_to_script is None:
raise TypeError('You need to pass a string with a path to a script')
else:
self.path_to_script = path_to_script
#instantiate Quaternion object
self.q = Quaternion()
def read_script(self):
"""Read the script and create a list with groups of
commands belonging to a given unit"""
#read all lines
commands = []
with open(self.path_to_script) as f:
commands = f.readlines()
#group commands belonging together e.g. those belonging to
#and From frame ... statement
command_series = []
line = 0
while line<len(commands):
main_line = commands[line]
line+=1
if main_line[0]=='#':
continue
if len(re.findall('.*to frame \d+(\n)', main_line))==1:
temp_lines = []
while (commands[line][0]=='-'):
temp_lines.append(commands[line])
line+=1
if line == len(commands):
break
command_series.append([main_line,temp_lines])
else:
command_series.append([main_line,[main_line]])
end = [re.findall('(At frame |to frame )(\d+).*',x) for x in commands]
end = np.max([int(x[0][1]) for x in end if x])
self.command_series = command_series
self.end = end
def create_commandlist(self):
"""create a dictionary list of each operation. Each operation becomes
one dictionary. Operations belonging to groups have same start/end frames"""
#go through all commands and parse the information
command_list = []
for c in self.command_series:
#get start and end frames. For "At frame..." statements end == start
if c[0].split()[0] == 'From':
start = int(re.findall('From frame (\d+) to*', c[0])[0])
end = int(re.findall('to frame (\d+) *', c[0])[0])
else:
start = int(re.findall('At frame (\d+).*', c[0])[0])
end = int(re.findall('At frame (\d+).*', c[0])[0])
#For each group of statements parse the commands
for c2 in c[1]:
parsed = self.parse_command(c2)
#if parsing returns a list, it means that the operation has been split into parts
#mainly to handle large rotations
if type(parsed) is list:
interm_steps = np.linspace(start,end,len(parsed)+1).astype(int)
for i in range(len(interm_steps)-1):
command_list.append([interm_steps[i], interm_steps[i+1], parsed[i]])
else:
command_list.append([start, end, parsed])
#sort commands by time
command_list = np.array(command_list)
command_list = command_list[np.argsort(command_list[:,0]),:]
#create list of dictionaries
command_list = [{'start': x[0], 'end': x[1], 'operation': x[2][0], 'params': x[2][1:]} for x in command_list]
self.command_list = command_list
def parse_command(self, command):
"""given a command line, parse the content
Returns
-------
result : tuple
tuple with the type of operation and the corresponding parameters
e.g. ('zoom', 2)
"""
#chcek operation type
mod_type = re.findall('.*(rotate|translate|zoom|make|time).*',command)[0]
#for each operation type recover necessary parameters
if mod_type == 'rotate':
angle = int(re.findall('.*rotate by (\d+).*', command)[0])
axis = list(map(int,re.findall('.*around \((\d+)\,(\d+)\,(\d+).*', command)[0]))
#if the rotation angle is large split it into 3 to ensure the rotation is accomplished fully
if angle >= 180:
new_q = self.q.create_from_axis_angle(angle/3*2*np.pi/360, axis[0], axis[1], axis[2], degrees=False)
result = [(mod_type, new_q),(mod_type, new_q),(mod_type, new_q)]
else:
new_q = self.q.create_from_axis_angle(angle*2*np.pi/360, axis[0], axis[1], axis[2], degrees=False)
result = (mod_type, new_q)
elif mod_type == 'zoom':
factor = float(re.findall('.*factor of (\d*\.*\d+).*', command)[0])
result = (mod_type, factor)
elif mod_type == 'translate':
translate = np.array(list(map(int,re.findall('.*by \((\-*\d+)\,(\-*\d+)\,(\-*\d+).*', command)[0])))
result = (mod_type, translate)
elif mod_type == 'make':
layer = int(re.findall('.*make layer (\d+).*', command)[0])
vis_status = command.split()[-1]
if vis_status == 'invisible':
