def __init__(self):
#ShowBase.__init__(self)
Utils.checkVersion()
# Disable the camera trackball controls.
base.disableMouse()
self.render = base.render
#create a list of debug points. These can be toggled ON/OFF
self.debugPoints = []
#Disable moving stuff until all assets are loaded
self.assetsLoaded = False
#create my own "camera"
self.rroot = self.render.attachNewNode('rroot') #Translational Root
self.rroot.setPos(0.0, 0.0, 0.0)
self.root = self.rroot.attachNewNode('root') #Rotational Root
self.camPosTrackerUp = self.render.attachNewNode('camPosTrackerUp')
self.camPosTrackerUp.setPos(0, 0, 1)
self.z = self.root.attachNewNode('z')
self.z.setPos(0, 0, 1)
self.y = self.root.attachNewNode('y')
self.y.setPos(0, 1, 0)
self.x = self.root.attachNewNode('x')
self.x.setPos(1, 0, 0)
self.debugPoints.append(addDebugPoint(self.root, 1.0, 1.0, 1.0))
self.debugPoints.append(addDebugPoint(self.z, 0.0, 0.0, 1.0))
self.debugPoints.append(addDebugPoint(self.y, 0.0, 0.5, 0.5))
self.debugPoints.append(addDebugPoint(self.x, 0.5, 0.0, 0.5))
#Load matcher object
#self.object = MatcherObject(self.root, GeometryParser.loadGeomObject)
self.objects = {}
self.selectedObject = None
#Load point cloud
self.pointcloud = MatcherObject(self.root,
GeometryParser.loadPointCloud)
self.pointcloud.setPointCloudThickness(4)
self.accept('mouse1Delta', self.ldelta)
self.accept('mouse2Delta', self.mdelta)
self.accept('mouse3Delta', self.rdelta)
self.accept('wheel_up', self.mscrollUp)
self.accept('wheel_down', self.mscrollDown)
self.accept(Settings.TOGGLE_DEBUG_HOTKEY, self.toggleDebug)
self.accept(Settings.ICP_HOTKEY, self.runICP)
#self.accept('q', self.testFunc)
self.accept('object_click', self.selectObject)
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.hideDebugPoints() #Hide debug points
self.debugPointsShown = False
self.mouseCont = MCont.MouseControls()
#MENU
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.bridgeMenu = HorizontalMenu(self,
file('res/bridgeMenu.txt').read(),
style='transparent.ccss',
scale=.05)
self.mini_img = MiniImage(self)
self.accept(Settings.RRENDER_TOGGLE_HOTKEY,
self.mini_img.appToggleHotkeyAction)
def __init__(self):
#ShowBase.__init__(self)
Utils.checkVersion()
# Disable the camera trackball controls.
base.disableMouse()
self.render = base.render
#create a list of debug points. These can be toggled ON/OFF
self.debugPoints = []
#Disable moving stuff until all assets are loaded
self.assetsLoaded = False
#create my own "camera"
self.rroot = self.render.attachNewNode('rroot') #Translational Root
self.rroot.setPos(0.0,0.0,0.0)
self.root = self.rroot.attachNewNode('root') #Rotational Root
self.camPosTrackerUp = self.render.attachNewNode('camPosTrackerUp')
self.camPosTrackerUp.setPos(0,0,1)
self.z = self.root.attachNewNode('z')
self.z.setPos(0,0,1)
self.y = self.root.attachNewNode('y')
self.y.setPos(0,1,0)
self.x = self.root.attachNewNode('x')
self.x.setPos(1,0,0)
self.debugPoints.append(addDebugPoint(self.root, 1.0, 1.0, 1.0))
self.debugPoints.append(addDebugPoint(self.z, 0.0, 0.0, 1.0))
self.debugPoints.append(addDebugPoint(self.y, 0.0, 0.5, 0.5))
self.debugPoints.append(addDebugPoint(self.x, 0.5, 0.0, 0.5))
#Load matcher object
#self.object = MatcherObject(self.root, GeometryParser.loadGeomObject)
self.objects = {}
self.selectedObject = None
#Load point cloud
self.pointcloud = MatcherObject(self.root, GeometryParser.loadPointCloud)
self.pointcloud.setPointCloudThickness(4)
self.accept('mouse1Delta',self.ldelta)
self.accept('mouse2Delta',self.mdelta)
