def __init__(self, distmesh, vel, flow, nx, im1, cuda, eps_Z, eps_J, eps_M, labels, labels_hess, Q, showtracking = False, force = None, multi = True):
self.Q = Q
self.cuda = cuda
self.showtracking = showtracking
self.force = force
self.fmin = -.5
self.fmax = .5
self.activeface = 0
self.state = 'texture'
self.tri = distmesh.t
self.I = len(self.tri)
self.F = len(self.tri)
self.n = distmesh.p.shape[0]
title = 'Hydra tracker. Displaying %s state (space to toggle)' % self.state
size = (nx, nx)
app.Canvas.__init__(self, keys='interactive', title = title, show = showtracking, size=size, resizable=False)
self.indices_buffer, self.outline_buffer, self.vertex_data, self.quad_data, self.quad_buffer, self.l0 = self.loadMesh(distmesh.p, vel, distmesh.t, nx, labels, labels_hess)
self.l = self.l0.copy()
self._vbo = gloo.VertexBuffer(self.vertex_data)
self._quad = gloo.VertexBuffer(self.quad_data)
self.current_frame = im1
self.current_texture = gloo.Texture2D(im1)
self.init_texture = gloo.Texture2D(im1)
self.current_flowx = flow[:,:,0]
self.current_flowy = flow[:,:,1]
self.current_fx_texture = gloo.Texture2D(flow[:,:,0], format="luminance", internalformat="r32f")
self.current_fy_texture = gloo.Texture2D(flow[:,:,1], format="luminance", internalformat="r32f")
#Setup programs
self._program = gloo.Program(VERT_SHADER, FRAG_SHADER)
self._program['texture1'] = self.init_texture
self._program.bind(self._vbo)
#self._program_lines = gloo.Program(VERT_SHADER, FRAG_SHADER_LINES)
self._program_lines = gloo.Program(VERT_SHADER, frag_shader_lines(self.I))
#for i in range(self.I):
# self._program_lines[u'u_colors[%d]'%i] = tuple(self.linecolors[i,:])
self._program_lines['texture1'] = self.linecolors.astype(np.uint8)
self._program_lines.bind(self._vbo)
self._program_flowx = gloo.Program(VERT_SHADER, FRAG_SHADER_FLOWX)
self._program_flowx['u_color'] = 1, 0, 0, 1
self._program_flowx.bind(self._vbo)
self._program_flowy = gloo.Program(VERT_SHADER, FRAG_SHADER_FLOWY)
self._program_flowy['u_color'] = 1, 0, 0, 1
self._program_flowy.bind(self._vbo)
self._program_flow = gloo.Program(VERT_SHADER, FRAG_SHADER_FLOW)
self._program_flow['u_color'] = 0, 1, 0, 1
self._program_flow.bind(self._vbo)
self._program_red = gloo.Program(VERT_SHADER, FRAG_SHADER_RED)
self._program_green = gloo.Program(VERT_SHADER, FRAG_SHADER_GREEN)
self._program_mask = gloo.Program(VERT_SHADER, frag_shader_mask(self.F))
self._program_mask['u_colors'] = np.squeeze(self.facecolors[:,:,0])
self._program_mask.bind(self._vbo)
self._program_outline = gloo.Program(VERT_SHADER, frag_shader_lines(self.I))
self._program_outline.bind(self._vbo)
self._setoutlinecolors()
#Create FBOs, attach the color buffer and depth buffer
self.shape = (nx, nx)
self._rendertex1 = gloo.Texture2D((self.shape + (1,)), format="luminance", internalformat="r8")
self._rendertex2 = gloo.Texture2D((self.shape + (1,)), format="luminance", internalformat="r32f")
self._rendertex3 = gloo.Texture2D((self.shape + (1,)), format="luminance", internalformat="r32f")
#No straightforward 1 bit texture support... possibly can do with some tricks, but also
#possibly not worth it.
