def initializeGL(self):
# 사람 오브젝트 부르기
self.person01 = obj.OBJ('object/per_obj.obj', swapyz=True)
self.person02 = obj.OBJ('object/per_obj2.obj', swapyz=True)
self.object = obj.OBJ('object/floor15.obj', swapyz=True)
# gl.glShadeModel(gl.GL_FLAT)
gl.glEnable(gl.GL_DEPTH_TEST)
# gl.glEnable(gl.GL_CULL_FACE)
self.move01 = self.getJSON('test01')
self.move02 = self.getJSON('test02')
self.move03 = self.getJSON('test03')
self.move04 = self.getJSON('test04')
self.move05 = self.getJSON('test05')
self.move06 = self.getJSON('test06')
self.move07 = self.getJSON('test07')
self.move08 = self.getJSON('test08')
self.move09 = self.getJSON('test09')
self.move10 = self.getJSON('test10')
def load_and_draw_model(filename): glEnable(GL_LIGHTING) glEnable(GL_LIGHT0) glEnable(GL_DEPTH_TEST) glClear(GL_DEPTH_BUFFER_BIT) glMaterialfv(GL_FRONT, GL_AMBIENT, [0, 0, 0, 0]) glMaterialfv(GL_FRONT, GL_DIFFUSE, [0.5, 0.75, 1, 0]) glMaterialfv(GL_FRONT, GL_SHININESS, 0.25 * 128) import objloader obj = objloader.OBJ(filename, swapyz=True) glScale(0.1, 0.1, 0.1) glCallList(obj.gl_list)
def load_and_draw_model(filename):
""" 使用 objloader.py，从 .obj 文件中装载模型 假设路径文件夹中存在同名的 .mtl 材料设置文件 """
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_DEPTH_TEST)
glClear(GL_DEPTH_BUFFER_BIT)
# 设置模型颜色
glMaterialfv(GL_FRONT, GL_AMBIENT, [0, 0, 0, 0])
glMaterialfv(GL_FRONT, GL_DIFFUSE, [0.5, 0.75, 1.0, 0.0])
glMaterialf(GL_FRONT, GL_SHININESS, 0.25 * 128.0)
# 从文件中载入
import objloader
obj = objloader.OBJ(filename, swapyz=True)
glCallList(obj.gl_list)
def load_and_draw_model(filename):
""" Loads a model from an .obj file using objloader.py.
Assumes there is a .mtl material file with the same name. """
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glEnable(GL_DEPTH_TEST)
glClear(GL_DEPTH_BUFFER_BIT)
# set model color
glMaterialfv(GL_FRONT, GL_AMBIENT, [0, 0, 0, 0])
glMaterialfv(GL_FRONT, GL_DIFFUSE, [0.5, 0.75, 1.0, 0.0])
glMaterialf(GL_FRONT, GL_SHININESS, 0.25 * 128.0)
# load from a file
import objloader
obj = objloader.OBJ(filename, swapyz=True)
glCallList(obj.gl_list)
def load_and_draw_model2(foldername, filename):
viewport = (1200, 747)
srf = pygame.display.set_mode(viewport, OPENGL | DOUBLEBUF)
import objloader
# LOAD OBJECT AFTER PYGAME INIT
obj = objloader.OBJ(foldername,filename, swapyz=True)
clock = pygame.time.Clock()
rx, ry = (0, 0)
tx, ty = (0, 0)
glEnable(GL_BLEND)
glBlendFunc(GL_ONE,GL_ZERO )
glDisable(GL_DEPTH_TEST)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
draw_background('background-1.png')
glLightfv(GL_LIGHT0, GL_POSITION, (-40, 200, 100, 0.0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1.0))
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
width, height = viewport
gluPerspective(90.0, width / float(height), 1, 100.0)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# RENDER OBJECT
glTranslate(-0.4, -1, - 5)
glRotate(ry, 1, 0, 0)
glRotate(rx, 0, 1, 0)
glScale(0.03, 0.03, 0.03)
glCallList(obj.gl_list)
def initializeGL(self):
self.object = obj.OBJ('object/map.obj', swapyz=True)
gl.glShadeModel(gl.GL_FLAT)
gl.glEnable(gl.GL_DEPTH_TEST)
import objloader
import geometry