result = ('vis', layer, False)
else:
result = ('vis', layer, True)
elif mod_type == 'time':
time_shift = int(re.findall('.*by (\-*\d+).*', command)[0])
result = (mod_type, time_shift)
return result
def create_frame_commandlist(self, movie):
"""Go through the list of operations and create for each frame a dictionary
with modifications to be operated. Only frames with an operation are filled,
the others are interpolated later"""
states_dict = [dict(zip(('frame','rotate','translate','zoom', 'vis','time'), (a, [],[],[],[],[]))) for a in np.arange(self.end+1)]
#initialize state with current view. This first point can be adjusted by using
#a series of "At frame 0... " commands
current_state = copy.deepcopy(movie.myviewer.window.qt_viewer.view.camera.get_state())
states_dict[0]['rotate'] = current_state['_quaternion']
states_dict[0]['zoom'] = current_state['scale_factor']
states_dict[0]['translate'] = current_state['center']
states_dict[0]['vis'] = [x.visible for x in movie.myviewer.layers]
if len(movie.myviewer.dims.point)==4:
states_dict[0]['time'] = movie.myviewer.dims.point[0]
#fille the states_dict at the start/end positions by compounding operations over frame containing changes
old_state = copy.deepcopy(states_dict[0])
for c in self.command_list:
if c['operation'] == 'rotate':
states_dict[c['start']]['rotate'] = copy.deepcopy(old_state['rotate'])
states_dict[c['end']]['rotate'] = copy.deepcopy(old_state['rotate']*c['params'][0])
old_state['rotate'] = copy.deepcopy(states_dict[c['end']]['rotate'])
elif c['operation'] == 'translate':
states_dict[c['start']]['translate'] = copy.deepcopy(old_state['translate'])
states_dict[c['end']]['translate'] = copy.deepcopy(tuple(np.array(old_state['translate']) + c['params'][0]))
old_state['translate'] = copy.deepcopy(states_dict[c['end']]['translate'])
elif c['operation'] == 'zoom':
states_dict[c['start']]['zoom'] = copy.deepcopy(old_state['zoom'])
states_dict[c['end']]['zoom'] = copy.deepcopy(old_state['zoom'] * c['params'][0])
old_state['zoom'] = copy.deepcopy(states_dict[c['end']]['zoom'])
elif c['operation'] == 'vis':
states_dict[c['start']]['vis'] = copy.deepcopy(old_state['vis'])
states_dict[c['end']]['vis'] = copy.deepcopy(old_state['vis'])
states_dict[c['end']]['vis'][c['params'][0]] = c['params'][1]
old_state['vis'] = copy.deepcopy(states_dict[c['end']]['vis'])
elif c['operation'] == 'time':
states_dict[c['start']]['time'] = copy.deepcopy(old_state['time'])
states_dict[c['end']]['time'] = copy.deepcopy(old_state['time'] + c['params'][0])
old_state['time'] = copy.deepcopy(states_dict[c['end']]['time'])
old_state['frame'] = states_dict[-1]['frame']
states_dict[-1] = copy.deepcopy(old_state)
self.states_dict = states_dict
def make_keyframes(self):
"""In the states_dict list of dictionaries, conserve only elements
where change is happening
"""
props = ['rotate', 'translate','zoom','vis','time']
states_copy = copy.deepcopy(self.states_dict)
key_frames = [y for y in states_copy if np.any([y[x] for x in props])]
self.key_frames = key_frames
self._yPos = np.append(self._yPos, y)
self._zPos = np.append(self._zPos, z)
self._plot.set_data((self._xPos.transpose(), self._yPos.transpose(),
self._zPos.transpose()),
symbol=None)
def resetTransform(self):
self._xPos = np.array([0], dtype=np.float32)
self._yPos = np.array([0], dtype=np.float32)
self._zPos = np.array([0], dtype=np.float32)
if __name__ == '__main__':
import sys
mp = MotionPlotter()
q1 = Quaternion()
q2 = Quaternion()
y = 0
p = 0
tx = 0
ty = 0
tz = 0
signx = -1
signy = -1
signz = -1
def update(ev):
global y, p, tx, ty, tz, q1, q2, signx, signy, signz
q1 = Quaternion.create_from_axis_angle(y, 0, 0, 1, degrees=True)
q2 = Quaternion.create_from_axis_angle(p, 0, 1, 0, degrees=True)