self._rendertex4 = gloo.Texture2D((self.shape + (4,)), format="rgba", internalformat="rgba")
self._fbo1 = gloo.FrameBuffer(self._rendertex1, gloo.RenderBuffer(self.shape))
self._fbo2 = gloo.FrameBuffer(self._rendertex2, gloo.RenderBuffer(self.shape))
self._fbo3 = gloo.FrameBuffer(self._rendertex3, gloo.RenderBuffer(self.shape))
self._fbo4 = gloo.FrameBuffer(self._rendertex4, gloo.RenderBuffer(self.shape))
#import rpdb2
#rpdb2.start_embedded_debugger("asdf")
#gloo.set_viewport(0, 0, nx, nx)
#tm.kf.state.renderer._backend._vispy_set_size(1000,1000)
#self._backend._vispy_set_size(*size)
#gloo.set_viewport(0, 0, *size)
gloo.set_clear_color('black')
self._timer = app.Timer('auto', connect=self.update, start=True)
if showtracking:
self.show()
gloo.set_viewport(0, 0, *size)
self.render()
self.draw(None)
#print self._rendertex1.id
#print self.context.shared._parser._objects
a=self.context.shared._parser.get_object(self._rendertex1.id)._handle
b=self.context.shared._parser.get_object(self._rendertex2.id)._handle
c=self.context.shared._parser.get_object(self._rendertex3.id)._handle
d=self.context.shared._parser.get_object(self._rendertex4.id)._handle
if multi:
self.cudagl = CUDAGL_multi(self._rendertex1, self._rendertex2, self._rendertex3, self._rendertex4, self._fbo1, self._fbo2, self._fbo3, self._fbo4, a, b, c, d, eps_Z, eps_J, eps_M, cuda, self.n, len(self.Q))
else:
self.cudagl = CUDAGL(self._rendertex1, self._rendertex2, self._rendertex3, self._rendertex4, self._fbo1, self._fbo2, self._fbo3, self._fbo4, a, b, c, d, eps_Z, eps_J, eps_M, cuda)
class Renderer(app.Canvas):
def __init__(self, distmesh, vel, flow, nx, im1, cuda, eps_Z, eps_J, eps_M, labels, labels_hess, Q, showtracking = False, force = None, multi = True):
self.Q = Q
self.cuda = cuda
self.showtracking = showtracking
self.force = force
self.fmin = -.5
self.fmax = .5
self.activeface = 0
self.state = 'texture'
self.tri = distmesh.t
self.I = len(self.tri)
self.F = len(self.tri)
self.n = distmesh.p.shape[0]
title = 'Hydra tracker. Displaying %s state (space to toggle)' % self.state
size = (nx, nx)
app.Canvas.__init__(self, keys='interactive', title = title, show = showtracking, size=size, resizable=False)
self.indices_buffer, self.outline_buffer, self.vertex_data, self.quad_data, self.quad_buffer, self.l0 = self.loadMesh(distmesh.p, vel, distmesh.t, nx, labels, labels_hess)
self.l = self.l0.copy()
self._vbo = gloo.VertexBuffer(self.vertex_data)
self._quad = gloo.VertexBuffer(self.quad_data)
self.current_frame = im1
self.current_texture = gloo.Texture2D(im1)
self.init_texture = gloo.Texture2D(im1)
self.current_flowx = flow[:,:,0]
self.current_flowy = flow[:,:,1]
self.current_fx_texture = gloo.Texture2D(flow[:,:,0], format="luminance", internalformat="r32f")
self.current_fy_texture = gloo.Texture2D(flow[:,:,1], format="luminance", internalformat="r32f")
#Setup programs
self._program = gloo.Program(VERT_SHADER, FRAG_SHADER)
self._program['texture1'] = self.init_texture
self._program.bind(self._vbo)
#self._program_lines = gloo.Program(VERT_SHADER, FRAG_SHADER_LINES)
self._program_lines = gloo.Program(VERT_SHADER, frag_shader_lines(self.I))
#for i in range(self.I):
# self._program_lines[u'u_colors[%d]'%i] = tuple(self.linecolors[i,:])
self._program_lines['texture1'] = self.linecolors.astype(np.uint8)
self._program_lines.bind(self._vbo)
self._program_flowx = gloo.Program(VERT_SHADER, FRAG_SHADER_FLOWX)
self._program_flowx['u_color'] = 1, 0, 0, 1
self._program_flowx.bind(self._vbo)
self._program_flowy = gloo.Program(VERT_SHADER, FRAG_SHADER_FLOWY)
self._program_flowy['u_color'] = 1, 0, 0, 1
self._program_flowy.bind(self._vbo)
self._program_flow = gloo.Program(VERT_SHADER, FRAG_SHADER_FLOW)
self._program_flow['u_color'] = 0, 1, 0, 1
self._program_flow.bind(self._vbo)
self._program_red = gloo.Program(VERT_SHADER, FRAG_SHADER_RED)
self._program_green = gloo.Program(VERT_SHADER, FRAG_SHADER_GREEN)
self._program_mask = gloo.Program(VERT_SHADER, frag_shader_mask(self.F))
self._program_mask['u_colors'] = np.squeeze(self.facecolors[:,:,0])
self._program_mask.bind(self._vbo)
self._program_outline = gloo.Program(VERT_SHADER, frag_shader_lines(self.I))
self._program_outline.bind(self._vbo)
self._setoutlinecolors()
#Create FBOs, attach the color buffer and depth buffer
self.shape = (nx, nx)
self._rendertex1 = gloo.Texture2D((self.shape + (1,)), format="luminance", internalformat="r8")
self._rendertex2 = gloo.Texture2D((self.shape + (1,)), format="luminance", internalformat="r32f")
self._rendertex3 = gloo.Texture2D((self.shape + (1,)), format="luminance", internalformat="r32f")
#No straightforward 1 bit texture support... possibly can do with some tricks, but also
#possibly not worth it.
