def init_gl():
global obj
global cam
global sun
global mercury, venus, earth, mars, jupiter, saturn, uranus, neptune
global planets
global asteroid
global t
global quad
global ship
glClearColor(0.0, 0.0, 0.0, 1.0)
glClearDepth(1.0)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT0, GL_AMBIENT, light_amb_0)
glLightfv(GL_LIGHT0, GL_POSITION, light_pos_0)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT1, GL_POSITION, light_pos_1)
glLightfv(GL_LIGHT1, GL_SPOT_DIRECTION, light_dir_1)
glLightfv(GL_LIGHT1, GL_AMBIENT, light_amb_1)
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_dif_1)
glEnable(GL_LIGHT1)
obj = OBJ("cube.obj", textureFile="stars.jpg")
obj.generate()
cam = Camera()
sun = Sun(textureFile="sun.jpg")
mercury = Planet("mercury.jpg", 8, 5, 0.5, 0.1, 0.25)
venus = Planet("venus.jpg", 9.6, 6, 0.4, 0.1, 0.35)
earth = Planet("earth.jpg", 11.2, 7, 0.3, 0.1, 0.45, "moon.jpg",
[0.7, 0.8, 0.09])
mars = Planet("mars.jpg", 12.8, 8, 0.2, 0.1, 0.33)
jupiter = Planet("jupiter.jpg", 19.2, 12, 0.2, 1, 1.5, "jupiter-moon.jpg",
[3, 1, 0.3])
saturn = Planet("saturn.jpg", 25.6, 16, 0.15, 0.2, 1.1)
uranus = Planet("uranus.jpg", 30.4, 19, 0.11, 0.2, 0.8)
neptune = Planet("neptune.jpg", 32.8, 20.5, 0.09, 0.2, 0.7)
planets = [mercury, venus, earth, mars, jupiter, saturn, uranus, neptune]
quad = gluNewQuadric()
gluQuadricTexture(quad, GL_TRUE)
asteroid = Asteroid(Fire())
t = Texture("rings.jpg")
ship = pywavefront.Wavefront('Apollo/apollo.obj')
def build(src_file):
savedpath = os.getcwd()
try:
os.chdir('data')
return OBJ('%s.obj' % meshname)
finally:
os.chdir(savedpath)
def readOBJ(file_name):
obj = OBJ(file_name)
# print(obj.mtl)
for name, mtl in obj.mtl.items():
if 'texture_Kd' in mtl:
return mtl['texture_Kd']
return ''
def InitGL(self):
self.safe_angle = list(self.angle) #the last angle ran
self.detect_col = True #collision
self.port_locked = False #serial port lock
self.project = self.frame.project #main project
#light 0
glLightfv(GL_LIGHT0, GL_POSITION, (-100, 500, 0, 1.0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2, 1.0))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (.1, .1, .1, .1))
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
glEnable(GL_LIGHT0)
#Light 1
glLightfv(GL_LIGHT1, GL_AMBIENT, [0.0, 0.0, 0.0, 1.0]) # R G B A
glLightfv(GL_LIGHT1, GL_DIFFUSE, [.85, .85, .85, 1]) # R G B A
glLightfv(GL_LIGHT1, GL_POSITION, [300, 550, 300, 0.0]) # x y z w y = height, z = distance
glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
glEnable(GL_LIGHT1)
glEnable(GL_LIGHTING)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
glEnable(GL_BLEND)#allow blending
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
#load object files after init
#@todo these values should come from project?