q = q1 * q2
class Canvas(app.Canvas):
visualization_modes = ['cpk', 'backbone', 'aminoacid', 'dssp']
def __init__(self, pdbdata, mode='cpk'):
#Startup
app.Canvas.__init__(self, keys='interactive', size=(W, H))
#Loading shaders
self.program = gloo.Program(vertex, fragment)
#Analyze pdb file
self.parser = PDBParser(QUIET=True, PERMISSIVE=True)
self.structure = self.parser.get_structure('model', pdbdata)
#Mode selection
if mode not in Canvas.visualization_modes:
raise Exception('Not recognized visualization mode %s' % mode)
self.mode = mode
#Get the data of our atoms
self.atom_information()
#Camera settings
self.translate = max(abs(np.concatenate(self.coordinates))) + 40
self.translate = max(-1, self.translate)
self.view = translate((0, 0, -self.translate), dtype=np.float32)
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
self.program['u_projection'] = self.projection
self.quaternion = Quaternion()
#Load data depending on the mode
self.apply_zoom()
self.load_data()
#self.lines = visuals.LinePlotVisual(self.chain_coords[1], width= 5.0, marker_size= 0.0, color=self.chain_colors[1])
gloo.set_state(depth_test=True, clear_color='white')
self.show()
def atom_information(self):
"""Determines the coordinates, colors and sizes of the atoms depending on the mode"""
if self.mode == 'cpk':
#list of atoms
self.atoms = [atom for atom in self.structure.get_atoms()]
self.natoms = len(self.atoms)
#atom coordinates
self.coordinates = np.array([atom.coord for atom in self.atoms])
self.center = centroid(self.coordinates)
self.coordinates -= self.center
#atom color
self.color = [
np.array(colorrgba(atom.get_id())[0:3]) for atom in self.atoms
]
#atom radius
self.radius = [vrad(atom.get_id()) for atom in self.atoms]
elif self.mode == 'aminoacid':
#list of atoms
self.atoms = [
atom for atom in self.structure.get_atoms()
if atom.get_parent().resname != 'HOH'
]
self.natoms = len(self.atoms)
#atom coordinates
self.coordinates = np.array([atom.coord for atom in self.atoms])
self.center = centroid(self.coordinates)
self.coordinates -= self.center
#atom color
self.color = [
colorrgba(restype(atom.get_parent().resname))[0:3]
for atom in self.atoms
]
#atom radius
self.radius = [vrad(atom.get_id()) for atom in self.atoms]
elif self.mode == 'backbone':
#list of atoms
self.atoms = [
atom for atom in self.structure.get_atoms()
if atom.get_name() == 'CA' or atom.get_name() == 'N'
]
self.natoms = len(self.atoms)
#atom coordinates
self.coordinates = np.array([atom.coord for atom in self.atoms])
self.center = centroid(self.coordinates)
self.coordinates -= self.center
#atom color
self.color = []
self.chains = []
self.chain_coords = []
self.chain_colors = []
for chain in self.structure.get_chains():
self.chains.append(chain)
self.can_coord = np.array([
atom.coord for atom in chain.get_atoms()
if atom.get_name() == 'CA' or atom.get_name() == 'N'
])
self.can_coord -= self.center
self.chain_coords.append(self.can_coord)
self.chain_length = len(self.can_coord)
self.chain_color = np.random.rand(1, 3)
self.chain_colors.append(self.chain_color)
self.color.append(
np.tile(self.chain_color, (self.chain_length, 1)))
if len(self.chains) > 1:
self.color = np.concatenate(self.color)
#atom radius
self.radius = [vrad(atom.get_id()) for atom in self.atoms]
def load_data(self):
"""Make an array with all the data and load it into VisPy Gloo"""
data = np.zeros(self.natoms, [('a_position', np.float32, 3),
('a_color', np.float32, 3),
('a_radius', np.float32, 1)])
data['a_position'] = self.coordinates
data['a_color'] = self.color
data['a_radius'] = self.radius #*self.pixel_scale
self.program.bind(gloo.VertexBuffer(data))
self.program['u_model'] = self.model
self.program['u_view'] = self.view
self.program['u_light_position'] = 0., 0., 2.
