class GLWidget(QGLWidget):
GL_MULTISAMPLE = 0x809D
rot = 0.0
lastMousePos = None
maskCreated = pyqtSignal(np.ndarray)
def __init__(self, parent):
# OpenGL Widget setup
f = QGLFormat()
f.setSampleBuffers(True)
f.setVersion(3,3)
f.setProfile(QGLFormat.CoreProfile)
QGLFormat.setDefaultFormat(f)
if not QGLFormat.hasOpenGL():
QMessageBox.information(None, "OpenGL samplebuffers",
"This system does not support OpenGL.")
sys.exit(0)
super(GLWidget, self).__init__(f, parent)
self.setFocusPolicy(Qt.StrongFocus)
self.list_ = []
self.width = 640.0
self.height = 480.0
self.startTimer(40)
self.setWindowTitle("Sample Buffers")
self.fov = 60.0
self.deltaTime = 0.0
self.lastFrame = None
self.sketching = False
self.sketchType = 0
self.sketchPoints = []
def initializeGL(self):
GL.glClearColor(0.50, 0.50, 0.50, 1.0)
#GL.glEnable(GL.GL_ALPHA_TEST)
#GL.glAlphaFunc(GL.GL_NOTEQUAL, 0.0)
self.heightMap = HeightMap('textures/atacama_height2.png')
self.projection = QMatrix4x4()
self.projection.perspective(self.fov, self.width / self.height, 0.01, 10000)
self.cameraPos = QVector3D(0.0, 1.0, 1.0)
self.terrainPos = QVector3D(0.0, 0.0, 0.0)
self.roverPos = QVector3D(0.0, 0.0, 0.0)
print(GL.glGetString(GL.GL_VERSION))
self.camera = Camera(self.cameraPos, self.heightMap)
self.terrain = Terrain(self.terrainPos, self.heightMap)
self.mask = np.zeros([1001,1001])
self.terrain.updateRewards(self.mask)
# self.rover = Rover(roverPos)
def resizeGL(self, w, h):
self.width = float(w)
self.height = float(h)
GL.glViewport(0, 0, w, h)
self.projection = QMatrix4x4()
self.projection.perspective(self.fov, (self.width / self.height), 0.01, 10000)
def setRoverPosition(self, x, y):
self.camera.setPosition(x-500.5,y-500.5)
def paintGL(self):
currentFrame = QTime.currentTime()
if (self.lastFrame):
self.deltaTime = self.lastFrame.msecsTo(currentFrame)
self.lastFrame = currentFrame
else:
self.lastFrame = currentFrame
GL.glClearColor(0.90, 0.90, 0.90, 1.0)
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glEnable(GL.GL_DEPTH_TEST)
GL.glEnable(GL.GL_BLEND)
GL.glEnable(GLWidget.GL_MULTISAMPLE)
self.view = self.camera.getViewMatrix(self.roverPos)
self.terrain.draw(self.projection, self.view)
GL.glBindBuffer(GL.GL_ARRAY_BUFFER, 0)
def mousePressEvent(self, event):
viewport = np.array(GL.glGetIntegerv(GL.GL_VIEWPORT))
if(self.sketching):
self.sketchPoints.append([event.x(), viewport[3] - event.y()])
else:
self.lastMousePos = event.pos()
print("clicked")
cursorX = event.x()
cursorY = event.y()
winX = float(cursorX)
winY = float(viewport[3] - cursorY)
# obtain Z position
winZ = GL.glReadPixels(winX, winY, 1, 1, GL.GL_DEPTH_COMPONENT, GL.GL_FLOAT);
winVector = QVector3D(winX, winY, winZ)
print(winVector)
def mouseMoveEvent(self, event):
#print(event.pos())
#print(self.lastMousePos)
if(True):
print(event.pos())
viewport = np.array(GL.glGetIntegerv(GL.GL_VIEWPORT))
if(self.sketching):
self.sketchPoints.append([event.x(), viewport[3] - event.y()])
#self.painter.drawPoint(event.pos())
print("Testing mouse move")
elif(self.lastMousePos is not None):
print(event.pos())
dx = event.x() - self.lastMousePos.x()
dy = event.y() - self.lastMousePos.y()
self.camera.processMouseMovement(dx,dy)
self.lastMousePos = event.pos()
elif(event.button() == Qt.MiddleButton):
# Dont use this : doesnt work well with trackpads
print("Middle")
elif(event.button() == Qt.RightButton):
print("Right")
def mouseReleaseEvent(self, event):
print("Mouse Released")
