def render_color_many(self, obj_ids, W, H, K, Rs, ts, near, far, rows,
cols):
assert W <= Renderer.MAX_FBO_WIDTH and H <= Renderer.MAX_FBO_HEIGHT
if self._samples > 1:
self._render_fbo.bind()
self._fbo.bind()
self.scene_shader.use()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glViewport(0, 0, W, H)
for obj_id, R, t, row, col in zip(obj_ids, Rs, ts, rows, cols):
camera = gu.Camera()
camera.realCamera(W, H, K.copy(), R, t, near, far)
#camera.real_camera(W, H, K.copy(), R, t, near, far, r=row, c=col)
self._scene_buffer.update(camera.data)
#glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT, ctypes.c_void_p(obj_id*4*5))
glDrawArraysIndirect(GL_TRIANGLES, ctypes.c_void_p(obj_id * 16))
self._gradient_fbo.bind()
glClear(GL_COLOR_BUFFER_BIT)
glViewport(0, 0, W, H)
self.outline_shader.use()
if self._samples > 1:
for i in xrange(2):
glNamedFramebufferReadBuffer(self._render_fbo.id,
GL_COLOR_ATTACHMENT0 + i)
glNamedFramebufferDrawBuffer(self._fbo.id,
GL_COLOR_ATTACHMENT0 + i)
glBlitNamedFramebuffer(self._render_fbo.id, self._fbo.id, 0, 0,
W, H, 0, 0, W, H, GL_COLOR_BUFFER_BIT,
GL_NEAREST)
self._fbo.bind()
glUniform1f(0, 1.0)
glDrawArrays(GL_TRIANGLE_FAN, 0, 4)
self.line_shader.use()
for obj_id, R, t, row, col in zip(obj_ids, Rs, ts, rows, cols):
camera = gu.Camera()
camera.realCamera(W, H, K.copy(), R, t, near, far)
#camera.real_camera(W, H, K.copy(), R, t, near, far, r=row, c=col)
self._scene_buffer.update(camera.data)
glDrawArraysInstanced(GL_LINES, 0, 2, 3)
rg_scene_flipped = glReadPixels(0, 0, W, H, GL_RGB,
GL_FLOAT).reshape(H, W, 3)
rg_scene = np.flipud(rg_scene_flipped).copy()
return (rg_scene, None)
def render_many(self, obj_ids, W, H, K, Rs, ts, near, far, random_light=True, phong={'ambient':0.4,'diffuse':0.8, 'specular':0.3}):
assert W <= Renderer.MAX_FBO_WIDTH and H <= Renderer.MAX_FBO_HEIGHT
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glViewport(0, 0, W, H)
if random_light:
self.set_light_pose( 1000.*np.random.random(3) )
self.set_ambient_light(phong['ambient'] + 0.1*(2*np.random.rand()-1))
self.set_diffuse_light(phong['diffuse'] + 0.1*(2*np.random.rand()-1))
self.set_specular_light(phong['specular'] + 0.1*(2*np.random.rand()-1))
# self.set_ambient_light(phong['ambient'])
# self.set_diffuse_light(0.7)
# self.set_specular_light(0.3)
else:
self.set_light_pose( np.array([400., 400., 400]) )
self.set_ambient_light(phong['ambient'])
self.set_diffuse_light(phong['diffuse'])
self.set_specular_light(phong['specular'])
bbs = []
for i in xrange(len(obj_ids)):
o = obj_ids[i]
R = Rs[i]
t = ts[i]
camera = gu.Camera()
camera.realCamera(W, H, K, R, t, near, far)
self._scene_buffer.update(camera.data)
self._fbo.bind()
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT, ctypes.c_void_p(o*4*5))
self._fbo_depth.bind()
glViewport(0, 0, W, H)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT, ctypes.c_void_p(o*4*5))
glNamedFramebufferReadBuffer(self._fbo_depth.id, GL_COLOR_ATTACHMENT1)
depth_flipped = glReadPixels(0, 0, W, H, GL_RED, GL_FLOAT).reshape(H,W)
depth = np.flipud(depth_flipped).copy()