self.accept('mouse3Delta',self.rdelta)
self.accept('wheel_up',self.mscrollUp)
self.accept('wheel_down',self.mscrollDown)
self.accept(Settings.TOGGLE_DEBUG_HOTKEY, self.toggleDebug)
self.accept(Settings.ICP_HOTKEY, self.runICP)
#self.accept('q', self.testFunc)
self.accept('object_click', self.selectObject)
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.hideDebugPoints() #Hide debug points
self.debugPointsShown = False
self.mouseCont = MCont.MouseControls()
#MENU
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.bridgeMenu=HorizontalMenu(self, file('res/bridgeMenu.txt').read(),
style = 'transparent.ccss', scale=.05)
self.mini_img = MiniImage(self)
self.accept(Settings.RRENDER_TOGGLE_HOTKEY, self.mini_img.appToggleHotkeyAction)
class MyApp(ShowBase):
def __init__(self):
#ShowBase.__init__(self)
Utils.checkVersion()
# Disable the camera trackball controls.
base.disableMouse()
self.render = base.render
#create a list of debug points. These can be toggled ON/OFF
self.debugPoints = []
#Disable moving stuff until all assets are loaded
self.assetsLoaded = False
#create my own "camera"
self.rroot = self.render.attachNewNode('rroot') #Translational Root
self.rroot.setPos(0.0, 0.0, 0.0)
self.root = self.rroot.attachNewNode('root') #Rotational Root
self.camPosTrackerUp = self.render.attachNewNode('camPosTrackerUp')
self.camPosTrackerUp.setPos(0, 0, 1)
self.z = self.root.attachNewNode('z')
self.z.setPos(0, 0, 1)
self.y = self.root.attachNewNode('y')
self.y.setPos(0, 1, 0)
self.x = self.root.attachNewNode('x')
self.x.setPos(1, 0, 0)
self.debugPoints.append(addDebugPoint(self.root, 1.0, 1.0, 1.0))
self.debugPoints.append(addDebugPoint(self.z, 0.0, 0.0, 1.0))
self.debugPoints.append(addDebugPoint(self.y, 0.0, 0.5, 0.5))
self.debugPoints.append(addDebugPoint(self.x, 0.5, 0.0, 0.5))
#Load matcher object
#self.object = MatcherObject(self.root, GeometryParser.loadGeomObject)
self.objects = {}
self.selectedObject = None
#Load point cloud
self.pointcloud = MatcherObject(self.root,
GeometryParser.loadPointCloud)
self.pointcloud.setPointCloudThickness(4)
self.accept('mouse1Delta', self.ldelta)
self.accept('mouse2Delta', self.mdelta)
self.accept('mouse3Delta', self.rdelta)
self.accept('wheel_up', self.mscrollUp)
self.accept('wheel_down', self.mscrollDown)
self.accept(Settings.TOGGLE_DEBUG_HOTKEY, self.toggleDebug)
self.accept(Settings.ICP_HOTKEY, self.runICP)
#self.accept('q', self.testFunc)
self.accept('object_click', self.selectObject)
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.hideDebugPoints() #Hide debug points
self.debugPointsShown = False
self.mouseCont = MCont.MouseControls()
#MENU
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.bridgeMenu = HorizontalMenu(self,
file('res/bridgeMenu.txt').read(),
style='transparent.ccss',
scale=.05)
self.mini_img = MiniImage(self)
self.accept(Settings.RRENDER_TOGGLE_HOTKEY,
self.mini_img.appToggleHotkeyAction)
#
# UTILITY METHODS
#
"""
Get the up vector of the camera
"""
def getUpVec(self):
up = self.camPosTrackerUp.getPos(self.root) - self.render.getPos(
self.root)
up.normalize()
return up
"""
Get vector pointing from the camera to the center of the scene
"""
def getViewVec(self):
v = -(self.render.getPos(self.root))
v.normalize()
return v
"""
Helper function for translating objects
"""
def translObject(self, objR, objT, distx, disty, distz):
xVec = Vec3(1, 0, 0)
yVec = Vec3(0, 0,
1) #Y and Z got switched, because Panda treats Z as up
zVec = Vec3(0, 1, 0) #and Y as in, whereas on the screen Y is up/down
oldPos = objT.getPos(self.render)