from progressbar import ProgressBar
sqr = lambda x: x * x
if False: #fullscreen
fs = FULLSCREEN
RESOLUTION = (1280, 800)
else:
RESOLUTION = (800, 600)
fs = 0
#### LOADING ###############################
cow = objloader.OBJ("models/cow2.obj")
def readtetrahedronlist(fn):
counter = 0
res = []
with open(fn, "r") as f:
for line in f:
if counter % 4 == 0:
a = eval(line)
elif counter % 4 == 1:
b = eval(line)
elif counter % 4 == 2:
c = eval(line)
elif counter % 4 == 3:
d = eval(line)
img = "../../data/mag_front.jpg"
#img = "../../data/mag_perspective.jpg"
#img = "../../data/mag_perspective_1.jpg"
pkl = img[:-4] + ".pkl"
#with open("../../data/ar_camera.pkl", "r") as f:
with open(pkl, "r") as f:
K = pickle.load(f)
Rt = pickle.load(f)
setup()
glEnable(GL_NORMALIZE)
ar.draw_background(img)
ar.set_projection_from_camera(K, width, height)
ar.set_modelview_from_camera(Rt)
""" Load once into memory as this is time-taking """
obj = objloader.OBJ("toyplane.obj")
#obj = objloader.OBJ("Sofa_3_3ds.obj")
#obj_2 = objloader.OBJ("toyplane.obj")
# obj = None
# with open("../objloader/toyplane.pkl", 'rb') as input:
# obj = cPickle.load(input)
# if not obj:
# sys.exit()
#(scale, degrees, pos) = (0.001486436280241436, [0, -5, 0], [0.09500000000000001, 0, 0.10500000000000002])
degrees = [0, 0, 0]
pos = [0, 0, 0]
scale = 0.005
ar.draw_furniture(obj, scale)
pygame.display.flip()
def main():
# Vídeo de entrada + lista com todos os frames (:Image())
video = Video(SOURCE_VIDEO)
frames = video.getFrameList()
""" Aruco Markers
* Quatro versões do aruco marker são armazenadas:
* Uma para cada rotação possível."""
markers = [Image(SOURCE_MARKER)]
for n in range(3):
markers.append(markers[-1].getRotated90())
camera = Camera(frames)
pygame.init()
width = 480
height = 640
display = (height, width)
screen = pygame.display.set_mode(display, DOUBLEBUF | OPENGL)
pygame.display.set_caption("ICV")
fx = camera.getIntrinsicMatrix()[0][0]
fy = camera.getIntrinsicMatrix()[1][1]
fovy = 2 * np.arctan(0.5 * display[1] / fy) * 180 / np.pi
#fovy *= 1.1
aspect = (display[0] * fx) / (display[1] * fy)
clipStart = 0.1
clipEnd = 150.0
glMatrixMode(GL_PROJECTION)
gluPerspective(fovy, aspect, clipStart, clipEnd)
#glMatrixMode(GL_MODELVIEW)
glEnable(GL_TEXTURE_2D)
textureID = glGenTextures(1)
pikachu = objloader.OBJ('Pikachu.obj', swapyz=True)
for frame in frames:
gray = frame.getGrayScale()
edge = gray.getEdgeImage()
# OpenGL Texture stuff...
glEnable(GL_TEXTURE_2D)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, textureID)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 640, 480, 0, GL_RGB,
GL_UNSIGNED_BYTE,
frame.getSource().tobytes())
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
# Texture background...
glDisable(GL_DEPTH_TEST)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(0, width, 0, height)
drawPlane(height, width)
glBindTexture(GL_TEXTURE_2D, 0)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(fovy, aspect, clipStart, clipEnd)
glEnable(GL_DEPTH_TEST)
for contour in edge.getContours():
for n, marker in enumerate(markers):
warped = gray.getWarpedPerspective(contour, marker)
