def on_draw():
if not 'rgbtex' in globals():
create_texture()
xyz, uv = projpts
if xyz is None: return
if not rgb is None:
rgb_ = (rgb.astype(np.float32) * 4 + 70).clip(0,255).astype(np.uint8)
glBindTexture(TEXTURE_TARGET, rgbtex)
glTexSubImage2D(TEXTURE_TARGET, 0, 0, 0, 640, 480, GL_RGB, GL_UNSIGNED_BYTE, rgb_);
glClearColor(*clearcolor)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
# flush that stack in case it's broken from earlier
glPushMatrix()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, 4/3., 0.3, 200)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def mouse_rotate(xAngle, yAngle, zAngle):
glRotatef(xAngle, 1.0, 0.0, 0.0);
glRotatef(yAngle, 0.0, 1.0, 0.0);
glRotatef(zAngle, 0.0, 0.0, 1.0);
glScale(zoomdist,zoomdist,1)
glTranslate(0, 0,-3.5)
mouse_rotate(rotangles[0], rotangles[1], 0);
glTranslate(0,0,1.5)
#glTranslate(0, 0,-1)
# Draw some axes
if 0:
glBegin(GL_LINES)
glColor3f(1,0,0); glVertex3f(0,0,0); glVertex3f(1,0,0)
glColor3f(0,1,0); glVertex3f(0,0,0); glVertex3f(0,1,0)
glColor3f(0,0,1); glVertex3f(0,0,0); glVertex3f(0,0,1)
glEnd()
# We can either project the points ourselves, or embed it in the opengl matrix
if 0:
dec = 4
v,u = mgrid[:480,:640].astype(np.uint16)
points = np.vstack((u[::dec,::dec].flatten(),
v[::dec,::dec].flatten(),
depth[::dec,::dec].flatten())).transpose()
points = points[points[:,2]<2047,:]
glMatrixMode(GL_TEXTURE)
glLoadIdentity()
glMultMatrixf(calibkinect.uv_matrix().transpose())
glMultMatrixf(calibkinect.xyz_matrix().transpose())
glTexCoordPointers(np.array(points))
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glMultMatrixf(calibkinect.xyz_matrix().transpose())
glVertexPointers(np.array(points))
else:
glMatrixMode(GL_TEXTURE)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glVertexPointerf(xyz)
glTexCoordPointerf(uv)
# Draw the points
glPointSize(2)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
glEnable(TEXTURE_TARGET)
glColor3f(1,1,1)
glDrawElementsui(GL_POINTS, np.array(range(xyz.shape[0])))
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
glDisable(TEXTURE_TARGET)
glPopMatrix()
#
if 0:
inds = np.nonzero(xyz[:,2]>-0.55)
glPointSize(10)
glColor3f(0,1,1)
glEnableClientState(GL_VERTEX_ARRAY)
glDrawElementsui(GL_POINTS, np.array(inds))
glDisableClientState(GL_VERTEX_ARRAY)
if 0:
# Draw only the points in the near plane
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glColor(0.9,0.9,1.0,0.8)
glPushMatrix()
glTranslate(0,0,-0.55)
glScale(0.6,0.6,1)
glBegin(GL_QUADS)
glVertex3f(-1,-1,0); glVertex3f( 1,-1,0);
glVertex3f( 1, 1,0); glVertex3f(-1, 1,0);
glEnd()
glPopMatrix()
glDisable(GL_BLEND)
glPopMatrix()
def on_draw(self):
if not '_initOK' in dir(self): return
clearcolor = [0, 0, 0, 0]
glClearColor(*clearcolor)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
# flush that stack in case it's broken from earlier
try:
while glPopMatrix():
pass
except:
pass
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, 4 / 3., 0.3, 200)
#glScale(-1,1,1)
#gluOrtho2D(-10,10,-10,10)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def mouse_rotate(xAngle, yAngle, zAngle):
glRotatef(xAngle, 1.0, 0.0, 0.0)
glRotatef(yAngle, 0.0, 1.0, 0.0)
glRotatef(zAngle, 0.0, 0.0, 1.0)
glScale(self.zoomdist, self.zoomdist, 1)
glTranslate(0, 0, -1.5)
mouse_rotate(self.rotangles[0], self.rotangles[1], 0)
glTranslate(0, 0, 1.5)
#glTranslate(0, 0,-1)
glBindBufferARB(GL_ARRAY_BUFFER_ARB, self.xyzbuf)
glVertexPointers(None)
glTexCoordPointer(3, GL_SHORT, 0, None)
glMatrixMode(GL_TEXTURE)
glLoadIdentity()
glMultMatrixf(calibkinect.uv_matrix().transpose())
glMultMatrixf(calibkinect.xyz_matrix().transpose())
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glMultMatrixf(calibkinect.xyz_matrix().transpose())
# Draw the points
glPointSize(2)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
#if not rgb is None:
glEnable(TEXTURE_TARGET)
#if not color is None:
# glEnableClientState(GL_COLOR_ARRAY)
# glColorPointerf(color)
# glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
# glEnable(GL_BLEND)
glColor3f(1, 1, 1)
glDrawElementsui(GL_POINTS, np.mgrid[:640 * 480])
glDisableClientState(GL_COLOR_ARRAY)
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
glDisable(TEXTURE_TARGET)
glDisable(GL_BLEND)
glPopMatrix()
self._wrap('on_draw_axes')
def on_draw():
if not 'rgbtex' in globals():
create_texture()