newPos = oldPos + (xVec * distx) + (yVec * disty) + (zVec * distz)
objT.setPos(self.render, newPos[0], newPos[1], newPos[2])
"""
Helper function for rotating objects
"""
def rotateObject(self, objR, objT, distx, disty):
up = self.getUpVec()
view = self.getViewVec()
right = view.cross(up)
rotVec = right * (-disty) + up * (distx)
dist = sqrt((disty * disty) + (distx * distx))
rotmat = Mat4.rotateMat(dist, rotVec)
transf = objR.getMat(objT)
objR.setMat(objT, transf * rotmat)
def zoomCamera(self, dist):
#print "Up: %s, View: %s" % (str(self.getUpVec()), str(self.getViewVec()))
pos = self.rroot.getPos()
self.rroot.setPos(pos[0], pos[1] - dist, pos[2])
#
# KEYBOARD/MOUSE LISTENERS
#
"""
Action to take when left click is dragged: Translate
"""
def ldelta(self, distx, disty):
if not self.assetsLoaded:
return
distx *= Settings.TRANSL_SENSITIVITY
disty *= Settings.TRANSL_SENSITIVITY
#Translate matcher object
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.translObject(self.selectedObject.R, self.selectedObject.T,
distx, disty, 0)
else: #Translate scene
self.translObject(self.root, self.rroot, distx, disty, 0)
"""
Action to take when right click is dragged: Rotate
"""
def rdelta(self, distx, disty):
if not self.assetsLoaded:
return
distx *= Settings.ROT_SENSITIVITY
disty *= Settings.ROT_SENSITIVITY
#Rotate matcher object
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.rotateObject(self.selectedObject.R, self.selectedObject.T,
distx, disty)
#Rotate scene
else:
transf = self.root.getMat(self.rroot)
dist = sqrt((disty * disty) + (distx * distx))
rotmat = Mat4.rotateMat(dist, Vec3(-disty, 0, distx))
self.root.setMat(self.rroot, transf * rotmat)
"""
Action to take when mouse wheel click is dragged: Nothing yet
"""
def mdelta(self, distx, disty):
pass
"""
Zoom camera in when mouse wheel is scrolled up
"""
def mscrollUp(self):
if not self.assetsLoaded:
return
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.translObject(self.selectedObject.R, self.selectedObject.T,
0, 0, 0.5 * Settings.ZOOM_SENSITIVITY)
else:
self.zoomCamera(Settings.ZOOM_SENSITIVITY)
"""
Zoom camera out when mouse wheel is scrolled down
"""
def mscrollDown(self):
if not self.assetsLoaded:
return
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.translObject(self.selectedObject.R, self.selectedObject.T,
0, 0, -0.5 * Settings.ZOOM_SENSITIVITY)
else:
self.zoomCamera(-Settings.ZOOM_SENSITIVITY)
"""
Action to take when an object is clicked: Select it.
"""
def selectObject(self, objname):
if not self.assetsLoaded:
return
if Settings.VERBOSE:
print "Clicked object: ", objname
if objname in self.objects:
self.selectMatchObject(objname)
def runICP(self):
print "RUNNING ICP"
"""
if not self.assetsLoaded:
print "Assets unloaded"
return
"""
if self.pointcloud == None or self.pointcloud.isEmpty():
if Settings.VERBOSE:
print "Cannot run ICP: No pointcloud loaded"
return
if self.selectedObject == None:
if Settings.VERBOSE:
print "Cannot run ICP: No selected object"
return
print "0"
bnds = self.selectedObject.getBounds()
print "1"
pc_pts = ICP.convertKD(self.pointcloud.getPointsBounded(bnds))
print "2"
for i in xrange(0, Settings.ICP_MAX_ITERS):
objPoints = self.selectedObject.getPoints()
R, t = ICP.ICPiter(objPoints, pc_pts)
self.selectedObject.translV3(t)
self.selectedObject.rotateM4(R)
if (i % 5 == 0): #refresh bounds
bnds = self.selectedObject.getBounds()
pc_pts = ICP.convertKD(self.pointcloud.getPointsBounded(bnds))
if (ICP.converged(R, t)):
if Settings.VERBOSE:
print "ICP Converged!"