ys, xs = np.nonzero(depth > 0)
obj_bb = misc.calc_2d_bbox(xs, ys, (W,H))
bbs.append(obj_bb)
glBindFramebuffer(GL_FRAMEBUFFER, self._fbo.id)
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0)
bgr_flipped = np.frombuffer( glReadPixels(0, 0, W, H, GL_BGR, GL_UNSIGNED_BYTE), dtype=np.uint8 ).reshape(H,W,3)
bgr = np.flipud(bgr_flipped).copy()
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT1)
depth_flipped = glReadPixels(0, 0, W, H, GL_RED, GL_FLOAT).reshape(H,W)
depth = np.flipud(depth_flipped).copy()
return bgr, depth, bbs
def render(self,
obj_id,
K,
R,
t,
near,
far,
row=0.0,
col=0.0,
reconst=False):
W, H = self.W, self.H
camera = gu.Camera()
camera.realCamera(W, H, K, R, t, near, far)
self._scene_buffer.update(camera.data)
self._fbo.bind()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glViewport(0, 0, W, H)
# if reconst:
# self.scene_shader.use()
# glDrawArraysIndirect(GL_TRIANGLES, ctypes.c_void_p(obj_id*16))
# self._gradient_fbo.bind()
# self.outline_shader.use()
# glClear(GL_COLOR_BUFFER_BIT)
# glViewport(0, 0, W, H)
# glDrawArrays(GL_TRIANGLE_FAN, 0, 4)
self.line_shader.use()
#number of lines
glUniform3f(0, self.min_vert[obj_id][0], self.min_vert[obj_id][1],
self.min_vert[obj_id][2])
glUniform3f(1, self.max_vert[obj_id][0], self.max_vert[obj_id][1],
self.max_vert[obj_id][2])
glDrawArraysInstanced(GL_LINES, 0, 2, 15)
rgb_flipped = np.frombuffer(glReadPixels(0, 0, W, H, GL_RGB,
GL_UNSIGNED_BYTE),
dtype=np.uint8).reshape(H, W, 3)
return np.flipud(rgb_flipped).copy()
def __init__(self,
models_cad_files,
samples=1,
vertex_tmp_store_folder='.',
clamp=False):
self._samples = samples
self._context = gu.OffscreenContext()
# FBO
W, H = Renderer.MAX_FBO_WIDTH, Renderer.MAX_FBO_HEIGHT
self._fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
self._fbo_depth = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
glNamedFramebufferDrawBuffers(
self._fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
glNamedFramebufferDrawBuffers(
self._fbo_depth.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
if self._samples > 1:
self._render_fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.TextureMultisample(self._samples, GL_RGB8, W, H, True),
GL_COLOR_ATTACHMENT1:
gu.TextureMultisample(self._samples, GL_R32F, W, H, True),
GL_DEPTH_STENCIL_ATTACHMENT:
gu.RenderbufferMultisample(self._samples, GL_DEPTH32F_STENCIL8,
W, H)
})
glNamedFramebufferDrawBuffers(
self._render_fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
self._fbo.bind()
# VAO
attributes = gu.geo.load_meshes_sixd(models_cad_files,
vertex_tmp_store_folder,
recalculate_normals=False)
vertices = []
indices = []
for vertex, normal, color, faces in attributes:
indices.append(faces.flatten())
vertices.append(
np.hstack((vertex, normal, color / 255.0)).flatten())
indices = np.hstack(indices).astype(np.uint32)
vertices = np.hstack(vertices).astype(np.float32)
vao = gu.VAO(
{
(gu.Vertexbuffer(vertices), 0, 9 * 4):
[(0, 3, GL_FLOAT, GL_FALSE, 0 * 4),
(1, 3, GL_FLOAT, GL_FALSE, 3 * 4),
(2, 3, GL_FLOAT, GL_FALSE, 6 * 4)]