self.program['u_light_spec_position'] = -5., 5., -5.
print 'Data loaded'
def on_resize(self, event):
width, height = event.size
def apply_zoom(self):
"""Determine the projection of the canvas"""
width, height = self.physical_size
gloo.set_viewport(0, 0, width, height)
self.projection = perspective(95.0, width / float(height), 1.0, 400.0)
self.program['u_projection'] = self.projection
def on_draw(self, event):
gloo.clear()
self.program.draw('points')
#draw separated chains
#if self.mode in ['backbone','dssp']:
#for i in range(len(self.chains)):
#self.lines = visuals.LinePlotVisual(self.chain_coords[i], width= 5.0, marker_size= 0.0, color=self.chain_colors[i])
#self.lines.draw()
def on_mouse_move(self, event):
#Mouse rotation
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.model = self.quaternion.get_matrix()
self.program['u_model'] = self.model
self.update()
#Mouse zoom
elif event.button == 2 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
self.translate += (y1 - y0)
self.translate = max(-1, self.translate)
self.view = translate((0, 0, -self.translate), dtype=np.float32)
self.program['u_view'] = self.view
self.update()
def on_mouse_wheel(self, event):
self.translate -= event.delta[1]
self.translate = max(-1, self.translate)
self.view = translate((0, 0, -self.translate))
self.program['u_view'] = self.view
self.update()
class RGBDMultiView(app.Canvas):
""" """
def __init__(self, sensor_type="OrbbecAstra", sensor_scale=1.0):
app.Canvas.__init__(self, keys='interactive', size=(1280, 1024))
self.title = 'RGBDMultiView'
self.quaternion = Quaternion() # for mouse movement
self.cam_params = GetCameraParameters(sensor_type, sensor_scale)
self.fov = 30
ps = self.pixel_scale
self.playbackSpeed = 1
# view and model control variables
self.tshift = 0.05 # the amount to translate by
self.rshift = 0.05 # amount to increase rotation by
self.scaleFactor = 1000 # the amount to scale the input model by
self.default_camera_view()
self.view = np.dot(self.rotMat, self.transMat)
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
self.GL_progs = {} # name : data for a single frame
self.apply_zoom()
gloo.set_state('translucent', clear_color='gray')
self.timer = app.Timer('auto', connect=self.on_timer, start=False)
def on_timer(self, event):
if self.nframe_curr < self.nframe_total - self.playbackSpeed: # if we still got images, keep loading them
self.nframe_curr += self.playbackSpeed
self.set_frame(self.nframe_curr)
else:
# no more images means we're at the end so we should stop the timer allowing the video to
# be reverse or restarted by through the spacebar
if self.timer.running: self.timer.stop()
self.update()
def on_mouse_move(self, event):
if event.button == 1 and event.last_event is not None:
x0, y0 = event.last_event.pos
x1, y1 = event.pos
w, h = self.size
self.quaternion = (self.quaternion *
Quaternion(*_arcball(x0, y0, w, h)) *
Quaternion(*_arcball(x1, y1, w, h)))
self.rotMat = self.quaternion.get_matrix()
self.view = np.dot(self.rotMat, self.transMat)
for k, prog in self.GL_progs.items():
prog['u_view'] = self.view
prog['u_model'] = self.model
self.update()
def default_camera_view(self):
""" Set the view matrics to their default values """