break
if (i == Settings.ICP_MAX_ITERS - 1):
if Settings.VERBOSE:
print "Max iterations reached (Did not converge)"
def toggleRerender(self):
if not self.assetsLoaded:
return
if self.pointcloud == None or self.pointcloud.isEmpty():
if Settings.VERBOSE:
print "Cannot run rerender: No pointcloud loaded"
return
if self.selectedObject == None:
if Settings.VERBOSE:
print "Cannot run rerender: No selected object"
return
success = self.mini_img.setImage(Settings.RRENDER_INPUT_IMG)
if (success):
self.mini_img.toggleVisibility()
"""
Toggle the showing of debug points
"""
def toggleDebug(self):
if not self.assetsLoaded:
return
if self.debugPointsShown:
self.selectedObject.hideBounds()
self.hideDebugPoints()
else:
self.selectedObject.showBounds()
#self.selectedObject.R.showTightBounds()
self.showDebugPoints()
def showDebugPoints(self):
for d in self.debugPoints:
d.unstash()
self.debugPointsShown = True
def hideDebugPoints(self):
for d in self.debugPoints:
d.stash()
self.debugPointsShown = False
"""
Keep menu on upper-left corner when window is resized
"""
def onWindowEvent(self, window):
self.bridgeMenu.setPos((-base.getAspectRatio() + .02, 0, .925))
def selectMatchObject(self, objname):
if self.selectedObject:
self.selectedObject.onUnselect()
self.selectedObject = self.objects[objname]
self.selectedObject.onSelect()
if self.debugPointsShown:
self.selectedObject.showBounds()
def loadMatchObject(self, filename):
print "a0"
if filename and filename != '':
matchObj = MatcherObject(self.root, GeometryParser.loadGeomObject,
filename, "Loading mesh")
print "aa"
while matchObj.name in self.objects:
matchObj.rename(matchObj.name + '~')
print "ab"
#self.bridgeMenu.addchildren(matchObj.getMenuStr(),'manage')
print "ac"
self.objects[matchObj.name] = matchObj
print "ad"
self.selectMatchObject(matchObj.name)
def loadPointCloud(self, filename):
if filename and filename != '':
self.pointcloud.changeObject(filename, "Loading point cloud")
#Utils.runInThread(self.pointcloud.changeObject, (filename,))
self.pointcloud.setPointCloudThickness(4)
self.pointcloud.repositionCamera(self.render, self.rroot)
def loadFromConfigURL(self, confurl):
self.assetsLoaded = False
try:
import numpy as np
conf = Utils.evalConfig(Utils.fetchFromURL(confurl, 'r'))
if (conf is None):
return
#print conf
self.resetScene()
self.loadPointCloud(conf['point_cloud'])
Settings.RRENDER_INPUT_IMG = conf['ref_image']
Settings.MATCH_FUN = conf['match_fun']
objects = conf['objects']
print "OBJECTS:", objects
for o in objects:
self.loadMatchObject(o)
print "1"
Settings.RRENDER_DISTORT = np.array(conf['distort'])
print "2"
Settings.RRENDER_K = np.array(conf['rgb_K'])
print "3"
self.assetsLoaded = True
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def removeMatchObject(self, matchObjName):
if (matchObjName in self.objects):
obj = self.objects[matchObjName]
del self.objects[matchObjName]
if not (obj is None):
obj.remove()
self.bridgeMenu.delete(obj.getMenuName())
if obj == self.selectedObject:
self.selectedObject = None
def resetScene(self):
while len(self.objects) > 0:
self.removeMatchObject(self.objects.keys()[0])
#
# Menu Button Listeners
#
def menu_loadPC(self, it):
#print 'ldPC'
try:
Tk().withdraw()
filename = askopenfilename()
self.loadPointCloud(filename)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_loadObject(self, it):
#print 'ldObject'
try:
Tk().withdraw()
filename = askopenfilename()
self.loadMatchObject(filename)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_changeUser(self, it):
try:
#callback function to set text
def setText(textEntered):