# Se o contorno encontrado for igual ao marker,
# desenha o contorno com a cor certa.
if warped == marker:
imagePoints = np.array(contour, dtype="float32")
objectPoints = np.array(
[[-1, -1, 1], [1, -1, 1], [1, 1, 1], [-1, 1, 1]],
dtype="float32")
flag, rvecs, tvecs = cv2.solvePnP(
objectPoints, imagePoints, camera.getIntrinsicMatrix(),
camera.distance) #, flags=cv2.SOLVEPNP_ITERATIVE)
#print(flag, rvecs, tvecs)
rotm = cv2.Rodrigues(rvecs)[0]
m = np.array(
[[rotm[0][0], rotm[0][1], rotm[0][2], tvecs[0]],
[rotm[1][0], rotm[1][1], rotm[1][2], tvecs[1]],
[rotm[2][0], rotm[2][1], rotm[2][2], tvecs[2]],
[0.0, 0.0, 0.0, 1.0]])
m = m * np.array(
[[1.0, 1.0, 1.0, 1.0], [-1.0, -1.0, -1.0, -1.0],
[-1.0, -1.0, -1.0, -1.0], [1.0, 1.0, 1.0, 1.0]])
m = np.transpose(m)
#print(m)
# the Object
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glPushMatrix()
glLoadMatrixd(m)
glCallList(pikachu.gl_list)
glPopMatrix()
break
#frame.show(2)
quit = False
for event in pygame.event.get():
if event.type == pygame.QUIT:
quit = True
break
if quit:
break
pygame.display.flip()
video.release()
cv2.destroyAllWindows()
pygame.quit()
def main():
# Vídeo de entrada + lista com todos os frames (:Image())
video = Video(SOURCE_VIDEO)
frames = video.getFrameList()
""" Aruco Markers
* Quatro versões do aruco marker são armazenadas:
* Uma para cada rotação possível."""
global markers
markers = [Image(SOURCE_MARKER)]
for n in range(3):
markers.append(markers[-1].getRotated90())
#global camera
camera = None
if CALCULATE_INTRINSIC_MATRIX:
camera = Camera(frames)
else:
camera = Camera(
None,
np.mat(
"306.15951514 0.0 306.99696673; 0.0 255.6431554 250.73583755; 0.0 0.0 1.0"
))
pygame.init()
display = (640, 480)
screen = pygame.display.set_mode(display, DOUBLEBUF | OPENGL)
pygame.display.set_caption("ICV")
fx = camera.getIntrinsicMatrix()[0][0]
fy = camera.getIntrinsicMatrix()[1][1]
fovy = 2 * np.arctan(0.5 * display[1] / fy) * 180 / np.pi
aspect = (display[0] * fx) / (display[1] * fy)
gluPerspective(fovy, aspect, 0.1, 150.0)
glMatrixMode(GL_MODELVIEW)
glEnable(GL_TEXTURE_2D)
pikachu = objloader.OBJ('Pikachu.obj', swapyz=True)
bg_id = glGenTextures(1)
glEnable(GL_TEXTURE_2D)
glBindTexture(GL_TEXTURE_2D, bg_id)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
for frame in frames:
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
"""if not videoStore.isOpened():
videoStore.release()
return"""
videoStore = video.getSource()
#ok, frame = videoStore.read()
gray = frame.getGrayScale()
edge = gray.getEdgeImage()
# /* load_background
"""bg_img = cv2.cvtColor(frame.getSource(), cv2.COLOR_BGR2RGB)
bg_img = cv2.flip(bg_img, 0)
height, width, channels = bg_img.shape
bg_img = np.frombuffer(bg_img.tostring(), dtype=bg_img.dtype)
bg_img.shape = (height, width, channels)"""
bg_img = frame.getSource().tobytes()
#height, width, channels = frame.getShape()
width, height = 640, 480
#bg_id = glGenTextures(1)
glEnable(GL_TEXTURE_2D)
glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, bg_id)
#glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR)
#glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, width, height, 0, GL_RGB,
GL_UNSIGNED_BYTE, bg_img)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluOrtho2D(0, width, 0, height)
#glBindTexture(GL_TEXTURE_2D, bg_id)
#glTexImage2D(GL_TEXTURE_2D, 0, 3, width, height, 0, GL_RGB, GL_UNSIGNED_BYTE, bg_img)
drawPlane(height, width)
"""glPushMatrix()
glBegin(GL_QUADS)
glTexCoord2i(0, 0); glVertex2i(0, 0)
glTexCoord2i(1, 0); glVertex2i(width, 0)
glTexCoord2i(1, 1); glVertex2i(width, height)
glTexCoord2i(0, 1); glVertex2i(0, height)
glEnd()
glPopMatrix()"""
glBindTexture(GL_TEXTURE_2D, 0)
# load_background *\
glMatrixMode(GL_PROJECTION)
gluPerspective(fovy, aspect, 0.1, 150.0)
objp = np.zeros((6 * 7, 3), np.float32)
objp[:, :2] = np.mgrid[0:7, 0:6].T.reshape(-1, 2)
for contour in edge.getContours():
for n, marker in enumerate(markers):
warped = gray.getWarpedPerspective(contour, marker)
