def open_window(self):
if not self._window:
self.input = {'down':False, 'mouse':(0,0)}
self.trackball = Trackball()
# get glfw started
glfwInit()
self._window = glfwCreateWindow(width, height, self.name, None, None)
glfwMakeContextCurrent(self._window)
if not self._window:
exit()
glfwSetWindowPos(self._window,2000,0)
# Register callbacks window
glfwSetFramebufferSizeCallback(self._window,self.on_resize)
glfwSetWindowIconifyCallback(self._window,self.on_iconify)
glfwSetKeyCallback(self._window,self.on_key)
glfwSetCharCallback(self._window,self.on_char)
glfwSetMouseButtonCallback(self._window,self.on_button)
glfwSetCursorPosCallback(self._window,self.on_pos)
glfwSetScrollCallback(self._window,self.on_scroll)
glfwSetWindowCloseCallback(self._window,self.on_close)
init()
glutInit()
self.basic_gl_setup()
self.gui = ui.UI()
self.on_resize(self._window,*glfwGetFramebufferSize(self._window))
def __init__(self, parent=None):
QGLWidget.__init__(self, parent)
self.setAutoBufferSwap(False)
self.resize(640, 480)
self.opengl_thread = QThread()
QCoreApplication.instance().aboutToQuit.connect(self.clean_up_before_quit)
self.trackball = Trackball()
self.preferredSize = None
self.setFocusPolicy(Qt.WheelFocus)
def cam0Event(self):
if self.trackball is not None:
self.glwidget.tb = eval(repr(self.trackball)) # Make a deepcopy
return
self.glwidget.tb = Trackball(phi=-0.0,
theta=0.0,
zoom=1.0,
rot=[-0.02, -0.71, -0.02, 0.71],
trans=[0.02, 0.09, -0.69])
def open_window(self):
if not self._window:
self.input = {'button':None, 'mouse':(0,0)}
self.trackball = Trackball()
# get glfw started
if self.run_independently:
glfwInit()
window = glfwGetCurrentContext()
self._window = glfwCreateWindow(640, 480, self.name, None, window)
glfwMakeContextCurrent(self._window)
if not self._window:
exit()
glfwSetWindowPos(self._window,2000,0)
# Register callbacks window
glfwSetFramebufferSizeCallback(self._window,self.on_resize)
glfwSetWindowIconifyCallback(self._window,self.on_iconify)
glfwSetKeyCallback(self._window,self.on_key)
glfwSetCharCallback(self._window,self.on_char)
glfwSetMouseButtonCallback(self._window,self.on_button)
glfwSetCursorPosCallback(self._window,self.on_pos)
glfwSetScrollCallback(self._window,self.on_scroll)
glfwSetWindowCloseCallback(self._window,self.on_close)
# get glfw started
if self.run_independently:
init()
glutInit()
self.basic_gl_setup()
self.glfont = fs.Context()
self.glfont.add_font('opensans',get_opensans_font_path())
self.glfont.set_size(22)
self.glfont.set_color_float((0.2,0.5,0.9,1.0))
# self.gui = ui.UI()
self.on_resize(self._window,*glfwGetFramebufferSize(self._window))
def __init__(self):
'''
Constructor
'''
self._initialViewM = np.eye(4,dtype=np.float32)
self._viewM = np.copy(self._initialViewM)
self.trackball = Trackball()
self.keyDict = {
ord('r') : self.reset,
key.UP: self.up,
key.DOWN: self.down,
key.LEFT: self.left,
key.RIGHT: self.right,
ord('w'): self.forward,
ord('s'): self.backward,
ord('a'): self.left,
ord('d'): self.right,
ord('q'): self.rollLeft,
ord('e'): self.rollRight,
ord('z'): self.pitchUp,
ord('x'): self.pitchDown,
ord('i'): self.info,
ord('1'): self.toggleMesh,
ord('2'): self.toggleFaces,
ord('3'): self.toggleNormals,
}
self.translateMult = -1.0
self.dragMult = -0.01
self.zoomMult = 0.01
self._zoom = 1.0
self.showMesh = True
self.showFaces = False
self.showNormals = False
class CinemolCanvas(QGLWidget):
# Singleton thread for all OpenGL actions
def __init__(self, parent=None):
QGLWidget.__init__(self, parent)
self.setAutoBufferSwap(False)
self.resize(640, 480)
self.opengl_thread = QThread()
QCoreApplication.instance().aboutToQuit.connect(self.clean_up_before_quit)
self.trackball = Trackball()
self.preferredSize = None
self.setFocusPolicy(Qt.WheelFocus)
# delegate opengl tasks to separate non-qt-gui Renderer object
def set_gl_renderer(self, renderer):
self.renderer = renderer
self.renderer.set_gl_widget(self)
bUseSeparateOpenGLThread = False
if bUseSeparateOpenGLThread:
self.renderer.moveToThread(self.opengl_thread)
self.opengl_thread.start()
self.trackball.rotation_incremented.connect(self.renderer.increment_rotation)
self.trackball.zoom_incremented.connect(self.renderer.increment_zoom)
self.trackball.pixel_translated.connect(self.renderer.translate_pixel)
self.trackball.pixel_centered.connect(self.renderer.center_pixel)
def paintEvent(self, event):
self.doneCurrent()
self.paint_requested.emit()
def resizeEvent(self, event):
self.doneCurrent()
sz = event.size()
self.resize_requested.emit(sz.width(), sz.height())
def sizeHint(self):
if self.preferredSize is None:
return QGLWidget.sizeHint(self)
return self.preferredSize
@QtCore.Slot(int, int)
def special_resize(self, w, h):
self.preferredSize = QSize(w, h)
self.resize(w, h)
@QtCore.Slot()
def clean_up_before_quit(self):
self.opengl_thread.quit()
self.opengl_thread.wait()
paint_requested = QtCore.Signal()
resize_requested = QtCore.Signal(int, int)
save_image_requested = QtCore.Signal(str)
save_lenticular_series_requested = QtCore.Signal(str, float, int)
def save_image(self, file_name):
self.save_image_requested.emit(file_name)
def save_lenticular_series(self, file_name, angle, count=18):
self.save_lenticular_series_requested.emit(file_name, angle, count)
def keyPressEvent(self, event):
if event.key() == Qt.Key_Left:
r = Rotation().set_from_angle_about_unit_vector(-0.05, [0, 0, -1])
self.trackball.rotation_incremented.emit(r)
elif event.key() == Qt.Key_Right:
r = Rotation().set_from_angle_about_unit_vector( 0.05, [0, 0, -1])
self.trackball.rotation_incremented.emit(r)