Settings.USERNAME = textEntered
b.destroy()
#clear the text
def clearText():
b.enterText('')
#add button
b = DirectEntry(text="",
scale=.06,
command=setText,
initialText="Enter Scene URL",
numLines=5,
focus=1,
focusInCommand=clearText)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_finalizeMatch(self, it):
#Print matcher object's position relative to point cloud
try:
if self.assetsLoaded != True:
return
if Settings.VERBOSE:
print "Finalizing match"
for objname in self.objects:
obj = self.objects[objname]
#netTransf = self.selectedObject.TruPos.getMat(self.pointcloud.TruPos)
netTransf = obj.TruPos.getMat(self.pointcloud.TruPos)
netTransf.transposeInPlace()
if Settings.VERBOSE:
print "\tPointCloud->ROOT:", str(
self.pointcloud.TruPos.getPos(self.root))
print "\t" + objname + "->ROOT:", str(
self.selectedObject.TruPos.getPos(self.root))
if Settings.MATCH_FUN:
success = Settings.MATCH_FUN(self.pointcloud.name,
obj.name, netTransf,
Settings.USERNAME)
if Settings.VERBOSE:
print "Succesful upload?", success
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_clickObj(self, it, obj):
try:
print '---MENU CLICK OBJ: ', obj
self.removeMatchObject(obj)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_setOpt(self, it, opt):
#TODO: make a popup where you can enter values.
print "Options are not implemented yet! Edit Settings.py directly for now"
def menu_resetView(self, it):
self.pointcloud.repositionCamera(self.render, self.rroot)
def menu_autoConfig(self, it):
self.loadFromConfigURL(Settings.AUTOCONFIG_URL)
def menu_manualConfig(self, it):
try:
#callback function to set text
def setText(textEntered):
self.loadFromConfigURL(textEntered)
b.destroy()
#clear the text
def clearText():
b.enterText('')
#add button
b = DirectEntry(text="",
scale=.06,
command=setText,
initialText="Enter Scene URL",
numLines=5,
focus=1,
focusInCommand=clearText)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
class MyApp(ShowBase):
def __init__(self):
#ShowBase.__init__(self)
Utils.checkVersion()
# Disable the camera trackball controls.
base.disableMouse()
self.render = base.render
#create a list of debug points. These can be toggled ON/OFF
self.debugPoints = []
#Disable moving stuff until all assets are loaded
self.assetsLoaded = False
#create my own "camera"
self.rroot = self.render.attachNewNode('rroot') #Translational Root
self.rroot.setPos(0.0,0.0,0.0)
self.root = self.rroot.attachNewNode('root') #Rotational Root
self.camPosTrackerUp = self.render.attachNewNode('camPosTrackerUp')
self.camPosTrackerUp.setPos(0,0,1)
self.z = self.root.attachNewNode('z')
self.z.setPos(0,0,1)
self.y = self.root.attachNewNode('y')
self.y.setPos(0,1,0)
self.x = self.root.attachNewNode('x')
self.x.setPos(1,0,0)
self.debugPoints.append(addDebugPoint(self.root, 1.0, 1.0, 1.0))
self.debugPoints.append(addDebugPoint(self.z, 0.0, 0.0, 1.0))
self.debugPoints.append(addDebugPoint(self.y, 0.0, 0.5, 0.5))
self.debugPoints.append(addDebugPoint(self.x, 0.5, 0.0, 0.5))
#Load matcher object
#self.object = MatcherObject(self.root, GeometryParser.loadGeomObject)
self.objects = {}
self.selectedObject = None
#Load point cloud
self.pointcloud = MatcherObject(self.root, GeometryParser.loadPointCloud)
self.pointcloud.setPointCloudThickness(4)
self.accept('mouse1Delta',self.ldelta)
self.accept('mouse2Delta',self.mdelta)
self.accept('mouse3Delta',self.rdelta)
self.accept('wheel_up',self.mscrollUp)
self.accept('wheel_down',self.mscrollDown)
self.accept(Settings.TOGGLE_DEBUG_HOTKEY, self.toggleDebug)
self.accept(Settings.ICP_HOTKEY, self.runICP)
#self.accept('q', self.testFunc)