self._rendertex4 = gloo.Texture2D((self.shape + (4,)), format="rgba", internalformat="rgba")
self._fbo1 = gloo.FrameBuffer(self._rendertex1, gloo.RenderBuffer(self.shape))
self._fbo2 = gloo.FrameBuffer(self._rendertex2, gloo.RenderBuffer(self.shape))
self._fbo3 = gloo.FrameBuffer(self._rendertex3, gloo.RenderBuffer(self.shape))
self._fbo4 = gloo.FrameBuffer(self._rendertex4, gloo.RenderBuffer(self.shape))
#import rpdb2
#rpdb2.start_embedded_debugger("asdf")
#gloo.set_viewport(0, 0, nx, nx)
#tm.kf.state.renderer._backend._vispy_set_size(1000,1000)
#self._backend._vispy_set_size(*size)
#gloo.set_viewport(0, 0, *size)
gloo.set_clear_color('black')
self._timer = app.Timer('auto', connect=self.update, start=True)
if showtracking:
self.show()
gloo.set_viewport(0, 0, *size)
self.render()
self.draw(None)
#print self._rendertex1.id
#print self.context.shared._parser._objects
a=self.context.shared._parser.get_object(self._rendertex1.id)._handle
b=self.context.shared._parser.get_object(self._rendertex2.id)._handle
c=self.context.shared._parser.get_object(self._rendertex3.id)._handle
d=self.context.shared._parser.get_object(self._rendertex4.id)._handle
if multi:
self.cudagl = CUDAGL_multi(self._rendertex1, self._rendertex2, self._rendertex3, self._rendertex4, self._fbo1, self._fbo2, self._fbo3, self._fbo4, a, b, c, d, eps_Z, eps_J, eps_M, cuda, self.n, len(self.Q))
else:
self.cudagl = CUDAGL(self._rendertex1, self._rendertex2, self._rendertex3, self._rendertex4, self._fbo1, self._fbo2, self._fbo3, self._fbo4, a, b, c, d, eps_Z, eps_J, eps_M, cuda)
#print self.size
#self._backend._vispy_set_size(*size)
#print self.size
def __del__(self):
print 'Deleting renderer'
del self.cudagl
self.close()
def on_resize(self, event):
width, height = event.physical_size
#gloo.set_viewport(0, 0, width, height)
def render(self):
#Render the current positions to FBO1
with self._fbo1:
gloo.clear()
self._program.draw('triangles', self.indices_buffer)
#Render the current velocities to FBO2
with self._fbo2:
gloo.clear()
self._program_flowx.draw('triangles', self.indices_buffer)
with self._fbo3:
gloo.clear()
self._program_flowy.draw('triangles', self.indices_buffer)
#Render mask
with self._fbo4:
gloo.clear()
self._program_mask.draw('triangles', self.indices_buffer)
def on_draw(self, event):
self.draw(event)
def _updatemaskpalette(self, colors):
for i in range(len(colors)):
self._program_mask['u_colors[%d]'%i] = colors[i,:]
def _updatelinecolors(self, colors):
self._program_lines['texture1'] = colors.astype(np.uint8)
#for i in range(len(colors)):
# self._program_lines['u_colors[%d]'%i] = colors[i,:]
def _updateoutlinecolors(self, colors):
self._program_outline['texture1'] = colors.astype(np.uint8)
#for i in range(len(colors)):
# self._program_outline['u_colors[%d]'%i] = colors[i,:]
def draw(self, event):
#Turn on additive blending
gloo.set_state('additive')
gloo.clear()
#Summary render to main screen
if self.state == 'texture' or self.state == 'raw':
self._program.draw('triangles', self.indices_buffer)
elif self.state == 'flow':
self._program_flow.bind(self._vbo)
self._program_flow.draw('triangles', self.indices_buffer)
elif self.state == 'mask':
self._program_mask.bind(self._vbo)
#self._updatemaskpalette(np.squeeze(self.randfacecolors[:,:,0]))
#self._updatemaskpalette(np.squeeze(self.randhessfacecolors[:,:,1]))
self._updatemaskpalette(np.squeeze(self.hessfacecolors[:,:,1]))
#print self._program_mask['u_colors']#self.randfacecolors[:,:,0]
self._program_mask.draw('triangles', self.indices_buffer)
elif self.state == 'overlay':
self._program_red['texture1'] = self.current_texture
self._program_red.bind(self._quad)
self._program_red.draw('triangles', self.quad_buffer)
self._program_green.bind(self._vbo)
self._program_green['texture1'] = self.init_texture
self._program_green.draw('triangles', self.indices_buffer)
else:
self._program_outline.bind(self._vbo)
self._program_outline.draw('lines', self.outline_buffer)
#Draw wireframe, too
if self.state != 'raw' and self.state != 'outline':
self._program_lines.draw('lines', self.outline_buffer)
def on_key_press(self, event):
if event.key in [' ']:
if self.state == 'flow':
self.state = 'raw'
elif self.state == 'raw':
self.state = 'overlay'
elif self.state == 'overlay':
self.state = 'texture'
elif self.state == 'texture':
self.state = 'mask'
elif self.state == 'mask':
self.state = 'outline'
else:
self.state = 'flow'
self.title = 'Hydra tracker. Displaying %s state (space to toggle, q to quit).' % self.state
if self.state == 'outline':
self.title += ' Face: %d' % self.activeface
self.update()
#Shift the active face around a bit...