}, gu.EBO(indices))
vao.bind()
# IBO
vertex_count = [np.prod(vert[3].shape) for vert in attributes]
instance_count = np.ones(len(attributes))
first_index = [
sum(vertex_count[:i]) for i in xrange(len(vertex_count))
]
vertex_sizes = [vert[0].shape[0] for vert in attributes]
base_vertex = [
sum(vertex_sizes[:i]) for i in xrange(len(vertex_sizes))
]
base_instance = np.zeros(len(attributes))
ibo = gu.IBO(vertex_count, instance_count, first_index, base_vertex,
base_instance)
ibo.bind()
gu.Shader.shader_folder = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'shader')
# if clamp:
# shader = gu.Shader('depth_shader_phong.vs', 'depth_shader_phong_clamped.frag')
# else:
shader = gu.Shader('depth_shader_phong.vs', 'depth_shader_phong.frag')
shader.compile_and_use()
self._scene_buffer = gu.ShaderStorage(0, gu.Camera().data, True)
self._scene_buffer.bind()
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 1.0)
def render(self,
obj_id,
W,
H,
K,
R,
t,
near,
far,
random_light=False,
phong={
'ambient': 0.4,
'diffuse': 0.8,
'specular': 0.3
}):
assert W <= Renderer.MAX_FBO_WIDTH and H <= Renderer.MAX_FBO_HEIGHT
if self._samples > 1:
self._render_fbo.bind()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT
| GL_STENCIL_BUFFER_BIT)
glViewport(0, 0, W, H)
camera = gu.Camera()
camera.realCamera(W, H, K, R, t, near, far)
self._scene_buffer.update(camera.data)
# print phong
if random_light:
self.set_light_pose(1000. * np.random.random(3))
self.set_ambient_light(phong['ambient'])
self.set_diffuse_light(phong['diffuse'] + 0.1 *
(2 * np.random.rand() - 1))
self.set_specular_light(phong['specular'] + 0.1 *
(2 * np.random.rand() - 1))
# self.set_ambient_light(phong['ambient'])
# self.set_diffuse_light(0.7)
# self.set_specular_light(0.3)
else:
self.set_light_pose(np.array([400., 400., 400]))
self.set_ambient_light(phong['ambient'])
self.set_diffuse_light(phong['diffuse'])
self.set_specular_light(phong['specular'])
# self.set_ambient_light(0.4)
# self.set_diffuse_light(0.7)
# self.set_ambient_light(0.5)
# self.set_diffuse_light(0.4)
# self.set_specular_light(0.1)
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT,
ctypes.c_void_p(obj_id * 4 * 5))
# if self._samples > 1:
# for i in xrange(2):
# glNamedFramebufferReadBuffer(self._render_fbo.id, GL_COLOR_ATTACHMENT0 + i)
# glNamedFramebufferDrawBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0 + i)
# glBlitNamedFramebuffer(self._render_fbo.id, self._fbo.id, 0, 0, W, H, 0, 0, W, H, GL_COLOR_BUFFER_BIT, GL_NEAREST)
# self._fbo.bind()
if self._samples > 1:
self._fbo.bind()
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glNamedFramebufferDrawBuffer(self._fbo.id, GL_COLOR_ATTACHMENT1)
glDrawElementsIndirect(GL_TRIANGLES, GL_UNSIGNED_INT,
ctypes.c_void_p(obj_id * 4 * 5))
glNamedFramebufferReadBuffer(self._render_fbo.id,
GL_COLOR_ATTACHMENT0)
glNamedFramebufferDrawBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0)
glBlitNamedFramebuffer(self._render_fbo.id, self._fbo.id, 0, 0, W,
H, 0, 0, W, H, GL_COLOR_BUFFER_BIT,
GL_NEAREST)
glNamedFramebufferDrawBuffers(