self.offX = 0.0 # actual amounts translated thus far
self.offY = -0.6
self.zoomAmount = 2.5
self.centerCoord = (0, 0, 0) # center of the current point cloud frame
self.rotX = 9.3
self.rotY = 6.3
self.rotZ = 0.0
self.transMat = translate((self.offX, self.offY, -self.zoomAmount))
self.rotMat = rotationMatrix((self.rotX, self.rotY, self.rotZ))
q = quaternion_from_matrix(self.rotMat) ## just for mouse arc ball
self.quaternion.w = q[0]
self.quaternion.x = q[1]
self.quaternion.y = q[2]
self.quaternion.z = q[3]
def print_camera_view(self):
print(self.offX, self.offY, self.zoomAmount)
print(self.rotX, self.rotY, self.rotZ)
print()
def on_key_press(self, event):
### pause and play
if event.text == ' ':
if self.timer.running: self.timer.stop()
else: self.timer.start()
### manually advance through the frames
elif event.text == ',' and self.nframe_curr >= self.playbackSpeed:
self.nframe_curr -= self.playbackSpeed
self.set_frame(self.nframe_curr)
self.update()
elif event.text == '.':
if self.nframe_curr < self.nframe_total - self.playbackSpeed:
self.nframe_curr += self.playbackSpeed
elif self.nframe_curr < self.nframe_total - 1:
self.nframe_curr += 1
self.set_frame(self.nframe_curr)
self.update()
### camera manipulation
if event.text in ['w', 'a', 's', 'd']: # planar translations
if event.text == 'w': self.offY += self.tshift
elif event.text == 'a': self.offX -= self.tshift
elif event.text == 's': self.offY -= self.tshift
elif event.text == 'd': self.offX += self.tshift
self.transMat = translate((self.offX, self.offY, -self.zoomAmount))
if event.text in ['q', 'e', 'z', 'c', 'r',
'v']: # rotation about the axis
if event.text == 'q': self.rotX += self.rshift
elif event.text == 'e': self.rotX -= self.rshift
elif event.text == 'z': self.rotY += self.rshift
elif event.text == 'c': self.rotY -= self.rshift
elif event.text == 'r': self.rotZ += self.rshift
elif event.text == 'v': self.rotZ -= self.rshift
self.rotMat = rotationMatrix((self.rotX, self.rotY, self.rotZ))
### reset camera to original default orientation
if event.text == 'x':
self.print_camera_view()
self.default_camera_view()
if event.text == 'p':
strTopFolder = "F:/data/deep-learning/additive_depth/98_vr_calib/"
strFolderName = "test01_img_seq"
strMultiviewFolder = os.path.join(strTopFolder, strFolderName)
strPosesFile = os.path.join(strMultiviewFolder, "poses.txt")
self.sensor_props = ReadManualCalibPoses(strPosesFile)
for s in sensor_props:
s.load_image_files(strMultiviewFolder)
self.view = np.dot(self.rotMat, self.transMat)
for k, prog in self.GL_progs.items():
prog['u_view'] = self.view
prog['u_model'] = self.model
self.update()
def on_resize(self, event):
self.apply_zoom()
def on_mouse_wheel(self, event):
self.zoomAmount -= event.delta[1] / 2.0
self.transMat = translate((self.offX, self.offY, -self.zoomAmount))
self.view = np.dot(self.rotMat, self.transMat)
for k, prog in self.GL_progs.items():
prog['u_view'] = self.view
self.update()
def on_draw(self, event):
gloo.clear()
for k, prog in self.GL_progs.items():
prog.draw('points')
def apply_zoom(self):
gloo.set_viewport(0, 0, self.physical_size[0], self.physical_size[1])
self.projection = perspective(self.fov,