elif event.key() == Qt.Key_Up:
self.trackball.pixel_translated.emit(0, 0, 50);
elif event.key() == Qt.Key_Down:
self.trackball.pixel_translated.emit(0, 0, -50);
QGLWidget.keyPressEvent(self, event) # not my event
# Delegate mouse events to trackball class
def mouseMoveEvent(self, event):
self.trackball.mouseMoveEvent(event, self.size())
def mousePressEvent(self, event):
self.trackball.mousePressEvent(event)
def mouseReleaseEvent(self, event):
self.trackball.mouseReleaseEvent(event)
def mouseDoubleClickEvent(self, event):
self.trackball.mouseDoubleClickEvent(event, self.size())
def wheelEvent(self, event):
self.trackball.wheelEvent(event)
def run(args):
# Command line arguments
address = args.address
show_window = args.show_window
poll_timeout = args.poll_timeout
width = args.width
height = args.height
mesh_filename = args.mesh_filename
use_msgpack_for_mesh = args.use_msgpack_for_mesh
window_width = args.window_width
if window_width is None:
window_width = width
window_height = args.window_height
if window_height is None:
window_height = height
window_pos_x = args.window_pos_x
window_pos_y = args.window_pos_y
model_scale = args.model_scale
model_rpy = [args.model_roll, args.model_pitch, args.model_yaw]
depth_scale = args.depth_scale
yaw_speed = args.yaw_speed
pitch_speed = args.pitch_speed
# Compute vertical field of view (needed for glm.perspective)
horz_fov = args.horz_fov
focal_length = camera_utils.fov_to_focal_length(
math_utils.degrees_to_radians(horz_fov), width)
vert_fov = math_utils.radians_to_degrees(
camera_utils.focal_length_to_fov(focal_length, height))
logger.info("Horizontal FOV: {:.4f}, vertical FOV: {:.4f}".format(
horz_fov, vert_fov))
window_focal_length = camera_utils.fov_to_focal_length(
math_utils.degrees_to_radians(horz_fov), window_width)
window_vert_fov = math_utils.radians_to_degrees(
camera_utils.focal_length_to_fov(window_focal_length, window_height))
logger.info("Window vertical FOV: {:.4f}".format(window_vert_fov))
# Fixed parameters
initial_distance = 10 # initial camera distance
# Glumpy initialization
# glumpy.app.use("glfw")
# glumpy.app.use("glfw", 'ES', 3, 3)
glumpy_config = glumpy.app.configuration.get_default()
glumpy_config.double_buffer = True
glumpy_config.samples = 0
glumpy_config.api = "ES"
glumpy_config.depth_size = 32
glumpy_config.major_version = 3
glumpy_config.minor_version = 1
glumpy_config.profile = "core"
# if show_window:
window = Window(width=window_width,
height=window_height,
fov=window_vert_fov,
znear=0.5,
zfar=1000,
config=glumpy_config,
visible=show_window,
title=b"mesh_renderer_zmq")
trackball = Trackball(pitch=0, yaw=0)
window.glumpy_window.attach(trackball)
app = Application()
logger.info("Glumpy backend: {}".format(glumpy.app.__backend__))
# Process initial events
if window_pos_x is not None or window_pos_y is not None:
if window_pos_x is None:
window_pos_x, _ = window.glumpy_window.get_position()
if window_pos_y is None:
_, window_pos_y = window.glumpy_window.get_position()
window.glumpy_window.set_position(window_pos_x, window_pos_y)
# Offscreen surface initialization
framebuffer = Framebuffer(width,
height,
num_color_attachments=3,
color_dtypes=[np.ubyte, np.float32, np.float32])
fb_color_drawer = FramebufferDrawer(framebuffer,
color_index=0,
draw_mode=FramebufferDrawer.BLIT)
fb_depth_drawer = FramebufferDrawer(framebuffer,
color_index=1,
draw_mode=FramebufferDrawer.DRAW_QUAD)
fb_depth_drawer.set_color_scale(depth_scale)
fb_normal_drawer = FramebufferDrawer(framebuffer,
color_index=2,
draw_mode=FramebufferDrawer.DRAW_QUAD)
fb_normal_drawer.set_color_scale(0.5)
fb_normal_drawer.set_color_offset(0.5)
# Offscreen surface initialization
window_framebuffer = Framebuffer(
window_width,
window_height,
num_color_attachments=3,
color_dtypes=[np.ubyte, np.float32, np.float32])
window_fb_color_drawer = FramebufferDrawer(
window_framebuffer, color_index=0, draw_mode=FramebufferDrawer.BLIT)
window_fb_depth_drawer = FramebufferDrawer(
window_framebuffer,
color_index=1,
draw_mode=FramebufferDrawer.DRAW_QUAD)
window_fb_depth_drawer.set_color_scale(depth_scale)
window_fb_normal_drawer = FramebufferDrawer(
window_framebuffer,
color_index=2,
draw_mode=FramebufferDrawer.DRAW_QUAD)
window_fb_normal_drawer.set_color_scale(0.5)
window_fb_normal_drawer.set_color_offset(0.5)
# Add framebuffer draw for normals
window.add_drawer(window_fb_normal_drawer)
# Transformation from world coordinates (z up, x foward, y left) to opengl coordinates (z backward, x right, y up)
world_to_opengl_mat = np.eye(4, dtype=np.float32)
world_to_opengl_mat = glm.xrotate(world_to_opengl_mat, -90)
world_to_opengl_mat = glm.zrotate(world_to_opengl_mat, 90)
opengl_to_world_mat = np.linalg.inv(world_to_opengl_mat)
# Mesh loading
if mesh_filename is not None:
mesh = None
if use_msgpack_for_mesh:
msgpack_mesh_filename = mesh_filename + ".msgpack"
if os.path.isfile(msgpack_mesh_filename):
logger.info("Loading mesh from msgpack file {}".format(
msgpack_mesh_filename))
mesh = SimpleMesh.read_from_msgpack(msgpack_mesh_filename)
if mesh is None:
logger.info("Loading mesh from file {}".format(mesh_filename))
mesh = SimpleMesh.read_from_file(mesh_filename)
if use_msgpack_for_mesh:
logger.info("Saving mesh to msgpack file {}".format(
msgpack_mesh_filename))
mesh.write_to_msgpack(msgpack_mesh_filename)
else:
mesh = CubeMesh()
logger.info("Setting uniform color")
mesh.set_colors_uniform([0.5, 0.5, 0.5, 1])