self._fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT0)
bgr_flipped = np.frombuffer(glReadPixels(0, 0, W, H, GL_BGR,
GL_UNSIGNED_BYTE),
dtype=np.uint8).reshape(H, W, 3)
bgr = np.flipud(bgr_flipped).copy()
glNamedFramebufferReadBuffer(self._fbo.id, GL_COLOR_ATTACHMENT1)
depth_flipped = glReadPixels(0, 0, W, H, GL_RED,
GL_FLOAT).reshape(H, W)
depth = np.flipud(depth_flipped).copy()
return bgr, depth
)
vao.bind()
ibo.bind(GL_DRAW_INDIRECT_BUFFER)
path = '/home/dimitri/Desktop/kittens-cat-cat-puppy-rush-45170.jpeg'
import glob
paths = glob.glob('/home/dimitri/Pictures/*.png')[:2]
tex = gu.build_textures(paths)
texture_buffer = gu.build_texture_buffer(*tex)
camera = gu.Camera()
camera.lookAt((0,0,0.5),(0,0,-1), (0,1,0))
scene_buffer = gu.Buffer(
camera.data,
GL_DYNAMIC_STORAGE_BIT|GL_MAP_WRITE_BIT|GL_MAP_PERSISTENT_BIT
)
scene_buffer.bind_range(GL_SHADER_STORAGE_BUFFER, 0)
texture_buffer.bind_range(GL_SHADER_STORAGE_BUFFER, 1)
glClear(GL_COLOR_BUFFER_BIT)
while window.is_open():
camera.projection(fov=np.pi*0.2, aspect=float(H)/float(W), near=0.1, far=1000)
def __init__(self,
models_cad_files,
samples,
W,
H,
vertex_tmp_store_folder='.',
debug_mode=False):
self.W, self.H = W, H
self._context = gu.OffscreenContext()
self._samples = 1
self._rgb_tex = gu.Texture(GL_TEXTURE_2D, 1, GL_RGB32F, self.W, self.H)
self._rgb_tex.setFilter(GL_NEAREST, GL_NEAREST)
self._rgb_tex.setWrap(GL_CLAMP_TO_EDGE, GL_CLAMP_TO_EDGE)
self._edge_tex = gu.Texture(GL_TEXTURE_2D, 1, GL_RGB32F, self.W,
self.H)
self._edge_tex.setFilter(GL_NEAREST, GL_NEAREST)
self._edge_tex.setWrap(GL_CLAMP_TO_EDGE, GL_CLAMP_TO_EDGE)
# TEXTURE BUFFER
handles = [self._rgb_tex.makeResident(), self._edge_tex.makeResident()]
self._material_buffer = gu.ShaderStorage(
2, np.array(handles, dtype=np.uint64), False)
self._material_buffer.bind()
self._fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
self._rgb_tex,
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT24, self.W, self.H)
})
# FOR GRADIENTS
if debug_mode:
self._gradient_fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, self.W, self.H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB32F, self.W, self.H),
GL_COLOR_ATTACHMENT2:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB32F, self.W, self.H)
})
glNamedFramebufferDrawBuffers(
self._gradient_fbo.id, 3,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1,
GL_COLOR_ATTACHMENT2),
dtype=np.uint32))
else:
self._gradient_fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB32F, self.W, self.H)
})
# VAO
vert_norms = gu.geo.load_meshes(models_cad_files,
vertex_tmp_store_folder,
recalculate_normals=True)
vertices = np.empty(0, dtype=np.float32)
self.min_vert = {}
self.max_vert = {}
for obj_id, vert_norm in enumerate(vert_norms):
vertices = np.hstack(
(vertices, np.hstack(
(vert_norm[0], vert_norm[1])).reshape(-1)))
# if obj==obj_id:
self.min_vert[obj_id] = np.min(vert_norm[0], axis=0)
self.max_vert[obj_id] = np.max(vert_norm[0], axis=0)
print self.min_vert, self.max_vert
vao = gu.VAO({
(gu.Vertexbuffer(vertices), 0, 6 * 4):
