def gl_display(self):
from math import floor
if self.depth_window is not None and glfw.glfwWindowShouldClose(
self.depth_window):
glfw.glfwDestroyWindow(self.depth_window)
self.depth_window = None
if self.depth_window is not None and self._recent_depth_frame is not None:
active_window = glfw.glfwGetCurrentContext()
glfw.glfwMakeContextCurrent(self.depth_window)
win_size = glfw.glfwGetFramebufferSize(self.depth_window)
gl_utils.adjust_gl_view(win_size[0], win_size[1])
pos = glfw.glfwGetCursorPos(self.depth_window)
if self.mouse_drag:
self.pitch = np.clip(self.pitch + (pos[1] - self.last_pos[1]),
-80, 80)
self.yaw = np.clip(self.yaw - (pos[0] - self.last_pos[0]),
-120, 120)
self.last_pos = pos
glClearColor(0, 0, 0, 0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, win_size[0] / win_size[1], 0.01, 20.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
glTranslatef(0, 0, 0.5)
glRotated(self.pitch, 1, 0, 0)
glRotated(self.yaw, 0, 1, 0)
glTranslatef(0, 0, -0.5)
# glPointSize(2)
glEnable(GL_DEPTH_TEST)
extrinsics = self.device.get_device_extrinsics(
rs_stream.RS_STREAM_DEPTH, rs_stream.RS_STREAM_COLOR)
depth_frame = self._recent_depth_frame
color_frame = self._recent_frame
depth_scale = self.device.depth_scale
glEnableClientState(GL_VERTEX_ARRAY)
pointcloud = self.device.pointcloud
glVertexPointer(3, GL_FLOAT, 0, pointcloud)
glEnableClientState(GL_COLOR_ARRAY)
depth_to_color = np.zeros(
depth_frame.height * depth_frame.width * 3, np.uint8)
rsutilwrapper.project_pointcloud_to_pixel(
depth_to_color,
self.device.depth_intrinsics,
self.device.color_intrinsics,
extrinsics,
pointcloud,
self._recent_frame.bgr,
)
glColorPointer(3, GL_UNSIGNED_BYTE, 0, depth_to_color)
glDrawArrays(GL_POINTS, 0, depth_frame.width * depth_frame.height)
gl_utils.glFlush()
glDisable(GL_DEPTH_TEST)
# gl_utils.make_coord_system_norm_based()
glfw.glfwSwapBuffers(self.depth_window)
glfw.glfwMakeContextCurrent(active_window)
if self.preview_depth and self._recent_depth_frame is not None:
self.g_pool.image_tex.update_from_ndarray(
self._recent_depth_frame.bgr)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
elif self._recent_frame is not None:
self.g_pool.image_tex.update_from_yuv_buffer(
self._recent_frame.yuv_buffer,
self._recent_frame.width,
self._recent_frame.height,
)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
if not self.online:
super().gl_display()
gl_utils.make_coord_system_pixel_based(
(self.frame_size[1], self.frame_size[0], 3))
def gl_display(self):
from math import floor
if self.depth_window is not None and glfw.glfwWindowShouldClose(
self.depth_window
):
glfw.glfwDestroyWindow(self.depth_window)
self.depth_window = None
if self.depth_window is not None and self._recent_depth_frame is not None:
active_window = glfw.glfwGetCurrentContext()
glfw.glfwMakeContextCurrent(self.depth_window)
win_size = glfw.glfwGetFramebufferSize(self.depth_window)
gl_utils.adjust_gl_view(win_size[0], win_size[1])
pos = glfw.glfwGetCursorPos(self.depth_window)
if self.mouse_drag:
self.pitch = np.clip(self.pitch + (pos[1] - self.last_pos[1]), -80, 80)
self.yaw = np.clip(self.yaw - (pos[0] - self.last_pos[0]), -120, 120)
self.last_pos = pos
glClearColor(0, 0, 0, 0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
gluPerspective(60, win_size[0] / win_size[1], 0.01, 20.0)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
glTranslatef(0, 0, 0.5)
glRotated(self.pitch, 1, 0, 0)
glRotated(self.yaw, 0, 1, 0)
glTranslatef(0, 0, -0.5)
# glPointSize(2)
glEnable(GL_DEPTH_TEST)
extrinsics = self.device.get_device_extrinsics(
rs_stream.RS_STREAM_DEPTH, rs_stream.RS_STREAM_COLOR
)
depth_frame = self._recent_depth_frame
color_frame = self._recent_frame
depth_scale = self.device.depth_scale
glEnableClientState(GL_VERTEX_ARRAY)
pointcloud = self.device.pointcloud
glVertexPointer(3, GL_FLOAT, 0, pointcloud)
glEnableClientState(GL_COLOR_ARRAY)
depth_to_color = np.zeros(
depth_frame.height * depth_frame.width * 3, np.uint8
)
rsutilwrapper.project_pointcloud_to_pixel(
depth_to_color,
self.device.depth_intrinsics,
self.device.color_intrinsics,
extrinsics,
pointcloud,
self._recent_frame.bgr,
)
glColorPointer(3, GL_UNSIGNED_BYTE, 0, depth_to_color)
glDrawArrays(GL_POINTS, 0, depth_frame.width * depth_frame.height)
gl_utils.glFlush()
glDisable(GL_DEPTH_TEST)
# gl_utils.make_coord_system_norm_based()
glfw.glfwSwapBuffers(self.depth_window)
glfw.glfwMakeContextCurrent(active_window)
if self.preview_depth and self._recent_depth_frame is not None:
self.g_pool.image_tex.update_from_ndarray(self._recent_depth_frame.bgr)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
elif self._recent_frame is not None:
self.g_pool.image_tex.update_from_yuv_buffer(
self._recent_frame.yuv_buffer,
self._recent_frame.width,
self._recent_frame.height,
)
gl_utils.glFlush()
gl_utils.make_coord_system_norm_based()
self.g_pool.image_tex.draw()
if not self.online:
super().gl_display()
gl_utils.make_coord_system_pixel_based(
(self.frame_size[1], self.frame_size[0], 3)
)