# logger.info("Computing mesh colors with z-colormap")
# mesh.set_colors_with_coordinate_colormap(min_coord=0, max_coord=10)
# Drawer initialization
# cube_mesh = CubeMesh()
# cube_drawer = MeshDrawer(cube_mesh)
# cube_drawer.depth_scale = 0.1
# cube_drawer.normal_scale = 0.1
# mesh = SimpleMesh.read_from_ply(sys.argv[1])
# mesh.write_to_pickle("mesh.pickle")
# mesh = SimpleMesh.read_from_pickle("mesh2.pickle")
# mesh = Mesh.from_file(filename)
# mesh_drawer = MeshDrawer(mesh)
mesh_drawer = MeshDrawer(mesh)
mesh_drawer.transform.scale = model_scale
mesh_drawer.transform.orientation_rpy = model_rpy
# Assume mesh is in world coordinate system
# mesh_drawer.model = np.matmul(np.transpose(world_to_opengl_mat), mesh_drawer.model)
# mesh_drawer.color_scale = color_scale
# mesh_drawer.normal_scale = normal_scale
# mesh_drawer.depth_scale = depth_scale
# glm.scale(mesh_drawer.model, 0.01)
# cube_drawer = CubeDrawer()
# Server initialization
logger.info("Starting ZMQ server on address {}".format(address))
server_conn = zmq_utils.Connection(address, zmq_utils.zmq.REP)
server_conn.bind()
renderer_service = renderer_zmq_service.RendererZMQService(
framebuffer, mesh_drawer, vert_fov, initial_distance, trackball,
world_to_opengl_mat)
global input_enabled
global override_renderer_service_transform
global window_enabled
input_enabled = args.input_enabled
window_enabled = window.visible
override_renderer_service_transform = False
def window_visible_callback(visible):
if visible:
logger.info("Showing window")
window.show()
else:
logger.info("Hiding window")
window.hide()
def window_active_callback(active):
global window_enabled
if active:
logger.info("Activating window")
else:
logger.info("Deactivating window")
window_enabled = active
renderer_service.window_visible_callbacks.register(window_visible_callback)
renderer_service.window_active_callbacks.register(window_active_callback)
# Some keyboard input handling
@window.glumpy_window.event
def on_key_press(symbol, modifiers):
try:
character = chr(symbol).lower()
except ValueError as err:
character = ""
logger.debug("Key pressed: {}, modifiers: {}, character: {}".format(
symbol, modifiers, character))
if character == 'n':
logger.info("Showing normals")
window.clear_drawers()
window.add_drawer(window_fb_normal_drawer)
elif character == 'c':
logger.info("Showing colors")
window.clear_drawers()
window.add_drawer(window_fb_color_drawer)
elif character == 'd':
logger.info("Showing depth")
window.clear_drawers()
window.add_drawer(window_fb_depth_drawer)
elif character == 'i':
global input_enabled
if input_enabled:
logger.info("Disabling input")
input_enabled = False
else:
logger.info("Enabling input")
input_enabled = True
elif character == 'a':
global window_enabled
if window_enabled:
logger.info("Disabling window")
window_enabled = False
else:
logger.info("Enabling window")
window_enabled = True
elif character == 'o':
global override_renderer_service_transform
if override_renderer_service_transform:
logger.info("Not overriding renderer service transform input")
override_renderer_service_transform = False
else:
logger.info("Overriding renderer service transform input")
override_renderer_service_transform = True
elif character == 'p':
logger.info("Current location: {}".format(trackball.location))
logger.info("Current world location: {}".format(
np.dot(opengl_to_world_mat[:3, :3],
trackball.camera_location)))
logger.info("Current orientation_rpy: {}".format(
trackball.orientation_rpy))
timer = utils.RateTimer(reset_interval=500)
while True:
dt = app.clock.tick()
# Handle network requests
request_dump = server_conn.recv(timeout=poll_timeout * 1000)
if request_dump is not None:
response_dump = renderer_service.handle_request_msg(
request_dump, raise_exception=True)
if response_dump is not None:
server_conn.send(response_dump)
# Perform any drawer processing
mesh_drawer.tick(dt)
# Animate model if desired
if yaw_speed != 0:
mesh_drawer.transform.yaw += yaw_speed * dt
if pitch_speed != 0:
mesh_drawer.transform.pitch += pitch_speed * dt
if override_renderer_service_transform:
renderer_service.view_transform = trackball.transform.copy()
if window.visible and window_enabled:
if input_enabled and renderer_service.input_enabled:
view_transform = trackball.transform
else:
view_transform = renderer_service.view_transform
with window_framebuffer.activate(clear=True):
mesh_drawer.draw(window.projection, view_transform.matrix,
window.width, window.height)
# For debugging
# color_pixels = framebuffer.read_rgba_pixels()
# depth_pixels = framebuffer.read_rgba_pixels(color_index=1)
# import cv2
# cv2.imshow("color", color_pixels)
# cv2.imshow("depth", depth_pixels[:, :, 0])
# cv2.waitKey(50)
window.override_view(trackball.view)
app.process(dt)
timer.update_and_print_rate(print_interval=100)
class Visualizer():
def __init__(self,name = "unnamed", focal_length = 554.25625, intrinsics = None, run_independently = False):
self.sphere = geometry.Sphere() #the eyeball, initialized as something random
self.ellipses = [] #collection of ellipses
self.circles = [] #collection of all 3D circles on the sphere
self.video_frame = (np.linspace(0,1,num=(400*400*4))*255).astype(np.uint8).reshape((400,400,4)) #the randomized image, should be video frame
# self.screen_points = [] #collection of points
if intrinsics == None:
intrinsics = np.identity(3)
if focal_length != None:
intrinsics[0,0] = focal_length
intrinsics[1,1] = focal_length
logger.warning('no camera intrinsic input, set to focal length')
else:
logger.warning('no camera intrinsic input, set to default identity matrix')
# transformation matrices
self.intrinsics = intrinsics #camera intrinsics of our webcam.