self.size[0] / float(self.size[1]), 0.01,
10000.0)
for k, prog in self.GL_progs.items():
prog['u_projection'] = self.projection
def load_frame_data(self, frame_n):
'''
load_frame_data
Arguments:
frame_n: int obtain the frame number for the stream
Return:
frame_data: array contain three camera and contain [numVertice , xyz , rgb]
'''
frame_data = {}
for s in self.sensor_props:
depthImg = cv2.imread(s.imgs_depth[frame_n],
-1) ## load frames and compute point cloud
clrImg = cv2.imread(s.imgs_color[frame_n], -1)
ptcloud, nVertices = image_fusion(self.cam_params, depthImg,
clrImg)
transformedPtcloud = transform_pointcloud_vectorized(
ptcloud, s.rotationMatrix(), s.translationMatrix())
xyz, rgb = np.hsplit(transformedPtcloud, 2)
## TODO: extra post-processing to convert points close to the camera to a specific color
frame_data[s.name] = [nVertices, xyz, rgb]
return frame_data
def load_frame_to_stl(self, frame_n):
'''
load_frame_data
Arguments:
frame_n: int obtain the frame number for the stream
Return:
frame_data: array contain three camera and contain [numVertice , xyz , rgb]
'''
data = np.zeros(6, dtype=mesh.Mesh.dtype)
frame_data = {}
xyzpcd, rgbpcd = [], []
for i, s in enumerate(self.sensor_props):
depthImg = cv2.imread(s.imgs_depth[frame_n],
-1) ## load frames and compute point cloud
clrImg = cv2.imread(s.imgs_color[frame_n], -1)
ptcloud, nVertices = image_fusion(self.cam_params, depthImg,
clrImg)
transformedPtcloud = transform_pointcloud_vectorized(
ptcloud, s.rotationMatrix(), s.translationMatrix())
xyz, rgb = np.hsplit(transformedPtcloud, 2)
xyzpcd.insert(i, xyz)
rgbpcd.insert(i, rgb)
## TODO: extra post-processing to convert points close to the camera to a specific color
frame_data[s.name] = [nVertices, xyz, rgb]
rgbpcd = np.vstack((rgbpcd[0], rgbpcd[1], rgbpcd[2]))
xyzpcd = np.vstack((xyzpcd[0], xyzpcd[1], xyzpcd[2]))
print(rgbpcd.shape, xyzpcd.shape)
return xyzpcd, rgbpcd, frame_data
def set_frame(self, frame_number):
self.nframe_curr = frame_number
frame_data = self.load_frame_data(self.nframe_curr)
for k, prog in self.GL_progs.items():
nVertices, xyz, rgb = frame_data[k]
## load and bind the current frame data to the GL program
data = np.zeros(nVertices, [('a_position', np.float32, 3),
('a_bg_color', np.float32, 4),
('a_fg_color', np.float32, 4),
('a_size', np.float32, 1)])
data['a_position'] = np.array(xyz / self.scaleFactor)
data['a_bg_color'] = np.c_[
rgb / 255, np.ones(
nVertices
)] # make sure rgb is between [0,1] and gotta append an extra one to each row for the alpha value
data['a_fg_color'] = 0, 0, 0, 1
data['a_size'] = 4
prog['u_model'] = self.model
prog.bind(gloo.VertexBuffer(data))
self.update()
def set_multiview_source(self, sensor_props):
self.nframe_total = sys.maxsize
self.sensor_props = sensor_props
for s in self.sensor_props:
gl_prog = gloo.Program(VERTEX_SHADER, FRAGMENT_SHADER)
gl_prog['u_linewidth'] = 0
gl_prog['u_antialias'] = 0
gl_prog['u_model'] = self.model
gl_prog['u_view'] = self.view
gl_prog['u_size'] = 1
self.GL_progs[s.name] = gl_prog
self.nframe_total = min(self.nframe_total, len(s.imgs_color))
self.nframe_total = min(self.nframe_total, len(s.imgs_depth))
print(self.nframe_total)
self.apply_zoom()
self.set_frame(0)