[(0, 3, GL_FLOAT, GL_FALSE, 0 * 4),
(1, 3, GL_FLOAT, GL_FALSE, 3 * 4)]
})
vao.bind()
# IBO
sizes = [vert[0].shape[0] for vert in vert_norms]
offsets = [sum(sizes[:i]) for i in xrange(len(sizes))]
ibo = gu.IBO(sizes, np.ones(len(vert_norms)), offsets,
np.zeros(len(vert_norms)))
ibo.bind()
gu.Shader.shader_folder = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'shader')
# self.scene_shader = gu.Shader('common_shader.vs', 'common_shader.frag')
# self.scene_shader.compile()
# self.edge_shader = gu.Shader('screen.vs', 'edge_shader.frag')
# self.edge_shader.compile_and_use()
# glUniform1i(1, 1 if debug_mode else 0)
# self.outline_shader = gu.Shader('screen.vs', 'edge_shader_lineout.frag')
# self.outline_shader.compile()
# self.screen_shader = gu.Shader('screen.vs', 'screen.frag')
# self.screen_shader.compile()
self.line_shader = gu.Shader('line.vs', 'line.frag')
self.line_shader.compile()
self._scene_buffer = gu.ShaderStorage(0, gu.Camera().data, True)
self._scene_buffer.bind()
glClearColor(0.0, 0.0, 0.0, 1.0)
self.camera = gu.Camera()
self.debug_mode = debug_mode
glLineWidth(3)
def __init__(self,
models_cad_files,
samples=1,
vertex_tmp_store_folder='.',
vertex_scale=1.):
self._samples = samples
self._context = gu.OffscreenContext()
# FBO
W, H = Renderer.MAX_FBO_WIDTH, Renderer.MAX_FBO_HEIGHT
self._fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
self._fbo_depth = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.Texture(GL_TEXTURE_2D, 1, GL_RGB8, W, H),
GL_COLOR_ATTACHMENT1:
gu.Texture(GL_TEXTURE_2D, 1, GL_R32F, W, H),
GL_DEPTH_ATTACHMENT:
gu.Renderbuffer(GL_DEPTH_COMPONENT32F, W, H)
})
glNamedFramebufferDrawBuffers(
self._fbo.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
glNamedFramebufferDrawBuffers(
self._fbo_depth.id, 2,
np.array((GL_COLOR_ATTACHMENT0, GL_COLOR_ATTACHMENT1),
dtype=np.uint32))
if self._samples > 1:
self._render_fbo = gu.Framebuffer({
GL_COLOR_ATTACHMENT0:
gu.TextureMultisample(self._samples, GL_RGB8, W, H, True),
GL_DEPTH_ATTACHMENT:
gu.RenderbufferMultisample(self._samples,
GL_DEPTH_COMPONENT32F, W, H)
})
# VAO
vert_norms = gu.geo.load_meshes(models_cad_files,
vertex_tmp_store_folder,
recalculate_normals=True)
vertices = np.empty(0, dtype=np.float32)
for vert_norm in vert_norms:
_verts = vert_norm[0] * vertex_scale
vertices = np.hstack((vertices, np.hstack(
(_verts, vert_norm[1])).reshape(-1)))
vao = gu.VAO({
(gu.Vertexbuffer(vertices), 0, 6 * 4):
[(0, 3, GL_FLOAT, GL_FALSE, 0 * 4),
(1, 3, GL_FLOAT, GL_FALSE, 3 * 4)]
})
sizes = [vert[0].shape[0] for vert in vert_norms]
offsets = [sum(sizes[:i]) for i in xrange(len(sizes))]
ibo = gu.IBO(sizes, np.ones(len(vert_norms)), offsets,
np.zeros(len(vert_norms)))
gu.Shader.shader_folder = os.path.join(
os.path.dirname(os.path.abspath(__file__)), 'shader')
shader = gu.Shader('cad_shader.vs', 'cad_shader.frag')
shader.compile()
self._scene_buffer = gu.ShaderStorage(0, gu.Camera().data, True)
self._fbo.bind()
self._scene_buffer.bind()
vao.bind()
ibo.bind()
shader.use()
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 1.0)