self.scale = 1
self.name = name
self._window = None
self.input = None
self.trackball = None
self.run_independently = run_independently
self.window_should_close = False
############## MATRIX FUNCTIONS ##############################
def get_pixel_space_matrix(self):
# returns a homoegenous matrix
temp = self.get_anthropomorphic_matrix()
temp[3,3] *= self.scale
return temp
def get_adjusted_pixel_space_matrix(self,scale):
# returns a homoegenous matrix
temp = self.get_pixel_space_matrix()
temp[3,3] *= scale
return temp
def get_anthropomorphic_matrix(self):
temp = np.identity(4)
temp[2,2] *=-1 #consistent with our 3d coord system
return temp
def get_image_space_matrix(self,scale=1.):
temp = self.get_adjusted_pixel_space_matrix(scale)
temp[1,1] *=-1 #image origin is top left
temp[0,3] = -self.intrinsics[0,2] #cx
temp[1,3] = self.intrinsics[1,2] #cy
temp[2,3] = -self.intrinsics[0,0] #focal length
return temp.T
def get_pupil_transformation_matrix(self,circle):
"""
OpenGL matrix convention for typical GL software
with positive Y=up and positive Z=rearward direction
RT = right
UP = up
BK = back
POS = position/translation
US = uniform scale
float transform[16];
[0] [4] [8 ] [12]
[1] [5] [9 ] [13]
[2] [6] [10] [14]
[3] [7] [11] [15]
[RT.x] [UP.x] [BK.x] [POS.x]
[RT.y] [UP.y] [BK.y] [POS.y]
[RT.z] [UP.z] [BK.z] [POS.Z]
[ ] [ ] [ ] [US ]
"""
temp = self.get_anthropomorphic_matrix()
right = temp[:3,0]
up = temp[:3,1]
back = temp[:3,2]
translation = temp[:3,3]
back[:] = np.array(circle.normal)
back[-2] *=-1 #our z axis is inverted
back[-0] *=-1 #our z axis is inverted
back[:] /= np.linalg.norm(back)
right[:] = get_perpendicular_vector(back)/np.linalg.norm(get_perpendicular_vector(back))
up[:] = np.cross(right,back)/np.linalg.norm(np.cross(right,back))
translation[:] = np.array((circle.center[0],circle.center[1],-circle.center[2]))
return temp.T
def get_rotated_sphere_matrix(self,circle,sphere):
"""
OpenGL matrix convention for typical GL software
with positive Y=up and positive Z=rearward direction
RT = right
UP = up
BK = back
POS = position/translation
US = uniform scale
float transform[16];
[0] [4] [8 ] [12]
[1] [5] [9 ] [13]
[2] [6] [10] [14]
[3] [7] [11] [15]
[RT.x] [UP.x] [BK.x] [POS.x]
[RT.y] [UP.y] [BK.y] [POS.y]
[RT.z] [UP.z] [BK.z] [POS.Z]
[ ] [ ] [ ] [US ]
"""
temp = self.get_anthropomorphic_matrix()
right = temp[:3,0]
up = temp[:3,1]
back = temp[:3,2]
translation = temp[:3,3]
back[:] = np.array(circle.normal)
back[-2] *=-1 #our z axis is inverted
back[-0] *=-1 #our z axis is inverted
back[:] /= np.linalg.norm(back)
right[:] = get_perpendicular_vector(back)/np.linalg.norm(get_perpendicular_vector(back))
up[:] = np.cross(right,back)/np.linalg.norm(np.cross(right,back))
translation[:] = np.array((sphere.center[0],sphere.center[1],-sphere.center[2]))
return temp.T
############## DRAWING FUNCTIONS ##############################
def draw_rect(self):
glBegin(GL_QUADS)
glColor4f(0.0, 0.0, 0.5,0.2) #set color to light blue
glVertex2f(0,0)
glVertex2f(0 + 32, 0)
glVertex2f(0 + 32, 0 + 16)
glVertex2f(0, 0 + 16)
glEnd()
def draw_frustum(self, scale=1):
# average focal length
#f = (K[0, 0] + K[1, 1]) / 2
# compute distances for setting up the camera pyramid
W = self.intrinsics[0,2]
H = self.intrinsics[1,2]
Z = self.intrinsics[0,0]
# scale the pyramid
W *= scale
H *= scale
Z *= scale
# draw it
glColor4f( 1, 0.5, 0, 0.5 )
glBegin( GL_LINE_LOOP )
glVertex3f( 0, 0, 0 )
glVertex3f( -W, H, Z )
glVertex3f( W, H, Z )
glVertex3f( 0, 0, 0 )
glVertex3f( W, H, Z )
glVertex3f( W, -H, Z )
glVertex3f( 0, 0, 0 )
glVertex3f( W, -H, Z )
glVertex3f( -W, -H, Z )
glVertex3f( 0, 0, 0 )
glVertex3f( -W, -H, Z )
glVertex3f( -W, H, Z )
glEnd( )
def draw_coordinate_system(self,l=1):
# Draw x-axis line. RED
glLineWidth(2)
glColor3f( 1, 0, 0 )
glBegin( GL_LINES )
glVertex3f( 0, 0, 0 )
glVertex3f( l, 0, 0 )
glEnd( )
# Draw y-axis line. GREEN.
glColor3f( 0, 1, 0 )
glBegin( GL_LINES )
glVertex3f( 0, 0, 0 )
glVertex3f( 0, l, 0 )
glEnd( )
# Draw z-axis line. BLUE
glColor3f( 0, 0,1 )
glBegin( GL_LINES )
glVertex3f( 0, 0, 0 )
glVertex3f( 0, 0, l )
glEnd( )
def draw_sphere(self,circle):
# this function draws the location of the eye sphere
glPushMatrix()
glColor4f(0.0, 1.0, 1.0,0.2) #set color to blue
glLoadMatrixf(self.get_rotated_sphere_matrix(circle,self.sphere))
glutSolidSphere(self.sphere.radius,20,10)
glColor4f(0.0, 0.0, 1.0,0.8) #set color to blue
glutWireSphere(self.sphere.radius,20,10)
glPopMatrix()
def draw_all_ellipses(self):
# draws all ellipses in self.ellipses.
glPushMatrix()
for ellipse in self.ellipses[-10:]:
glColor3f(0.0, 1.0, 0.0) #set color to green
pts = cv2.ellipse2Poly( (int(ellipse.center[0]),int(ellipse.center[1])),
(int(ellipse.major_radius),int(ellipse.minor_radius)),
int(ellipse.angle*180/scipy.pi),0,360,15)
draw_polyline(pts,2,color = RGBA(0,1,1,.5))
glPopMatrix()
def draw_circle(self,circle):
glPushMatrix()
glLoadMatrixf(self.get_pupil_transformation_matrix(circle))
draw_points(((0,0),),color=RGBA(1.1,0.2,.8))
glColor4f(0.0, 0.0, 0.0,0.5) #set color to green
glBegin(GL_POLYGON) #draw circle
for i in xrange(45):
rad = i*16*scipy.pi/360.
glVertex2f(np.cos(rad)*circle.radius,np.sin(rad)*circle.radius)
glEnd()
glPopMatrix()
def draw_video_screen(self):
# Function to draw self.video_frame.
# Need to scale
glPushMatrix()
tex_id = create_named_texture(self.video_frame.shape)
update_named_texture(tex_id,self.video_frame) #since image doesn't change, do not need to put in while loop
draw_named_texture(tex_id)
glPopMatrix()
########## Setup functions I don't really understand ############
def basic_gl_setup(self):
glEnable(GL_POINT_SPRITE )
glEnable(GL_VERTEX_PROGRAM_POINT_SIZE) # overwrite pointsize
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glClearColor(.8,.8,.8,1.)
glEnable(GL_LINE_SMOOTH)
# glEnable(GL_POINT_SMOOTH)
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
glEnable(GL_LINE_SMOOTH)
glEnable(GL_POLYGON_SMOOTH)
glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST)
def adjust_gl_view(self,w,h):
"""
adjust view onto our scene.