xyz, uv = projpts
if xyz is None: return
if not rgb is None:
rgb_ = (rgb.astype(np.float32) * 4 + 70).clip(0, 255).astype(np.uint8)
glBindTexture(TEXTURE_TARGET, rgbtex)
glTexSubImage2D(TEXTURE_TARGET, 0, 0, 0, 640, 480, GL_RGB,
GL_UNSIGNED_BYTE, rgb_)
glClearColor(*clearcolor)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
# flush that stack in case it's broken from earlier
glPushMatrix()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, 4 / 3., 0.3, 200)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def mouse_rotate(xAngle, yAngle, zAngle):
glRotatef(xAngle, 1.0, 0.0, 0.0)
glRotatef(yAngle, 0.0, 1.0, 0.0)
glRotatef(zAngle, 0.0, 0.0, 1.0)
glScale(zoomdist, zoomdist, 1)
glTranslate(0, 0, -3.5)
mouse_rotate(rotangles[0], rotangles[1], 0)
glTranslate(0, 0, 1.5)
#glTranslate(0, 0,-1)
# Draw some axes
if 0:
glBegin(GL_LINES)
glColor3f(1, 0, 0)
glVertex3f(0, 0, 0)
glVertex3f(1, 0, 0)
glColor3f(0, 1, 0)
glVertex3f(0, 0, 0)
glVertex3f(0, 1, 0)
glColor3f(0, 0, 1)
glVertex3f(0, 0, 0)
glVertex3f(0, 0, 1)
glEnd()
# We can either project the points ourselves, or embed it in the opengl matrix
if 0:
dec = 4
v, u = mgrid[:480, :640].astype(np.uint16)
points = np.vstack(
(u[::dec, ::dec].flatten(), v[::dec, ::dec].flatten(),
depth[::dec, ::dec].flatten())).transpose()
points = points[points[:, 2] < 2047, :]
glMatrixMode(GL_TEXTURE)
glLoadIdentity()
glMultMatrixf(calibkinect.uv_matrix().transpose())
glMultMatrixf(calibkinect.xyz_matrix().transpose())
glTexCoordPointers(np.array(points))
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glMultMatrixf(calibkinect.xyz_matrix().transpose())
glVertexPointers(np.array(points))
else:
glMatrixMode(GL_TEXTURE)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glVertexPointerf(xyz)
glTexCoordPointerf(uv)
# Draw the points
glPointSize(2)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
glEnable(TEXTURE_TARGET)
glColor3f(1, 1, 1)
glDrawElementsui(GL_POINTS, np.array(range(xyz.shape[0])))
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
glDisable(TEXTURE_TARGET)
glPopMatrix()
#
if 0:
inds = np.nonzero(xyz[:, 2] > -0.55)
glPointSize(10)
glColor3f(0, 1, 1)
glEnableClientState(GL_VERTEX_ARRAY)
glDrawElementsui(GL_POINTS, np.array(inds))
glDisableClientState(GL_VERTEX_ARRAY)
if 0:
# Draw only the points in the near plane
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glColor(0.9, 0.9, 1.0, 0.8)
glPushMatrix()
glTranslate(0, 0, -0.55)
glScale(0.6, 0.6, 1)
glBegin(GL_QUADS)
glVertex3f(-1, -1, 0)
glVertex3f(1, -1, 0)
glVertex3f(1, 1, 0)
glVertex3f(-1, 1, 0)
glEnd()
glPopMatrix()
glDisable(GL_BLEND)
glPopMatrix()
def on_draw(self):
if not '_initOK' in dir(self): return
clearcolor = [0,0,0,0]
glClearColor(*clearcolor)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glEnable(GL_DEPTH_TEST)
# flush that stack in case it's broken from earlier
try:
while glPopMatrix(): pass
except:
pass
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, 4/3., 0.3, 200)
#glScale(-1,1,1)
#gluOrtho2D(-10,10,-10,10)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def mouse_rotate(xAngle, yAngle, zAngle):
glRotatef(xAngle, 1.0, 0.0, 0.0);
glRotatef(yAngle, 0.0, 1.0, 0.0);
glRotatef(zAngle, 0.0, 0.0, 1.0);
glScale(self.zoomdist,self.zoomdist,1)
glTranslate(0, 0,-1.5)
mouse_rotate(self.rotangles[0], self.rotangles[1], 0);
glTranslate(0,0,1.5)
#glTranslate(0, 0,-1)
glBindBufferARB(GL_ARRAY_BUFFER_ARB, self.xyzbuf)
glVertexPointers(None)
glTexCoordPointer(3, GL_SHORT, 0, None)
glMatrixMode(GL_TEXTURE)
glLoadIdentity()
glMultMatrixf(calibkinect.uv_matrix().transpose())
glMultMatrixf(calibkinect.xyz_matrix().transpose())
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glMultMatrixf(calibkinect.xyz_matrix().transpose())
# Draw the points
glPointSize(2)
glEnableClientState(GL_VERTEX_ARRAY)
glEnableClientState(GL_TEXTURE_COORD_ARRAY)
#if not rgb is None:
glEnable(TEXTURE_TARGET)
#if not color is None:
# glEnableClientState(GL_COLOR_ARRAY)
# glColorPointerf(color)
# glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA)
# glEnable(GL_BLEND)
glColor3f(1,1,1)
glDrawElementsui(GL_POINTS, np.mgrid[:640*480])
glDisableClientState(GL_COLOR_ARRAY)
glDisableClientState(GL_VERTEX_ARRAY)
glDisableClientState(GL_TEXTURE_COORD_ARRAY)
glDisable(TEXTURE_TARGET)
glDisable(GL_BLEND)
glPopMatrix()
self._wrap('on_draw_axes')