# Se o contorno encontrado for igual ao marker,
# desenha o contorno com a cor certa.
if warped == marker:
imagePoints = np.array(contour, dtype="float32")
objectPoints = np.array(
[[-1, -1, 1], [1, -1, 1], [1, 1, 1], [-1, 1, 1]],
dtype="float32")
flag, rvecs, tvecs = cv2.solvePnP(
objectPoints, imagePoints, camera.getIntrinsicMatrix(),
camera.distance) # , flags=cv2.SOLVEPNP_ITERATIVE)
# print(flag, rvecs, tvecs)
rotm = cv2.Rodrigues(rvecs)[0]
m = np.array(
[[rotm[0][0], rotm[0][1], rotm[0][2], tvecs[0]],
[rotm[1][0], rotm[1][1], rotm[1][2], tvecs[1]],
[rotm[2][0], rotm[2][1], rotm[2][2], tvecs[2]],
[0.0, 0.0, 0.0, 1.0]])
m = m * np.array(
[[1.0, 1.0, 1.0, 1.0], [-1.0, -1.0, -1.0, -1.0],
[-1.0, -1.0, -1.0, -1.0], [1.0, 1.0, 1.0, 1.0]])
m = np.transpose(m)
# the Object
# glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glPushMatrix()
glLoadMatrixd(m)
# drawObject()
# glutWireTeapot(0.5)
glCallList(pikachu.gl_list)
glPopMatrix()
#glutSwapBuffers()
quit = False
for event in pygame.event.get():
if event.type == pygame.QUIT:
quit = True
break
if quit:
break
pygame.display.flip()
pygame.quit()
"""fx = camera.getIntrinsicMatrix()[0][0]
def load_and_draw_model2(foldername, filename):
viewport = (1200, 747)
srf = pygame.display.set_mode(viewport, OPENGL | DOUBLEBUF)
import objloader
# LOAD OBJECT AFTER PYGAME INIT
obj = objloader.OBJ(foldername, filename, swapyz=True)
clock = pygame.time.Clock()
rx, ry = (0, 0)
tx, ty = (0, 0)
zpos = 5
rotate = move = False
onlyone = True
while onlyone:
clock.tick(30)
for e in pygame.event.get():
if e.type == QUIT:
sys.exit()
elif e.type == KEYDOWN and e.key == K_ESCAPE:
sys.exit()
elif e.type == MOUSEBUTTONDOWN:
if e.button == 4:
zpos = max(1, zpos - 1)
elif e.button == 5:
zpos += 1
elif e.button == 1:
rotate = True
elif e.button == 3:
move = True
elif e.type == MOUSEBUTTONUP:
if e.button == 1:
rotate = False
elif e.button == 3:
move = False
elif e.type == MOUSEMOTION:
i, j = e.rel
if rotate:
rx += i
ry += j
if move:
tx += i
ty -= j
glEnable(GL_BLEND)
glBlendFunc(GL_ONE, GL_ZERO)
glDisable(GL_DEPTH_TEST)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
draw_background('background-1.png')
glLightfv(GL_LIGHT0, GL_POSITION, (-40, 200, 100, 0.0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1.0))
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
width, height = viewport
gluPerspective(90.0, width / float(height), 1, 100.0)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
# RENDER OBJECT
# glTranslate(tx / 20., ty / 20., - zpos)
glTranslate(-0.4, -1, -zpos)
glRotate(ry, 1, 0, 0)
glRotate(rx, 0, 1, 0)
glScale(0.03, 0.03, 0.03)
glCallList(obj.gl_list)
pygame.display.flip()
def loadObjects(self):
self.objects = {}
self.objects['wheel'] = objloader.OBJ("wheel.obj")
self.objects['frame'] = objloader.OBJ("frame.obj")
self.objects['rider'] = objloader.OBJ("rider.obj")
self.objects['cp'] = objloader.OBJ("cp.obj")