"""
glViewport(0, 0, w, h)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glOrtho(0, w, h, 0, -1, 1)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def clear_gl_screen(self):
glClearColor(.9,.9,0.9,1.)
glClear(GL_COLOR_BUFFER_BIT)
########### Open, update, close #####################
def open_window(self):
if not self._window:
self.input = {'button':None, 'mouse':(0,0)}
self.trackball = Trackball()
# get glfw started
if self.run_independently:
glfwInit()
window = glfwGetCurrentContext()
self._window = glfwCreateWindow(640, 480, self.name, None, window)
glfwMakeContextCurrent(self._window)
if not self._window:
exit()
glfwSetWindowPos(self._window,2000,0)
# Register callbacks window
glfwSetFramebufferSizeCallback(self._window,self.on_resize)
glfwSetWindowIconifyCallback(self._window,self.on_iconify)
glfwSetKeyCallback(self._window,self.on_key)
glfwSetCharCallback(self._window,self.on_char)
glfwSetMouseButtonCallback(self._window,self.on_button)
glfwSetCursorPosCallback(self._window,self.on_pos)
glfwSetScrollCallback(self._window,self.on_scroll)
glfwSetWindowCloseCallback(self._window,self.on_close)
# get glfw started
if self.run_independently:
init()
glutInit()
self.basic_gl_setup()
self.glfont = fs.Context()
self.glfont.add_font('opensans',get_opensans_font_path())
self.glfont.set_size(22)
self.glfont.set_color_float((0.2,0.5,0.9,1.0))
# self.gui = ui.UI()
self.on_resize(self._window,*glfwGetFramebufferSize(self._window))
def update_window(self, g_pool = None,model = None):
if self.window_should_close:
self.close_window()
if self._window != None:
glfwMakeContextCurrent(self._window)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glClearDepth(1.0)
glDepthFunc(GL_LESS)
glEnable(GL_DEPTH_TEST)
glAlphaFunc(GL_GREATER, 0)
self.clear_gl_screen()
self.trackball.push()
# print glGetFloatv(GL_MODELVIEW_MATRIX).T
#THINGS I NEED TO DRAW
# 1. in anthromorphic space, draw pupil sphere and circles on it
glLoadMatrixf(self.get_anthropomorphic_matrix())
if model: #if we are feeding in spheres to draw
for pupil in model.observations[-10:]: #draw the last 10
self.draw_circle(pupil.circle)
self.draw_sphere(pupil.circle) #draw the eyeball
self.draw_coordinate_system(4)
glTranslatef(*self.sphere.center)
glScalef(0.1,0.1,0.1)
self.glfont.draw_multi_line_text(0,0,'Eyeball location: \n %s'%self.sphere.center)
# 1a. draw frustum in pixel scale, but retaining origin
glLoadMatrixf(self.get_adjusted_pixel_space_matrix(30))
self.draw_frustum()
# 2. in pixel space, draw ellipses, and video frame
glLoadMatrixf(self.get_image_space_matrix(30))
if g_pool: #if display eye camera frames
draw_named_texture(g_pool.image_tex,quad=((0,480),(640,480),(640,0),(0,0)),alpha=0.5)
self.draw_all_ellipses()
# 3. display text on screen
# glWindowPos2i(100, 100)
# glutPrint("SAMPLE TEXT")
# glFontBegin(font);
# glScalef(8.0, 8.0, 8.0);
# glTranslatef(30, 30, 0);
# glFontTextOut("Test", 5, 5, 0);
# glFontEnd();
# glFlush();
self.trackball.pop()
glfwSwapBuffers(self._window)
glfwPollEvents()
return True
def close_window(self):
if self.window_should_close == True:
glfwDestroyWindow(self._window)
if self.run_independently:
glfwTerminate()
self._window = None
self.window_should_close = False
logger.debug("Process done")
############ window callbacks #################
def on_resize(self,window,w, h):
h = max(h,1)
w = max(w,1)
self.trackball.set_window_size(w,h)
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(window)
self.adjust_gl_view(w,h)
glfwMakeContextCurrent(active_window)
def on_iconify(self,window,x,y): pass
def on_key(self,window, key, scancode, action, mods): pass
#self.gui.update_key(key,scancode,action,mods)
def on_char(window,char): pass
# self.gui.update_char(char)
def on_button(self,window,button, action, mods):
# self.gui.update_button(button,action,mods)
if action == GLFW_PRESS:
self.input['button'] = button
self.input['mouse'] = glfwGetCursorPos(window)
if action == GLFW_RELEASE:
self.input['button'] = None
# pos = normalize(pos,glfwGetWindowSize(window))
# pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # Position in img pixels
def on_pos(self,window,x, y):
hdpi_factor = float(glfwGetFramebufferSize(window)[0]/glfwGetWindowSize(window)[0])
x,y = x*hdpi_factor,y*hdpi_factor
# self.gui.update_mouse(x,y)
if self.input['button']==GLFW_MOUSE_BUTTON_RIGHT:
old_x,old_y = self.input['mouse']
self.trackball.drag_to(x-old_x,y-old_y)
self.input['mouse'] = x,y
if self.input['button']==GLFW_MOUSE_BUTTON_LEFT:
old_x,old_y = self.input['mouse']
self.trackball.pan_to(x-old_x,y-old_y)
self.input['mouse'] = x,y
def on_scroll(self,window,x,y):
# self.gui.update_scroll(x,y)
self.trackball.zoom_to(y)
def on_close(self,window=None):
self.window_should_close = True
def demo(video_frame = None):
user_input = {'down':False, 'mouse':(0,0)}
# Callback functions
def on_resize(window,w, h):
h = max(h,1)
w = max(w,1)
gui.update_window(w,h)
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(window)
# norm_size = normalize((w,h),glfwGetWindowSize(window))
# fb_size = denormalize(norm_size,glfwGetFramebufferSize(window))
adjust_gl_view(w,h)
glfwMakeContextCurrent(active_window)
track.set_window_size(w,h)
def on_iconify(window,iconfied):
pass
def on_key(window, key, scancode, action, mods):
gui.update_key(key,scancode,action,mods)
