def draw(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
Scale = 50
Offset = -0.5
gl.glPushMatrix()
gl.glRotate(self.RotateAngle, 0, 1, 0)
gl.glScale(Scale, Scale, Scale)
gl.glTranslate(Offset, Offset, Offset)
for Idx, m in enumerate(self.Models):
if self.activeModelIdx != self.nModels:
if Idx != self.activeModelIdx:
continue
if self.isDrawMesh:
self.OBJLoaders[Idx].draw(self.PointSize)
if self.isDrawPoints:
self.Models[Idx].draw(self.PointSize)
if self.isDrawBB:
self.Models[Idx].drawBB()
if self.isDrawNOCSCube:
drawing.drawUnitWireCube(5.0, True)
gl.glPopMatrix()
gl.glPopMatrix()
def drawNOCS(self, lineWidth=2.0, ScaleX=1, ScaleY=1, ScaleZ=1, OffsetX=0, OffsetY=0, OffsetZ=0):
gl.glPushMatrix()
gl.glScale(ScaleX, ScaleY, ScaleZ)
gl.glTranslate(OffsetX, OffsetY, OffsetZ) # Center on cube center
drawing.drawUnitWireCube(lineWidth, True)
gl.glPopMatrix()
def drawBB(self, LineWidth = 1):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
gl.glTranslate(self.BBCenter[0], self.BBCenter[1], self.BBCenter[2])
gl.glScale(self.BBSize[0], self.BBSize[1], self.BBSize[2])
gl.glTranslate(-0.5, -0.5, -0.5) # Move box origin to center
drawing.drawUnitWireCube(LineWidth, False)
gl.glPopMatrix()
def draw(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
Scale = 50
Offset = -0.5
gl.glPushMatrix()
gl.glRotate(self.RotateAngle, 0, 1, 0)
gl.glScale(Scale, Scale, Scale)
gl.glTranslate(Offset, Offset, Offset)
if self.isDrawMesh:
self.OBJLoader.draw(self.PointSize)
if self.isDrawPoints:
self.ModelPoints.draw(self.PointSize)
if self.isDrawNOCSCube:
drawing.drawUnitWireCube(5.0, True)
gl.glPopMatrix()
gl.glPopMatrix()
def drawCamera(self, R, C, isF = False, Color=None):
gl.glPushMatrix()
ScaleRotMat = np.identity(4)
ScaleRotMat[:3, :3] = R
gl.glTranslate(C[0], C[1], C[2])
gl.glMultMatrixf(ScaleRotMat)
if isF:
gl.glRotate(180, 1, 0, 0)
Length = 5
CubeSide = 0.1
gl.glPushMatrix()
gl.glScale(CubeSide, CubeSide, CubeSide/2)
gl.glTranslate(-0.5, -0.5, -0.5)
drawing.drawUnitWireCube(1.0, WireColor=(0, 0, 0))
gl.glPopMatrix()
gl.glPushAttrib(gl.GL_LINE_BIT)
gl.glLineWidth(1.0)
gl.glPushAttrib(gl.GL_ENABLE_BIT)
gl.glLineStipple(1, 0xAAAA) # [1]
gl.glEnable(gl.GL_LINE_STIPPLE)
gl.glBegin(gl.GL_LINES)
gl.glColor3f(1.0, 0.0, 0.0)
gl.glVertex3f(0.0, 0.0, 0.0)
gl.glVertex3f(0.0, 0.0, Length) # Always in the negative z
gl.glEnd()
gl.glPopAttrib()
gl.glPopAttrib()
# Offset = 5
#drawing.drawAxes(Offset + 0.2, Color=Color)
gl.glPopMatrix()
def draw(self):
gl.glMatrixMode(gl.GL_MODELVIEW)
gl.glPushMatrix()
ScaleFact = 1000
gl.glScale(ScaleFact, ScaleFact, ScaleFact)
if self.draw_cubes:
drawing.drawUnitWireCube(2.0, False, WireColor=(0.0, 1.0, 0.0))
gl.glPushMatrix()
gl.glTranslate(1.0, 0.0, 0.0)
drawing.drawUnitWireCube(2.0, False, WireColor=(1.0, 0.0, 0.0))
gl.glPopMatrix()
if self.draw_all:
for frame_idx in range(self.num_frames_per_seq):
for seq_idx in range(self.num_seq):
self.pt_set_seq[seq_idx][frame_idx].draw(self.PointSize)
else:
if self.cur_seq == self.num_seq:
for seq_idx in range(self.num_seq):
self.pt_set_seq[seq_idx][self.cur_frame].draw(
self.PointSize)
elif self.cur_seq < self.num_seq:
self.pt_set_seq[self.cur_seq][self.cur_frame].draw(
self.PointSize)
if self.cameras is not None:
draw_frames = [self.cur_frame]
if self.draw_all:
draw_frames = range(self.num_frames_per_seq)
for cam_frame_idx in draw_frames:
for cam_idx in range(len(self.cameras)):
self.cameras[cam_idx][cam_frame_idx].draw(
Color=self.cam_colors[cam_idx % len(self.cam_colors)],
CubeSide=-0.2,
isDrawDir=True,
Length=0.3)
# draw cam traj
for cam_idx in range(len(self.cameras)):
for cam_frame_idx in range(len(self.cameras[cam_idx]) - 1):
self.drawLine(self.cameras[cam_idx][cam_frame_idx].Extrinsics.Translation, self.cameras[cam_idx][cam_frame_idx+1].Extrinsics.Translation, \
Color=self.cam_colors[cam_idx % len(self.cam_colors)], LineWidth=1.0)
gl.glPopMatrix()
if self.take_ss:
x, y, width, height = gl.glGetIntegerv(gl.GL_VIEWPORT)
# print("Screenshot viewport:", x, y, width, height)
gl.glPixelStorei(gl.GL_PACK_ALIGNMENT, 1)
data = gl.glReadPixels(x, y, width, height, gl.GL_RGBA,
gl.GL_UNSIGNED_BYTE)
SS = np.frombuffer(data, dtype=np.uint8)
SS = np.reshape(SS, (height, width, 4))
SS = cv2.flip(SS, 0)
SS = cv2.cvtColor(SS, cv2.COLOR_BGRA2RGBA)
ss_out_path = os.path.join(
self.out_path,
'screenshot_' + str(self.ss_ctr).zfill(6) + '.png')
cv2.imwrite(ss_out_path, SS)
self.ss_ctr = self.ss_ctr + 1
self.take_ss = False
print('[ INFO ]: Done saving.')
sys.stdout.flush()