self.base = OBJ("base_bm.obj")
self.shoulder = OBJ("shoulder_b.obj")
self.bicep = OBJ("bicep_b.obj")
self.bicep001 = OBJ("bicep001_b.obj")
self.wrist = OBJ("wrist_wrail.obj")
self.gripper = OBJ("gripper_b.obj")
self.gripper001 = OBJ("gripper001_b.obj")
self.room_T_B_B = OBJ('room_T_B.obj', swapyz=False, my_texture = True, use_mat = False)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
if self.size:
width, height = self.size
else:
print"no size"
width, height = 800, 600
gluPerspective(45, width/float(height), 1, 2000.0)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
glEnable(GL_COLOR_MATERIAL)
class Asteroid:
def __init__(self, fire):
self.asteroid = OBJ("asteroid.obj", textureFile="asteroid.jpg")
self.ellipse = Ellipse(18, 4, 0.17)
self.fire = fire
self.angle = 0
def draw(self):
coords = self.ellipse.getCoords()
glPushMatrix()
glTranslatef(13.0, 0.0, 8.0)
glRotatef(35, 0.0, 1.0, 0.0)
self.ellipse.render()
glTranslatef(coords[0], 0, coords[1] - 0.35)
glPushMatrix()
glScalef(0.0006, 0.0006, 0.0006)
self.asteroid.render()
glPopMatrix()
glRotatef(90, 0, 0, 1)
glRotatef(90 * math.sin(math.radians(self.angle)), 1.0, 0.0, 0.0)
self.fire.drawSystem()
glPopMatrix()
self.angle += 0.17
def InitGL(self):
glLightfv(GL_LIGHT0, GL_DIFFUSE, (1, 1, 1))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2))
glLightfv(GL_LIGHT0, GL_SPECULAR, (1.0, 1.0, 1.0))
glLightfv(GL_LIGHT0, GL_POSITION, (3, 3, 0.0))
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
self.obj = OBJ("small_sphere.obj", swapyz=True)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(90, 800.0 / 600.0, 1, 100.0)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
def main():
homography = None
# для камеры 1
camera_parameters = np.array([[693.90888662, 0, 333.27294343], [0, 688.54241995, 237.91849834], [0, 0, 1]])
# для камеры 0
#camera_parameters = np.array([[862.44357443, 0, 261.31601578], [0, 859.96288926, 176.84476175], [0, 0, 1]])
orb = cv2.ORB_create()
bf = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
model = cv2.imread("C:/Users/tonym/Desktop/ProjectX/reference/model7.jpg", 0)
kp_model = orb.detect(model)
kp_model, des_model = orb.compute(model, kp_model)
obj = OBJ("C:/Users/tonym/Desktop/ProjectX/models/rat.obj", swapyz=True)
cap = cv2.VideoCapture(1)
while cap.isOpened():
if cv2.waitKey(1) == ord('q'):
break
ret, scene = cap.read()
if not ret:
print("Unable to capture video")
return
kp_scene = orb.detect(scene)
kp_scene, des_scene = orb.compute(scene, kp_scene)
matches = bf.match(des_model, des_scene)
matches = sorted(matches, key=lambda x: x.distance)
if len(matches) > MIN_MATCHES:
src_pts = np.float32([kp_model[m.queryIdx].pt for m in matches]).reshape(-1, 1, 2)
dst_pts = np.float32([kp_scene[m.trainIdx].pt for m in matches]).reshape(-1, 1, 2)
homography, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 5.0)
if homography is not None:
try:
projection = projection_matrix(camera_parameters, homography)
scene = render(scene, obj, projection, model)
except:
pass
cv2.imshow('frame', scene)
cv2.imwrite("C:/Users/tonym/Desktop/ProjectX/rat_testing/img" + str(random.randint(1, 10000)) + ".jpg", scene)
else:
print("Недостаточно совпадений - %d/%d" % (len(matches), MIN_MATCHES))
cap.release()
cv2.destroyAllWindows()
return 0
def regenerate_defective_image(defective_image_path):
# PYGAME
pygame.init()
srf = set_viewport(VIEWPORT[0], VIEWPORT[1])
# LOAD OBJECT AFTER PYGAME INIT
obj = OBJ(OBJECT, swapyz=True)
# clock = pygame.time.Clock()
# set up OPENGL env
light_position = (-40, 200, 100, 0.0)
set_light_property(light_position)
set_filed_of_vision(FOVY, VIEWPORT, Z_NEAR, Z_FAR)