self.accept('object_click', self.selectObject)
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.hideDebugPoints() #Hide debug points
self.debugPointsShown = False
self.mouseCont = MCont.MouseControls()
#MENU
self.accept(base.win.getWindowEvent(), self.onWindowEvent)
self.bridgeMenu=HorizontalMenu(self, file('res/bridgeMenu.txt').read(),
style = 'transparent.ccss', scale=.05)
self.mini_img = MiniImage(self)
self.accept(Settings.RRENDER_TOGGLE_HOTKEY, self.mini_img.appToggleHotkeyAction)
#
# UTILITY METHODS
#
"""
Get the up vector of the camera
"""
def getUpVec(self):
up = self.camPosTrackerUp.getPos(self.root)-self.render.getPos(self.root)
up.normalize()
return up
"""
Get vector pointing from the camera to the center of the scene
"""
def getViewVec(self):
v = -(self.render.getPos(self.root))
v.normalize()
return v
"""
Helper function for translating objects
"""
def translObject(self, objR, objT, distx, disty, distz):
xVec = Vec3(1,0,0)
yVec = Vec3(0,0,1) #Y and Z got switched, because Panda treats Z as up
zVec = Vec3(0,1,0) #and Y as in, whereas on the screen Y is up/down
oldPos = objT.getPos(self.render);
newPos = oldPos + (xVec*distx)+(yVec*disty)+(zVec*distz)
objT.setPos(self.render, newPos[0],newPos[1],newPos[2]);
"""
Helper function for rotating objects
"""
def rotateObject(self, objR, objT, distx, disty):
up = self.getUpVec()
view = self.getViewVec()
right = view.cross(up)
rotVec = right*(-disty)+up*(distx)
dist = sqrt((disty*disty)+(distx*distx))
rotmat = Mat4.rotateMat(dist, rotVec)
transf = objR.getMat(objT);
objR.setMat(objT, transf*rotmat)
def zoomCamera(self, dist):
#print "Up: %s, View: %s" % (str(self.getUpVec()), str(self.getViewVec()))
pos = self.rroot.getPos();
self.rroot.setPos(pos[0],pos[1]-dist, pos[2])
#
# KEYBOARD/MOUSE LISTENERS
#
"""
Action to take when left click is dragged: Translate
"""
def ldelta(self, distx, disty):
if not self.assetsLoaded:
return
distx *=Settings.TRANSL_SENSITIVITY;
disty *=Settings.TRANSL_SENSITIVITY;
#Translate matcher object
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.translObject(self.selectedObject.R, self.selectedObject.T, distx,disty,0)
else: #Translate scene
self.translObject(self.root, self.rroot, distx,disty,0)
"""
Action to take when right click is dragged: Rotate
"""
def rdelta(self, distx, disty):
if not self.assetsLoaded:
return
distx *=Settings.ROT_SENSITIVITY;
disty *=Settings.ROT_SENSITIVITY;
#Rotate matcher object
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.rotateObject(self.selectedObject.R, self.selectedObject.T, distx, disty)
#Rotate scene
else:
transf = self.root.getMat(self.rroot);
dist = sqrt((disty*disty)+(distx*distx))
rotmat = Mat4.rotateMat(dist, Vec3(-disty, 0, distx))
self.root.setMat(self.rroot, transf*rotmat)
"""
Action to take when mouse wheel click is dragged: Nothing yet
"""
def mdelta(self, distx, disty):
pass
"""
Zoom camera in when mouse wheel is scrolled up
"""
def mscrollUp(self):
if not self.assetsLoaded:
return
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.translObject(self.selectedObject.R, self.selectedObject.T, 0,0,0.5*Settings.ZOOM_SENSITIVITY)
else:
self.zoomCamera(Settings.ZOOM_SENSITIVITY)
"""
Zoom camera out when mouse wheel is scrolled down
"""
def mscrollDown(self):
if not self.assetsLoaded:
return
if self.mouseCont.keys[Settings.MATCH_OBJ_HOTKEY] == MCont.BUTTON_DOWN:
if self.selectedObject:
self.translObject(self.selectedObject.R, self.selectedObject.T, 0,0,-0.5*Settings.ZOOM_SENSITIVITY)
else:
self.zoomCamera(-Settings.ZOOM_SENSITIVITY)
"""
Action to take when an object is clicked: Select it.
