def main():
global calib, cyl
src_dir = os.path.split(os.path.abspath(__file__))[0]
data_dir = os.path.join(src_dir,'..','data')
pmat = np.loadtxt( os.path.join(data_dir, 'cameramatrix.txt') )
calib = decompose(pmat)
width = 752
height = 480
glut.glutInit()
glut.glutInitWindowSize(width,height)
glut.glutInitDisplayMode(glut.GLUT_RGBA | glut.GLUT_DEPTH | glut.GLUT_ACCUM | glut.GLUT_DOUBLE)
glut.glutCreateWindow("calib_test_pyopengl");
cyl = PointCylinder()
if 1:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt( *r['all_args'] )
gl.glDisable(gl.GL_DEPTH_TEST)
glut.glutDisplayFunc(on_draw)
on_resize(width,height)
glut.glutMainLoop()
def main():
global calib, cyl
src_dir = os.path.split(os.path.abspath(__file__))[0]
data_dir = os.path.join(src_dir, '..', 'data')
pmat = np.loadtxt(os.path.join(data_dir, 'cameramatrix.txt'))
calib = decompose(pmat)
width = 752
height = 480
glut.glutInit()
glut.glutInitWindowSize(width, height)
glut.glutInitDisplayMode(glut.GLUT_RGBA | glut.GLUT_DEPTH | glut.GLUT_ACCUM
| glut.GLUT_DOUBLE)
glut.glutCreateWindow("calib_test_pyopengl")
cyl = PointCylinder()
if 1:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
glu.gluLookAt(*r['all_args'])
gl.glDisable(gl.GL_DEPTH_TEST)
glut.glutDisplayFunc(on_draw)
on_resize(width, height)
glut.glutMainLoop()
def __init__(self,image_fname=None,pmat=None,window_coords=None,**kwargs):
if window_coords is None:
# set default value
window_coords = 'y down'
super(MyAppWindow, self).__init__(**kwargs)
self.calib = decompose(pmat)
self.window_coords = window_coords
self.img = pyglet.image.load(image_fname).get_texture(rectangle=True)
if self.window_coords=='y up':
self.img = self.img.get_transform(flip_y=True)
self.img.anchor_x = self.img.anchor_y = 0
self.width = self.img.width
self.height = self.img.height
checks = pyglet.image.create(32, 32, pyglet.image.CheckerImagePattern())
self.background = pyglet.image.TileableTexture.create_for_image(checks)
# Enable alpha blending, required for image.blit.
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.cyl = PointCylinder()
# set modelview matrix to camera extrinsic parameters
if 0:
# do it directly
e = np.vstack((self.calib['extrinsic'],[[0,0,0,1]])) # These HZ eye coords have +Z in front of camera.
coord_xform = np.eye(4)
coord_xform[1,1]=-1 # flip Y coordinate in eye space (OpenGL has +Y as up, HZ has -Y)
coord_xform[2,2]=-1 # flip Z coordinate in eye space (OpenGL has -Z in front of camera, HZ has +Z)
e2 = np.dot( coord_xform, e)
extrinsic = map(float,e2.T.flat)
extrinsic = (gl.GLfloat * 16)(*extrinsic)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadMatrixf(extrinsic)
else:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt( *r['all_args'] )
gl.glDisable(gl.GL_DEPTH_TEST)
def __init__(self,image_fname=None,pmat=None,window_coords=None,**kwargs):
if window_coords is None:
# set default value
window_coords = 'y down'
super(MyAppWindow, self).__init__(**kwargs)
self.calib = decompose(pmat)
self.window_coords = window_coords
self.img = pyglet.image.load(image_fname).get_texture(rectangle=True)
if self.window_coords=='y up':
self.img = self.img.get_transform(flip_y=True)
self.img.anchor_x = self.img.anchor_y = 0
self.width = self.img.width
self.height = self.img.height
checks = pyglet.image.create(32, 32, pyglet.image.CheckerImagePattern())
self.background = pyglet.image.TileableTexture.create_for_image(checks)
# Enable alpha blending, required for image.blit.
gl.glEnable(gl.GL_BLEND)
gl.glBlendFunc(gl.GL_SRC_ALPHA, gl.GL_ONE_MINUS_SRC_ALPHA)
self.cyl = PointCylinder()
# set modelview matrix to camera extrinsic parameters
if 0:
# do it directly
e = np.vstack((self.calib['extrinsic'],[[0,0,0,1]])) # These HZ eye coords have +Z in front of camera.