if(self.sketching):
# print(self.sketchPoints)
self.createSketchMask()
self.sketching = False
def createSketchMask(self):
# obtain Z position
# pass
pixels = []
viewport = np.array(GL.glGetIntegerv(GL.GL_VIEWPORT))
for point in self.sketchPoints:
winZ = GL.glReadPixels(point[0], point[1], 1, 1, GL.GL_DEPTH_COMPONENT, GL.GL_FLOAT);
winVector = QVector3D(point[0], point[1], winZ)
# print(winVector)
object_coord = self.terrain.getObjectCoord(winVector, self.projection, self.view, viewport)
j = round(1001 - 1001 * ((0.5 * object_coord[2]) + 0.5) )
i = round( 1001 * ((0.5 * object_coord[0]) + 0.5) )
pixels.append([i,j])
pixelsNP = np.array([pixels])
cv.drawContours(self.mask, pixelsNP, 0, [self.sketchType], -1)
self.sketchPoints = []
self.terrain.updateRewards(self.mask)
self.maskCreated.emit(self.mask)
def wheelEvent(self, event):
self.camera.scroll((event.angleDelta().y()))
def keyPressEvent(self, event):
if event.key() == Qt.Key_1:
self.camera.setViewType(0)
elif event.key() == Qt.Key_2:
self.camera.setViewType(1)
elif event.key() == Qt.Key_3:
self.camera.setViewType(2)
elif event.key() == Qt.Key_4:
self.sketching = True
self.sketchType = -1
elif event.key() == Qt.Key_5:
self.sketching = True
self.sketchType = 0
elif event.key() == Qt.Key_6:
self.sketching = True
self.sketchType = 1
elif event.key() == Qt.Key_W:
self.camera.processKeyboard('F', self.deltaTime)
elif event.key() == Qt.Key_S:
self.camera.processKeyboard('B', self.deltaTime)
elif event.key() == Qt.Key_A:
self.camera.processKeyboard('L', self.deltaTime)
elif event.key() == Qt.Key_D:
self.camera.processKeyboard('R', self.deltaTime)
def timerEvent(self, event):
self.update()
def setRewards(self, mask):
self.learnedRewards = mask
self.terrain.updatelearnedRewards(self.learnedRewards)
def setPath(self, mask):
self.pathMask = mask
self.terrain.updatePaths(self.pathMask)
class GLWidget(QGLWidget):
GL_MULTISAMPLE = 0x809D
rot = 0.0
lastMousePos = None
maskCreated = pyqtSignal(np.ndarray)
def __init__(self, parent):
# OpenGL Widget setup
f = QGLFormat()
f.setSampleBuffers(True)
f.setVersion(3, 3)
f.setProfile(QGLFormat.CoreProfile)
QGLFormat.setDefaultFormat(f)
if not QGLFormat.hasOpenGL():
QMessageBox.information(None, "OpenGL samplebuffers",
"This system does not support OpenGL.")
sys.exit(0)
super(GLWidget, self).__init__(f, parent)
self.setFocusPolicy(Qt.StrongFocus)
self.list_ = []
self.width = 640.0
self.height = 480.0
self.startTimer(40)
self.setWindowTitle("Sample Buffers")
self.fov = 60.0
self.deltaTime = 0.0
self.lastFrame = None
self.sketching = False
self.sketchType = 0
self.sketchPoints = []
# RoverCAM State Variables
self.captureMode = False
self.captured = False
def initializeGL(self):
GL.glClearColor(0.50, 0.50, 0.50, 1.0)
self.mode = 2
self.xN = 200
self.yN = 200
self.yawN = 0
self.pathX = np.linspace(450, 550, 100)
self.pathNode = 0
self.renderMode = 0
self.heightMap = HeightMap('textures/atacama_height2.png')
self.projection = QMatrix4x4()
self.projection.perspective(self.fov, self.width / self.height, 0.01,
10000)
self.cameraPos = QVector3D(0.0, 1.0, 1.0)
self.terrainPos = QVector3D(0.0, 0.0, 0.0)
self.roverPos = QVector3D(0.0, 0.0, 0.0)
print(GL.glGetString(GL.GL_VERSION))
self.camera = Camera(self.cameraPos, self.heightMap)
self.camera.setProjection(self.fov, self.width, self.height, 0.01,
1000)
self.roverCamera = Camera(self.cameraPos, self.heightMap)