# create image
part_start = time.time()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# Defect image cartesian coordinate parameters
defective_image_with_png = remove_extra_path(defective_image_path)
defective_image = remove_filename_extension(defective_image_with_png)
c_x, c_y, c_z, p_x, p_y, p_z, u_x, u_y, u_z = find_defect_image_target_value(
defective_image)
# take the shoot
logging.info('Start regenerating defect image ' + defective_image)
print(c_x, c_y, c_z, p_x, p_y, p_z, u_x, u_y, u_z)
gluLookAt(c_x, c_y, c_z, p_x, p_y, p_z, u_x, u_y, u_z)
glCallList(obj.gl_list)
# Move old defect image to /home/eva/space_center/moon_8K/Regen_Image/defect_image/
defective_path = shutil.move(defective_image_path, DEFECTIVE_PATH)
logging.info('{} move to {}'.format(defective_path, DEFECTIVE_PATH))
# SAVE regenerated image
pygame.image.save(srf, os.path.join(PATCH_PATH, defective_image + '.png'))
pygame.image.save(srf, defective_image_path)
logging.info('Finish creating defect image, time = {}'.format(time.time() -
part_start))
def __init__(self, fire):
self.asteroid = OBJ("asteroid.obj", textureFile="asteroid.jpg")
self.ellipse = Ellipse(18, 4, 0.17)
self.fire = fire
self.angle = 0
def load_obj(self, obj_file):
self.obj = OBJ(obj_file, swapyz=True)
self.Refresh(True)
up = [0, 1, 0] # for Dataset_six_random
norm_forward = normalize(forward)
side = normalize(crossf(norm_forward, up))
up = normalize(crossf(side, norm_forward))
return up[0], up[1], up[2]
if __name__ == '__main__':
EXPERIMENT_IMAGE = "near"
# PYGAME
pygame.init()
srf = set_viewport(VIEWPORT[0], VIEWPORT[1])
# LOAD OBJECT AFTER PYGAME INIT
obj = OBJ(OBJECT, swapyz=True)
clock = pygame.time.Clock()
# set up OPENGL env
set_light_property()
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
set_filed_of_vision(FOVY, VIEWPORT, Z_NEAR, Z_FAR)
# create image
sample_target = {}
part_start = time.time()
logging.info('Start creating experiment image ' + EXPERIMENT_IMAGE)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
def transfer_pygame_surface_to_cv2_ndarray(surface):
pygame_string = pygame.image.tostring(surface, 'RGB')
img = np.fromstring(pygame_string, dtype=np.uint8)
img = img.reshape((VIEWPORT[1], VIEWPORT[0], 3))
img = cv2.cvtColor(img, cv2.COLOR_RGB2BGR)
return img
if __name__ == '__main__':
# PYGAME
pygame.init()
srf = set_viewport(VIEWPORT[0], VIEWPORT[1])
# LOAD OBJECT AFTER PYGAME INIT
obj = OBJ(sys.argv[1], swapyz=True)
clock = pygame.time.Clock()
# set up OPENGL env
set_light_property()
glEnable(GL_LIGHT0)
glEnable(GL_LIGHTING)
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
set_filed_of_vision(FOVY, VIEWPORT, Z_NEAR, Z_FAR)
# create image
for i in range(LEVEL_1_INDEX):
sample_target = {}
# sample_image = {}
logging.info('Start creating Part_{}'.format(i))
part_start = time.time()
def main():
parser = ArgumentParser()
parser.add_argument('--obj', type=str, required=True, help='OBJ filename')
args = parser.parse_args()
init()
viewport = (800, 600)
display.set_mode(viewport, OPENGL | DOUBLEBUF)
display.set_caption('pyobb 3D demo')
glEnable(GL_LIGHTING)
glEnable(GL_LIGHT0)
glLightfv(GL_LIGHT0, GL_POSITION, (0, -1, 0, 0))
glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2, 1))
glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1))
glEnable(GL_COLOR_MATERIAL)
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH)
obj = OBJ(filename=args.obj)
indices = []
for face in obj.faces:
indices.append(face[0][0] - 1)
indices.append(face[0][1] - 1)
indices.append(face[0][2] - 1)
obb = OBB.build_from_triangles(obj.vertices, indices)
obb_gl_list = glGenLists(1)
glNewList(obb_gl_list, GL_COMPILE)
glBegin(GL_LINES)
glColor3fv((1, 0, 0))
def input_vertex(x, y, z):
glVertex3fv(obb.transform((x, y, z)))
input_vertex(*obb.max)