def on_char(window,char):
gui.update_char(char)
def on_button(window,button, action, mods):
gui.update_button(button,action,mods)
if action == GLFW_PRESS:
user_input['down'] = True
user_input['mouse'] = glfwGetCursorPos(window)
if action == GLFW_RELEASE:
user_input['down'] = False
# pos = normalize(pos,glfwGetWindowSize(window))
# pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # Position in img pixels
def on_pos(window,x, y):
hdpi_factor = float(glfwGetFramebufferSize(window)[0]/glfwGetWindowSize(window)[0])
x,y = x*hdpi_factor,y*hdpi_factor
gui.update_mouse(x,y)
if user_input['down']:
old_x,old_y = user_input['mouse']
track.drag_to(x-old_x,y-old_y)
user_input['mouse'] = x,y
def on_scroll(window,x,y):
gui.update_scroll(x,y)
track.zoom_to(y)
# get glfw started
glfwInit()
window = glfwCreateWindow(width, height, "pyglui demo", None, None)
glfwMakeContextCurrent(window)
if not window:
exit()
glfwSetWindowPos(window,0,0)
# Register callbacks window
glfwSetFramebufferSizeCallback(window,on_resize)
glfwSetWindowIconifyCallback(window,on_iconify)
glfwSetKeyCallback(window,on_key)
glfwSetCharCallback(window,on_char)
glfwSetMouseButtonCallback(window,on_button)
glfwSetCursorPosCallback(window,on_pos)
glfwSetScrollCallback(window,on_scroll)
init()
glutInit()
basic_gl_setup()
gui = ui.UI()
track = Trackball()
on_resize(window,*glfwGetFramebufferSize(window))
if video_frame == None:
video_frame = (np.linspace(0,1,num=(400*400*4))*255).astype(np.uint8).reshape((400,400,4)) #the randomized image
test_sphere = geometry.Sphere([0,5,0],1)
test_ellipse = geometry.Ellipse((0,3),5,3,0)
#return window
#def demo_update(window):
while not glfwWindowShouldClose(window):
clear_gl_screen()
track.push()
#glutils.draw_polyline3d([(0,0,2),(1,1,2)],color=RGBA(0.4,0.5,0.3,0.5))
draw_sphere(test_sphere)
draw_ellipse(test_ellipse)
draw_video_screen(video_frame)
draw_coordinate_system(20)
track.pop()
glfwSwapBuffers(window)
glfwPollEvents()
#def demo_close(window):
glfwDestroyWindow(window)
glfwTerminate()
logger.debug("Process done")
glTexImage2D(GL_TEXTURE_2D, 4, GL_RGB, 32, 32, 0, GL_RGB, GL_UNSIGNED_BYTE,
textureData32)
glTexImage2D(GL_TEXTURE_2D, 5, GL_RGB, 16, 16, 0, GL_RGB, GL_UNSIGNED_BYTE,
textureData16)
glTexImage2D(GL_TEXTURE_2D, 6, GL_RGB, 8, 8, 0, GL_RGB, GL_UNSIGNED_BYTE,
textureData8)
glTexImage2D(GL_TEXTURE_2D, 7, GL_RGB, 4, 4, 0, GL_RGB, GL_UNSIGNED_BYTE,
textureData4)
glTexImage2D(GL_TEXTURE_2D, 8, GL_RGB, 2, 2, 0, GL_RGB, GL_UNSIGNED_BYTE,
textureData2)
glTexImage2D(GL_TEXTURE_2D, 9, GL_RGB, 1, 1, 0, GL_RGB, GL_UNSIGNED_BYTE,
textureData1)
glEnable(GL_TEXTURE_2D)
GLUT_WHEEL = 1
prevPos = [0, 0]
translate = [0, 0]
is_right_button_down = False
is_wheel_down = False
trackball = Trackball(45, 135, 5, 4)
glutMouseFunc(on_mouse)
glutMouseWheelFunc(on_wheel)
glutReshapeFunc(on_reshape)
glutDisplayFunc(on_draw)
glutMotionFunc(on_motion)
glutKeyboardFunc(on_keyboard)
glutSpecialFunc(on_special)
glutMainLoop()
def cam1Event(self):
self.glwidget.tb = Trackball(phi=-0.0,
theta=0.0,
zoom=1.0,
rot=[-0.02, -0.71, -0.02, 0.71],
trans=[0.06, 0.26, -1.23])
# Read the various information coming from the trackball
#
# See GitHub: https://github.com/mchobby/esp8266-upy/tree/master/trackball
from machine import I2C
from trackball import Trackball
import time
i2c = I2C(2) # Y9=scl, Y10=sda or Pyboard-Uno-R3 (I2C over pin 13)
# initialize the trackball
trackball = Trackball(i2c)
trackball.set_rgbw(255, 0, 0, 0)
while True:
up, down, left, right, switch, state = trackball.read()
print("r: {:02d} u: {:02d} d: {:02d} l: {:02d} switch: {:03d} state: {}".
format(right, up, down, left, switch, state))
time.sleep(0.200)
class Visualizer():
def __init__(self,name = "unnamed"):
self.name = name
self.sphere = geometry.Sphere()
self.ellipses = [] #collection of ellipses to display
self.projected_lines = [] #collection of projected lines to display
self.frame = None #video frame from eye
self._window = None
self.input = None
self.trackball = None
self.window_should_close = False
self.video_frame = (np.linspace(0,1,num=(400*400*4))*255).astype(np.uint8).reshape((400,400,4)) #the randomized image
self.test_sphere = geometry.Sphere([0,5,0],1)
self.test_ellipse = geometry.Ellipse((0,3),5,3,0)
############## DRAWING FUNCTIONS ##############################
def draw_coordinate_system(self,l=1):
# Draw x-axis line. RED
glColor3f( 1, 0, 0 )
glBegin( GL_LINES )
glVertex3f( 0, 0, 0 )
glVertex3f( l, 0, 0 )
glEnd( )
# Draw y-axis line. GREEN. #not working... why?
glColor3f( 0, 1, 0 )
glBegin( GL_LINES )
glVertex3f( 0, 0, 0 )
glVertex3f( 0, l, 0 )
glEnd( )
# Draw z-axis line. BLUE
glColor3f( 0, 0,1 )
glBegin( GL_LINES )
glVertex3f( 0, 0, 0 )
glVertex3f( 0, 0, l )
glEnd( )
def draw_sphere(self,sphere):
# this function draws the location of the eye sphere
glPushMatrix()
glColor3f(0.0, 0.0, 1.0)
glTranslate(sphere.center[0], sphere.center[1], sphere.center[2])
glutWireSphere(sphere.radius,20,20)
glPopMatrix()
def draw_ellipse(self,ellipse):
glPushMatrix()
glTranslate(ellipse.center[0], ellipse.center[1], 0)
glBegin(GL_LINE_LOOP)
for i in xrange(360):
rad = i*2*scipy.pi/360.
glVertex2f(np.cos(rad)*ellipse.major_radius,np.sin(rad)*ellipse.minor_radius)
glEnd()
glPopMatrix()
def draw_projected_line(self,line):
#draw a line from projected sphere center to the ellipse on frame.