self.roverCamera.setProjection(self.fov, self.width, self.height, 0.01,
1000)
self.terrain = Terrain(self.terrainPos, self.heightMap)
self.mask = np.zeros([1001, 1001])
self.terrain.updateRewards(self.mask)
# set up frame buffer
self.fbo = GL.glGenFramebuffers(1)
GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.fbo)
# Attachments for frame buffer : Texture
self.Frametexture = GL.glGenTextures(1)
GL.glBindTexture(GL.GL_TEXTURE_2D, self.Frametexture)
GL.glTexImage2D(GL.GL_TEXTURE_2D, 0, GL.GL_RGB, 640, 480, 0, GL.GL_RGB,
GL.GL_UNSIGNED_BYTE, None)
GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MIN_FILTER,
GL.GL_LINEAR)
GL.glTexParameteri(GL.GL_TEXTURE_2D, GL.GL_TEXTURE_MAG_FILTER,
GL.GL_LINEAR)
GL.glFramebufferTexture2D(GL.GL_FRAMEBUFFER, GL.GL_COLOR_ATTACHMENT0,
GL.GL_TEXTURE_2D, self.Frametexture, 0)
self.rbo = GL.glGenRenderbuffers(1)
GL.glBindRenderbuffer(GL.GL_RENDERBUFFER, self.rbo)
GL.glRenderbufferStorage(GL.GL_RENDERBUFFER, GL.GL_DEPTH24_STENCIL8,
640, 480)
GL.glBindRenderbuffer(GL.GL_RENDERBUFFER, 0)
GL.glFramebufferRenderbuffer(GL.GL_FRAMEBUFFER,
GL.GL_DEPTH_STENCIL_ATTACHMENT,
GL.GL_RENDERBUFFER, self.rbo)
if (GL.glCheckFramebufferStatus(GL.GL_FRAMEBUFFER) !=
GL.GL_FRAMEBUFFER_COMPLETE):
print("Framebuffer not complete")
GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, 0)
GL.glBindTexture(GL.GL_TEXTURE_2D, 0)
# self.rover = Rover(roverPos)
def resizeGL(self, w, h):
self.width = float(w)
self.height = float(h)
GL.glViewport(0, 0, w, h)
self.projection = QMatrix4x4()
self.projection.perspective(self.fov, (self.width / self.height), 0.01,
10000)
self.camera.setProjection(self.fov, self.width, self.height, 0.01,
1000)
def paintGL(self):
if self.mode == 0:
self.simplePaint()
elif self.mode == 1:
self.saveat()
self.mode = 0
elif self.mode == 2:
self.createDataset()
elif self.mode == 3:
self.renderMode = 1
self.createDataset()
def simplePaint(self):
GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, 0)
currentFrame = QTime.currentTime()
if (self.lastFrame):
self.deltaTime = self.lastFrame.msecsTo(currentFrame)
self.lastFrame = currentFrame
else:
self.lastFrame = currentFrame
GL.glClearColor(0.90, 0.90, 0.90, 1.0)
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glEnable(GL.GL_DEPTH_TEST)
GL.glEnable(GLWidget.GL_MULTISAMPLE)
self.terrain.draw(self.camera, self.renderMode)
GL.glBindBuffer(GL.GL_ARRAY_BUFFER, 0)
def saveat(self):
image = self.setCameraPosition(self.pathX[self.pathNode],
((2 * self.pathX[self.pathNode]) - 345),
0, -20)
self.pathNode = self.pathNode + 1
if self.pathNode > 99:
self.pathNode = 0
def createDataset(self):
image = self.setCameraPosition(self.xN, self.yN, self.yawN, -20)
imageName = "ima" + str(self.xN) + "_" + str(self.yN) + '_' + str(
self.yawN) + ".jpeg"
cv.imwrite('dataset/' + imageName, cv.flip(image, 0))
self.yN = self.yN + 1
if self.yN > 400:
self.yN = 200
self.xN = self.xN + 1
if self.xN > 400:
self.xN = 200
self.mode = 0
self.yawN = self.yawN + 45
def setCameraPosition(self, x, y, yaw, pitch):
self.roverCamera.setPosition(x - 500.5, y - 500.5)
self.roverCamera.setYaw(yaw)
self.roverCamera.setPitch(pitch)
GL.glBindFramebuffer(GL.GL_FRAMEBUFFER, self.fbo)
GL.glClearColor(0.52, 0.80, 0.92, 1.0)
GL.glClear(GL.GL_COLOR_BUFFER_BIT | GL.GL_DEPTH_BUFFER_BIT)
GL.glEnable(GL.GL_DEPTH_TEST)
GL.glEnable(GLWidget.GL_MULTISAMPLE)
self.terrain.draw(self.roverCamera, self.renderMode)
GL.glBindTexture(GL.GL_TEXTURE_2D, self.Frametexture)