input_vertex(obb.max[0], obb.min[1], obb.max[2])
input_vertex(obb.max[0], obb.min[1], obb.max[2])
input_vertex(obb.min[0], obb.min[1], obb.max[2])
input_vertex(obb.min[0], obb.min[1], obb.max[2])
input_vertex(obb.min[0], obb.max[1], obb.max[2])
input_vertex(obb.min[0], obb.max[1], obb.max[2])
input_vertex(*obb.max)
input_vertex(obb.max[0], obb.max[1], obb.max[2])
input_vertex(obb.max[0], obb.max[1], obb.min[2])
input_vertex(obb.max[0], obb.min[1], obb.max[2])
input_vertex(obb.max[0], obb.min[1], obb.min[2])
input_vertex(obb.min[0], obb.max[1], obb.max[2])
input_vertex(obb.min[0], obb.max[1], obb.min[2])
input_vertex(obb.min[0], obb.min[1], obb.max[2])
input_vertex(obb.min[0], obb.min[1], obb.min[2])
input_vertex(obb.max[0], obb.max[1], obb.min[2])
input_vertex(obb.max[0], obb.min[1], obb.min[2])
input_vertex(obb.max[0], obb.min[1], obb.min[2])
input_vertex(*obb.min)
input_vertex(*obb.min)
input_vertex(obb.min[0], obb.max[1], obb.min[2])
input_vertex(obb.min[0], obb.max[1], obb.min[2])
input_vertex(obb.max[0], obb.max[1], obb.min[2])
glEnd()
glEndList()
clock = time.Clock()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
width, height = viewport
gluPerspective(90.0, width / float(height), 0.1, 100.0)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
rotation = [0, 0]
translation = [
-obb.centroid[0], -obb.centroid[1],
-(obb.centroid[2] + obb.extents[2] * 2)
]
rotate = move = False
while True:
clock.tick(30)
for e in event.get():
if e.type == QUIT:
exit()
elif e.type == KEYDOWN and e.key == K_ESCAPE:
exit()
elif e.type == MOUSEBUTTONDOWN:
if e.button == 4:
translation[2] += 0.1
elif e.button == 5:
translation[2] -= 0.1
elif e.button == 1:
rotate = True
elif e.button == 2:
move = True
elif e.type == MOUSEBUTTONUP:
if e.button == 1:
rotate = False
elif e.button == 2:
move = False
elif e.type == MOUSEMOTION:
i, j = e.rel
if rotate:
rotation[1] += i
rotation[0] += j
if move:
translation[0] += i * .025
translation[1] -= j * .025
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
glTranslate(translation[0], translation[1], translation[2])
glRotate(rotation[0], 1, 0, 0)
glRotate(rotation[1], 0, 1, 0)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glCallList(obj.gl_list)
glPolygonMode(GL_FRONT_AND_BACK, GL_LINE)
glCallList(obb_gl_list)
display.flip()
def step1():
fn = "obj.pkl"
if 1 == 1:
obj = OBJ("", "bunny.obj", swapyz=True)
obj.create_bbox()
with open(fn, 'wb') as f: # open file with write-mode
pickle.dump(obj, f) #picklestring = pickle.dumps(summer)
else:
with open(fn, 'rb') as f:
obj = pickle.load(f)
pygame.init()
viewport = (600, 600)
srf = pygame.display.set_mode(viewport, OPENGL | DOUBLEBUF)
light.setup_lighting()
glLightfv(GL_LIGHT0, GL_POSITION, (0, 0, -100, 0.0))
glEnable(GL_DEPTH_TEST)
glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
obj.create_gl_list()
clock = pygame.time.Clock()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
#gluPerspective(60.0, width / float(height), 1, 100.0)
cam = light.camera
#cam.Ortho.params=cam.Ortho.params*15
cam.Ortho.bbox[:] = cam.Ortho.bbox * 13
cam.Ortho.nf[:] = cam.Ortho.nf * 20
glOrtho(*cam.Ortho.params)
glEnable(GL_DEPTH_TEST)
glMatrixMode(GL_MODELVIEW)
rx, ry = (0, 0)
tx, ty = (0, 0)
zpos = 5
rotate = move = False
while 1:
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:
#p(e.rel)
i, j = e.rel
if rotate:
rx -= i
ry -= j
if move:
tx += i
ty -= j
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glLoadIdentity()
# RENDER OBJECT
glTranslate(tx / 20., ty / 20., -zpos)
glRotate(ry / 5, 1, 0, 0)
glRotate(rx / 5, 0, 0, 1)
s = [10 / obj.bbox_half_r] * 3
glScale(*s)
t = -obj.bbox_center
glTranslate(*t)
glCallList(obj.gl_list)
pygame.display.flip()