"""
def selectObject(self, objname):
if not self.assetsLoaded:
return
if Settings.VERBOSE:
print "Clicked object: ",objname
if objname in self.objects:
self.selectMatchObject(objname)
def runICP(self):
print "RUNNING ICP"
"""
if not self.assetsLoaded:
print "Assets unloaded"
return
"""
if self.pointcloud == None or self.pointcloud.isEmpty():
if Settings.VERBOSE:
print "Cannot run ICP: No pointcloud loaded"
return
if self.selectedObject == None:
if Settings.VERBOSE:
print "Cannot run ICP: No selected object"
return
print "0"
bnds = self.selectedObject.getBounds()
print "1"
pc_pts = ICP.convertKD(self.pointcloud.getPointsBounded(bnds))
print "2"
for i in xrange(0,Settings.ICP_MAX_ITERS):
objPoints = self.selectedObject.getPoints()
R, t = ICP.ICPiter( objPoints, pc_pts)
self.selectedObject.translV3(t)
self.selectedObject.rotateM4(R)
if (i%5==0): #refresh bounds
bnds = self.selectedObject.getBounds()
pc_pts = ICP.convertKD(self.pointcloud.getPointsBounded(bnds))
if( ICP.converged(R,t)):
if Settings.VERBOSE:
print "ICP Converged!"
break
if( i == Settings.ICP_MAX_ITERS-1):
if Settings.VERBOSE:
print "Max iterations reached (Did not converge)"
def toggleRerender(self):
if not self.assetsLoaded:
return
if self.pointcloud == None or self.pointcloud.isEmpty():
if Settings.VERBOSE:
print "Cannot run rerender: No pointcloud loaded"
return
if self.selectedObject == None:
if Settings.VERBOSE:
print "Cannot run rerender: No selected object"
return
success = self.mini_img.setImage(Settings.RRENDER_INPUT_IMG)
if( success):
self.mini_img.toggleVisibility()
"""
Toggle the showing of debug points
"""
def toggleDebug(self):
if not self.assetsLoaded:
return
if self.debugPointsShown:
self.selectedObject.hideBounds()
self.hideDebugPoints()
else:
self.selectedObject.showBounds()
#self.selectedObject.R.showTightBounds()
self.showDebugPoints()
def showDebugPoints(self):
for d in self.debugPoints:
d.unstash()
self.debugPointsShown = True
def hideDebugPoints(self):
for d in self.debugPoints:
d.stash()
self.debugPointsShown = False
"""
Keep menu on upper-left corner when window is resized
"""
def onWindowEvent(self, window):
self.bridgeMenu.setPos((-base.getAspectRatio()+.02, 0, .925))
def selectMatchObject(self, objname):
if self.selectedObject:
self.selectedObject.onUnselect()
self.selectedObject= self.objects[objname]
self.selectedObject.onSelect()
if self.debugPointsShown:
self.selectedObject.showBounds()
def loadMatchObject(self, filename):
print "a0"
if filename and filename != '':
matchObj = MatcherObject(self.root, GeometryParser.loadGeomObject, filename,
"Loading mesh")
print "aa"
while matchObj.name in self.objects:
matchObj.rename(matchObj.name+'~')
print "ab"
#self.bridgeMenu.addchildren(matchObj.getMenuStr(),'manage')
print "ac"
self.objects[matchObj.name] = matchObj
print "ad"
self.selectMatchObject(matchObj.name)
def loadPointCloud(self, filename):
if filename and filename != '':
self.pointcloud.changeObject(filename, "Loading point cloud")
#Utils.runInThread(self.pointcloud.changeObject, (filename,))
self.pointcloud.setPointCloudThickness(4)
self.pointcloud.repositionCamera(self.render, self.rroot)
def loadFromConfigURL(self, confurl):
self.assetsLoaded = False
try:
import numpy as np
conf = Utils.evalConfig( Utils.fetchFromURL(confurl, 'r'))