abc = GL.glGetTexImage(GL.GL_TEXTURE_2D, 0, GL.GL_BGR,
GL.GL_UNSIGNED_BYTE)
# self.cde = int.from_bytes(self.abc, byteorder='big')
image = np.reshape(np.fromstring(abc, dtype=np.uint8), (480, 640, 3))
# cv.imwrite('framebuffer.jpeg', cv.flip(self.image, 0))
return image
def mousePressEvent(self, event):
self.mode = 1
viewport = np.array(GL.glGetIntegerv(GL.GL_VIEWPORT))
# self.createDataset()
if (self.sketching):
self.sketchPoints.append([event.x(), viewport[3] - event.y()])
else:
self.lastMousePos = event.pos()
print("clicked")
cursorX = event.x()
cursorY = event.y()
winX = float(cursorX)
winY = float(viewport[3] - cursorY)
# obtain Z position
winZ = GL.glReadPixels(winX, winY, 1, 1, GL.GL_DEPTH_COMPONENT,
GL.GL_FLOAT)
winVector = QVector3D(winX, winY, winZ)
print(winVector)
self.paintGL()
def mouseMoveEvent(self, event):
# print(event.pos())
if (event.button() == Qt.LeftButton):
viewport = np.array(GL.glGetIntegerv(GL.GL_VIEWPORT))
if (self.sketching):
self.sketchPoints.append([event.x(), viewport[3] - event.y()])
# self.painter.drawPoint(event.pos())
elif (self.lastMousePos is not None):
dx = event.x() - self.lastMousePos.x()
dy = event.y() - self.lastMousePos.y()
self.camera.processMouseMovement(dx, dy)
self.lastMousePos = event.pos()
elif (event.button() == Qt.MiddleButton):
# Dont use this : doesnt work well with trackpads
print("Middle")
elif (event.button() == Qt.RightButton):
print("Right")
def mouseReleaseEvent(self, event):
print("Mouse Released")
if (self.sketching):
# print(self.sketchPoints)
self.createSketchMask()
self.sketching = False
def createSketchMask(self):
# obtain Z position
# pass
pixels = []
viewport = np.array(GL.glGetIntegerv(GL.GL_VIEWPORT))
for point in self.sketchPoints:
winZ = GL.glReadPixels(point[0], point[1], 1, 1,
GL.GL_DEPTH_COMPONENT, GL.GL_FLOAT)
winVector = QVector3D(point[0], point[1], winZ)
# print(winVector)
object_coord = self.terrain.getObjectCoord(winVector,
self.projection,
self.view, viewport)
j = round(1001 - 1001 * ((0.5 * object_coord[2]) + 0.5))
i = round(1001 * ((0.5 * object_coord[0]) + 0.5))
pixels.append([i, j])
pixelsNP = np.array([pixels])
cv.drawContours(self.mask, pixelsNP, 0, [self.sketchType], -1)
self.sketchPoints = []
self.terrain.updateRewards(self.mask)
self.maskCreated.emit(self.mask)
def wheelEvent(self, event):
self.camera.scroll((event.angleDelta().y()))
def keyPressEvent(self, event):
if event.key() == Qt.Key_1:
self.camera.setViewType(0)
elif event.key() == Qt.Key_2:
self.camera.setViewType(1)
elif event.key() == Qt.Key_3:
self.camera.setViewType(2)
elif event.key() == Qt.Key_4:
self.sketching = True
self.sketchType = -1
elif event.key() == Qt.Key_5:
self.sketching = True
self.sketchType = 0
elif event.key() == Qt.Key_6:
self.sketching = True
self.sketchType = 1
elif event.key() == Qt.Key_G:
self.renderMode = 1
elif event.key() == Qt.Key_H:
self.renderMode = 0
elif event.key() == Qt.Key_W:
self.camera.processKeyboard('F', self.deltaTime)
elif event.key() == Qt.Key_S:
self.camera.processKeyboard('B', self.deltaTime)
elif event.key() == Qt.Key_A:
self.camera.processKeyboard('L', self.deltaTime)
elif event.key() == Qt.Key_D:
self.camera.processKeyboard('R', self.deltaTime)
def timerEvent(self, event):
self.update()
def setRewards(self, mask):
self.learnedRewards = mask
self.terrain.updatelearnedRewards(self.learnedRewards)
def setPath(self, mask):
self.pathMask = mask
self.terrain.updatePaths(self.pathMask)