coord_xform = np.eye(4)
coord_xform[1,1]=-1 # flip Y coordinate in eye space (OpenGL has +Y as up, HZ has -Y)
coord_xform[2,2]=-1 # flip Z coordinate in eye space (OpenGL has -Z in front of camera, HZ has +Z)
e2 = np.dot( coord_xform, e)
extrinsic = map(float,e2.T.flat)
extrinsic = (gl.GLfloat * 16)(*extrinsic)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadMatrixf(extrinsic)
else:
# compose view matrix
r = get_gluLookAt(pmat)
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glLoadIdentity()
gl.gluLookAt( *r['all_args'] )
gl.glDisable(gl.GL_DEPTH_TEST)
def main():
np.set_printoptions(precision=5, linewidth=200)
window_coords = 'y down'
src_dir = os.path.split(os.path.abspath(__file__))[0]
data_dir = os.path.join(src_dir,'..','data')
pmat = np.loadtxt( os.path.join(data_dir, 'cameramatrix.txt') )
luminance = scipy.misc.imread( os.path.join(data_dir, 'luminance.png' ) )
img_height, img_width = luminance.shape
cyl_points_3d_h = generate_cyl_points(homog=True,n_segs=50)
debug('cyl_points_3d_h')
debug(cyl_points_3d_h)
if 1:
calib = decompose(pmat)
cyl_points_3d_eye = np.dot( calib['extrinsic'], cyl_points_3d_h )
debug('cyl_points_3d_eye')
debug(cyl_points_3d_eye)
if 1:
e = np.vstack((calib['extrinsic'],[[0,0,0,1]])) # These HZ eye coords have +Z in front of camera.
coord_xform = np.eye(4)
coord_xform[1,1]=-1 # flip Y coordinate (HZ camera has +y going down, GL has +y going up)
coord_xform[2,2]=-1 # flip Z coordinate (HZ camera looks at +z, GL looks at -z)
#debug('e')
#debug(e)
e2 = np.dot( coord_xform, e)
#debug('e2')
#debug(e2)
cyl_points_3d_eye_hz_h = np.dot( e, cyl_points_3d_h )
cyl_points_3d_eye_opengl_h = np.dot( e2, cyl_points_3d_h )
debug('cyl_points_3d_eye_hz_h')
debug(cyl_points_3d_eye_hz_h)
debug('cyl_points_3d_eye_opengl_h')
debug(cyl_points_3d_eye_opengl_h)
if 1:
cyl_points_2d_h = np.dot(calib['intrinsic'], cyl_points_3d_eye)
cyl_points_2d = cyl_points_2d_h[:2]/cyl_points_2d_h[2]
else:
cyl_points_2d_h = np.dot(pmat, cyl_points_3d_h)
cyl_points_2d = cyl_points_2d_h[:2]/cyl_points_2d_h[2]
debug('cyl_points_2d')
debug(cyl_points_2d)
if 1:
if 1:
x0 = 0
y0 = 0
gl_viewport_args = x0, y0, img_width, img_height
proj = convert_hz_intrinsic_to_opengl_projection(calib['intrinsic'],
x0,y0,img_width,img_height, 0.1, 1000.0,
window_coords=window_coords)
clip = np.dot(proj,cyl_points_3d_eye_opengl_h)
debug('clip')
debug(clip)
ndc = clip[:3,:]/clip[3,:]
debug('ndc')
debug(ndc)
window_x = gl_viewport_args[2]/2.0 * (ndc[0,:] + 1)+int(gl_viewport_args[0])
window_y = gl_viewport_args[3]/2.0 * (ndc[1,:] + 1)+int(gl_viewport_args[1])
window_gl = np.vstack((window_x,window_y))
debug('window_gl')
debug(window_gl)
if 1:
if window_coords=='y down':
luminance = luminance[::-1]
yc = img_height-cyl_points_2d[1,:]
else:
assert window_coords=='y up'
yc = cyl_points_2d[1,:]
plt.imshow(luminance, interpolation='nearest', origin='lower', cmap=matplotlib.cm.gray)
plt.plot( cyl_points_2d[0,:], yc, 'b+', ms=15.0 )
plt.plot( window_x, window_y, 'r.' )
plt.show()