if( conf is None):
return
#print conf
self.resetScene()
self.loadPointCloud(conf['point_cloud'])
Settings.RRENDER_INPUT_IMG = conf['ref_image']
Settings.MATCH_FUN = conf['match_fun']
objects = conf['objects']
print "OBJECTS:",objects
for o in objects:
self.loadMatchObject(o)
print "1"
Settings.RRENDER_DISTORT = np.array(conf['distort'])
print "2"
Settings.RRENDER_K = np.array(conf['rgb_K'])
print "3"
self.assetsLoaded = True
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def removeMatchObject(self, matchObjName):
if( matchObjName in self.objects):
obj = self.objects[matchObjName]
del self.objects[matchObjName]
if not (obj is None):
obj.remove()
self.bridgeMenu.delete(obj.getMenuName())
if obj == self.selectedObject:
self.selectedObject = None
def resetScene(self):
while len(self.objects)>0:
self.removeMatchObject(self.objects.keys()[0])
#
# Menu Button Listeners
#
def menu_loadPC(self, it):
#print 'ldPC'
try:
Tk().withdraw()
filename = askopenfilename()
self.loadPointCloud(filename)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_loadObject(self,it):
#print 'ldObject'
try:
Tk().withdraw()
filename = askopenfilename()
self.loadMatchObject(filename)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_changeUser(self,it):
try:
#callback function to set text
def setText(textEntered):
Settings.USERNAME = textEntered
b.destroy()
#clear the text
def clearText():
b.enterText('')
#add button
b = DirectEntry(text = "" ,scale=.06,command=setText,
initialText="Enter Scene URL", numLines = 5,focus=1,focusInCommand=clearText)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_finalizeMatch(self, it):
#Print matcher object's position relative to point cloud
try:
if self.assetsLoaded != True:
return
if Settings.VERBOSE:
print "Finalizing match"
for objname in self.objects:
obj = self.objects[objname]
#netTransf = self.selectedObject.TruPos.getMat(self.pointcloud.TruPos)
netTransf = obj.TruPos.getMat(self.pointcloud.TruPos)
netTransf.transposeInPlace()
if Settings.VERBOSE:
print "\tPointCloud->ROOT:",str(self.pointcloud.TruPos.getPos(self.root))
print "\t"+objname+"->ROOT:",str(self.selectedObject.TruPos.getPos(self.root))
if Settings.MATCH_FUN:
success = Settings.MATCH_FUN(self.pointcloud.name, obj.name, netTransf, Settings.USERNAME)
if Settings.VERBOSE:
print "Succesful upload?", success
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_clickObj(self, it, obj):
try:
print '---MENU CLICK OBJ: ', obj
self.removeMatchObject(obj)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
def menu_setOpt(self, it, opt):
#TODO: make a popup where you can enter values.
print "Options are not implemented yet! Edit Settings.py directly for now"
def menu_resetView(self, it):
self.pointcloud.repositionCamera(self.render, self.rroot)
def menu_autoConfig(self, it):
self.loadFromConfigURL(Settings.AUTOCONFIG_URL)
def menu_manualConfig(self, it):
try:
#callback function to set text
def setText(textEntered):
self.loadFromConfigURL(textEntered)
b.destroy()
#clear the text
def clearText():
b.enterText('')
#add button
b = DirectEntry(text = "" ,scale=.06,command=setText,
initialText="Enter Scene URL", numLines = 5,focus=1,focusInCommand=clearText)
except Exception as e:
Utils.logError(e)
Utils.errorDialog(e)