""" TO BE IMPLEMENTED """
pass
def draw_video_screen(self,frame):
glPushMatrix()
tex_id = create_named_texture(frame.shape)
update_named_texture(tex_id,frame) #since image doesn't change, do not need to put in while loop
draw_named_texture(tex_id)
glPopMatrix()
########## Setup functions I don't really understand ############
def basic_gl_setup(self):
glEnable(GL_POINT_SPRITE )
glEnable(GL_VERTEX_PROGRAM_POINT_SIZE) # overwrite pointsize
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_BLEND)
glClearColor(.8,.8,.8,1.)
glEnable(GL_LINE_SMOOTH)
# glEnable(GL_POINT_SMOOTH)
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
glEnable(GL_LINE_SMOOTH)
glEnable(GL_POLYGON_SMOOTH)
glHint(GL_POLYGON_SMOOTH_HINT, GL_NICEST)
def adjust_gl_view(self,w,h):
"""
adjust view onto our scene.
"""
glViewport(0, 0, w, h)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
glOrtho(0, w, h, 0, -1, 1)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
def clear_gl_screen(self):
glClearColor(.9,.9,0.9,1.)
glClear(GL_COLOR_BUFFER_BIT)
########### Open, update, close #####################
def open_window(self):
if not self._window:
self.input = {'down':False, 'mouse':(0,0)}
self.trackball = Trackball()
# get glfw started
glfwInit()
self._window = glfwCreateWindow(width, height, self.name, None, None)
glfwMakeContextCurrent(self._window)
if not self._window:
exit()
glfwSetWindowPos(self._window,2000,0)
# Register callbacks window
glfwSetFramebufferSizeCallback(self._window,self.on_resize)
glfwSetWindowIconifyCallback(self._window,self.on_iconify)
glfwSetKeyCallback(self._window,self.on_key)
glfwSetCharCallback(self._window,self.on_char)
glfwSetMouseButtonCallback(self._window,self.on_button)
glfwSetCursorPosCallback(self._window,self.on_pos)
glfwSetScrollCallback(self._window,self.on_scroll)
glfwSetWindowCloseCallback(self._window,self.on_close)
init()
glutInit()
self.basic_gl_setup()
self.gui = ui.UI()
self.on_resize(self._window,*glfwGetFramebufferSize(self._window))
def update_window(self):
if self.window_should_close:
self.close_window()
if self._window != None:
self.clear_gl_screen()
self.trackball.push()
#glutils.draw_polyline3d([(0,0,2),(1,1,2)],color=RGBA(0.4,0.5,0.3,0.5))
self.draw_sphere(self.test_sphere)
self.draw_ellipse(self.test_ellipse)
self.draw_video_screen(self.video_frame)
self.draw_coordinate_system(20)
self.trackball.pop()
glfwSwapBuffers(self._window)
glfwPollEvents()
return True
def close_window(self):
if self.window_should_close == True:
glfwDestroyWindow(self._window)
glfwTerminate()
self._window = None
self.window_should_close = False
logger.debug("Process done")
############ window callbacks #################
def on_resize(self,window,w, h):
h = max(h,1)
w = max(w,1)
self.trackball.set_window_size(w,h)
active_window = glfwGetCurrentContext()
glfwMakeContextCurrent(window)
self.adjust_gl_view(w,h)
glfwMakeContextCurrent(active_window)
def on_iconify(self,window,x,y): pass
def on_key(self,window, key, scancode, action, mods):
self.gui.update_key(key,scancode,action,mods)
def on_char(window,char):
self.gui.update_char(char)
def on_button(self,window,button, action, mods):
self.gui.update_button(button,action,mods)
if action == GLFW_PRESS:
self.input['down'] = True
self.input['mouse'] = glfwGetCursorPos(window)
if action == GLFW_RELEASE:
self.input['down'] = False
# pos = normalize(pos,glfwGetWindowSize(window))
# pos = denormalize(pos,(frame.img.shape[1],frame.img.shape[0]) ) # Position in img pixels
def on_pos(self,window,x, y):
hdpi_factor = float(glfwGetFramebufferSize(window)[0]/glfwGetWindowSize(window)[0])
x,y = x*hdpi_factor,y*hdpi_factor
self.gui.update_mouse(x,y)
if self.input['down']:
old_x,old_y = self.input['mouse']
self.trackball.drag_to(x-old_x,y-old_y)
self.input['mouse'] = x,y
def on_scroll(self,window,x,y):
self.gui.update_scroll(x,y)
self.trackball.zoom_to(y)
def on_close(self,window=None):
self.window_should_close = True
# Change the color of the trackball LED depending on the trackball movement
# - Move up/down, right/left to modify color and saturation
# - Press the button to light on/off
#
# See GitHub: https://github.com/mchobby/esp8266-upy/tree/master/trackball
from machine import I2C
from trackball import Trackball
import time
i2c = I2C(2) # Y9=scl, Y10=sda or Pyboard-Uno-R3 (I2C over pin 13)
trackball = Trackball(i2c)
x = 0
y = 50.0
toggled = False
def hsv_to_rgb(h, s, v):
if s == 0.0:
return v, v, v
i = int(h * 6.0) # XXX assume int() truncates!
f = (h * 6.0) - i
p = v * (1.0 - s)
q = v * (1.0 - s * f)
t = v * (1.0 - s * (1.0 - f))
i = i % 6
if i == 0:
return v, t, p
if i == 1:
class ViewController(object):
'''
Creates a view matrix based on mouse and keyboard input.
'''
def __init__(self):
'''
Constructor
'''
self._initialViewM = np.eye(4,dtype=np.float32)
self._viewM = np.copy(self._initialViewM)
self.trackball = Trackball()
self.keyDict = {
ord('r') : self.reset,
key.UP: self.up,
key.DOWN: self.down,
key.LEFT: self.left,
key.RIGHT: self.right,
ord('w'): self.forward,
ord('s'): self.backward,
ord('a'): self.left,
ord('d'): self.right,
ord('q'): self.rollLeft,
ord('e'): self.rollRight,
ord('z'): self.pitchUp,
ord('x'): self.pitchDown,
ord('i'): self.info,
ord('1'): self.toggleMesh,
ord('2'): self.toggleFaces,
ord('3'): self.toggleNormals,
}
self.translateMult = -1.0
self.dragMult = -0.01
self.zoomMult = 0.01
self._zoom = 1.0
self.showMesh = True
self.showFaces = False
self.showNormals = False
def info(self):
print "OpenGL Version: ",GL.glGetString(GL.GL_VERSION)
print "OpenGL Vendor: ",GL.glGetString(GL.GL_VENDOR)
print "OpenGL Renderer: ",GL.glGetString(GL.GL_RENDERER)
print "OpenGL GLSL Version: ",GL.glGetString(GL.GL_SHADING_LANGUAGE_VERSION)
print "OpenGL Extensions: \n",GL.glGetString(GL.GL_EXTENSIONS).split()
print "FBO Max color attachments: ",GL.glGetIntegerv(GL.GL_MAX_COLOR_ATTACHMENTS)
# print "FBO Max Width: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_WIDTH)
# print "FBO Max Height: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_HEIGHT)
# print "FBO Max Samples: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_SAMPLES)
# print "FBO Max Layers: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_LAYERS)
def unmapped(self):
# self.width = 640
# self.height =480
#
# # Read image from the OpenGL buffer
# buffer = ( GL.GLfloat * (self.width*self.height) )(0)
# GL.glReadPixels(0, 0, self.width, self.height, GL.GL_DEPTH_COMPONENT, GL.GL_FLOAT, buffer)
# depth = np.flipud(np.array(buffer, np.float32).reshape(self.height,self.width))
#
# # Read depth from the OpenGL buffer
# buffer = ( GL.GLubyte * (3*self.width*self.height) )(0)
# GL.glReadPixels(0, 0, self.width, self.height, GL.GL_BGR, GL.GL_UNSIGNED_BYTE, buffer)
# bgr = np.flipud(np.array(buffer, np.uint8).reshape(self.height,self.width,3))
#
#
# image.show("Depth", depth)
# image.show("BGR", bgr,30)
# print "Unmapped key pressed."
pass
def toggleMesh(self):
self.showMesh = not self.showMesh
self.parentWindow.redraw()
def toggleFaces(self):
self.showFaces = not self.showFaces
self.parentWindow.redraw()
def toggleNormals(self):
self.showNormals = not self.showNormals
self.parentWindow.redraw()
def on_key_press(self,symbol, modifiers):
self.keyDict.get(symbol, self.unmapped)();
self.parentWindow.redraw()
def on_mouse_scroll(self,dx, dy,s0,s1):
self._zoom += self.zoomMult * s1
if self._zoom<self.zoomMult:# do not allow negative zoom
self._zoom = self.zoomMult
# print "Zoom ",self._zoom
self.parentWindow.redraw()
def on_mouse_drag(self, x, y, dx, dy, buttons):
# print "Mouse Drag ",x,y," => ",dx,dy," Buttons: ",mouse.buttons_string(buttons)
if buttons&mouse.MIDDLE:
self.translate(-dx*self.dragMult, dy*self.dragMult, 0)
elif buttons&mouse.RIGHT:
self.translate(0, 0, dy*self.dragMult)
else:
self.trackball.dragTo(x, y, -dx, dy)
self.parentWindow.redraw()
pass
def on_mouse_release(self,x,y,buttons):
# print "Mouse Release ",x,y," => Buttons: ",buttons
pass
def rollLeft(self):
self.rotate(0,-1)
def rollRight(self):
self.rotate(0,+1)
def pitchUp(self):
self.rotate(-1,0)
def pitchDown(self):
self.rotate(1,0)
def rotate(self,dTheta, dPhi):
theta,phi = self.trackball.getOrientation()
phi += dPhi
theta +=dTheta
self.trackball.setOrientation(theta,phi)
def registerEvents(self,window):
window.event(self.on_key_press)
window.event(self.on_mouse_drag)
window.event(self.on_mouse_scroll)
window.event(self.on_mouse_release)
self.parentWindow=window
def reset(self):
print "Reset View."
self._viewM = self._initialViewM.copy()
self._zoom = 1.0
self.trackball.setOrientation(0, 0)
def up(self):
# print "Up."
dy = -1.0 * self.translateMult
self.translate(0, dy, 0)
def down(self):
# print "Down."
dy = 1.0 * self.translateMult
self.translate(0, dy, 0)
def left(self):
# print "Left."
dx = -1.0 * self.translateMult
self.translate(dx, 0, 0)
def right(self):
# print "Right."
dx = 1.0 * self.translateMult
self.translate(dx, 0, 0)
def forward(self):
# print "Forward."
dz = 1.0 * self.translateMult
self.translate(0, 0, dz)
def backward(self):
# print "Backward."
dz = -1.0 * self.translateMult
self.translate(0, 0, dz)
def translate(self,dx,dy,dz):
tr = np.eye(4,dtype=np.float32)
tr[0:3,3] = np.array([dx,dy,dz],dtype=np.float32)
self._viewM = tr.dot(self._viewM)
def getViewM(self):
'''
Return the view matrix in PyOpenGL usable format (flat list of floats, column major)
'''
scaleM = np.diag([self._zoom,self._zoom,self._zoom,1.0])
viewM = self._viewM.dot(self.trackball.getRotMat().dot(scaleM))
return viewM.transpose().reshape(-1).tolist()
def setCameraPosition(self,trXYZ,rotQuat=[1,0,0,0],scale=1):
'''
set the camera orientation. This will not set the reset location.
:param trXYZ:
:param rotQuat: in the form of: x,y,z,w
:param scale:
:return:
'''
tr = np.eye(4,dtype=np.float32)
tr[0:3,3] = np.array(trXYZ,dtype=np.float32)
self._viewM = tr
self._zoom = scale
self.trackball.setRotation(rotQuat)
def getCameraPosition(self):
quat = self.trackball.getRotation()
tr = self._viewM[0:3,3]
return tr,quat,self._zoom
# Make a rainbow color cycle on the trackball
#
# See GitHub: https://github.com/mchobby/esp8266-upy/tree/master/trackball
from machine import I2C
from trackball import Trackball
import time
i2c = I2C(2) # Y9=scl, Y10=sda or Pyboard-Uno-R3 (I2C over pin 13)
trackball = Trackball(i2c)
def hsv_to_rgb(h, s, v):
if s == 0.0:
return v, v, v
i = int(h * 6.0) # XXX assume int() truncates!
f = (h * 6.0) - i
p = v * (1.0 - s)
q = v * (1.0 - s * f)
t = v * (1.0 - s * (1.0 - f))
i = i % 6
if i == 0:
return v, t, p
if i == 1:
return q, v, p
if i == 2:
return p, v, t
if i == 3:
return p, q, v
if i == 4:
return t, p, v