if event.key in ['a', 's', 'd', 'w']:
vertices = self.vertices
[t1, t2, t3] = self.tri[self.activeface,:]
if event.key in ['a']:
vertices[t1,0] -= 2
vertices[t2,0] -= 2
vertices[t3,0] -= 2
if event.key in ['d']:
vertices[t1,0] += 2
vertices[t2,0] += 2
vertices[t3,0] += 2
if event.key in ['w']:
vertices[t1,1] -= 2
vertices[t2,1] -= 2
vertices[t3,1] -= 2
if event.key in ['s']:
vertices[t1,1] += 2
vertices[t2,1] += 2
vertices[t3,1] += 2
self.update_vertex_buffer(vertices, self.velocities, 1)
if event.key in ['h']:
self.screenshot()
if event.key in ['q']:
self.cudagl._destroy_PBOs()
self.close()
if event.key in ['t']:
self.activeface += 1
if self.activeface >= len(self.tri):
self.activeface = 0
self._setoutlinecolors()
def _setoutlinecolors(self):
for idx in range(len(self.tri)):
if idx == self.activeface:
o = [255, 0, 0, 255]
else:
o = [0, 255, 0, 128]
self.outlinecolors[idx,:] = o
self._updateoutlinecolors(self.outlinecolors)
def screenshot(self, saveall = False, basename = 'screenshot'):
with self._fbo2:
print 'saving flowx'
pixels = gloo.read_pixels(out_type = np.float32)[:,:,0]
fn = './' + basename + '_flowx_' + strftime("%Y-%m-%d_%H:%M:%S", gmtime()) + '.png'
#print np.max(pixels)
cv2.imwrite(fn, (255.*(pixels-np.min(pixels))/(np.max(pixels)-np.min(pixels))).astype(int))
with self._fbo3:
print 'saving flowy'
pixels = gloo.read_pixels(out_type = np.float32)[:,:,0]
fn = './' + basename + '_flowy_' + strftime("%Y-%m-%d_%H:%M:%S", gmtime()) + '.png'
cv2.imwrite(fn, (255.*(pixels-np.min(pixels))/(np.max(pixels)-np.min(pixels))).astype(int))
if not saveall:
pixels = gloo.read_pixels()
pixels = cv2.cvtColor(pixels, cv2.COLOR_BGRA2RGBA)
fn = './' + basename + '_' + self.state + '_' + strftime("%Y-%m-%d_%H:%M:%S", gmtime()) + '.png'
print 'Saving screenshot to ' + fn
cv2.imwrite(fn, pixels)
return None
else:
oldstate = self.state
#self._updatemaskpalette(np.squeeze(self.randfacecolors[:,:,0]))
self._updatemaskpalette(np.squeeze(self.hessfacecolors[:,:,1]))
#change render mode, rerender, and save
#for state in ['flow', 'raw', 'overlay', 'texture']:
for state in ['raw', 'overlay', 'texture', 'mask']:
print 'saving', state
self.state = state
self._updatemaskpalette(np.squeeze(self.hessfacecolors[:,:,1]))
self.draw(None)
pixels = gloo.read_pixels()
pixels = cv2.cvtColor(pixels, cv2.COLOR_BGRA2RGBA)
if state == 'overlay':
overlay = pixels
fn = './' + basename + '_' + state + '_' + strftime("%Y-%m-%d_%H:%M:%S", gmtime()) + '.png'
#print 'Saving screenshot to ' + fn
cv2.imwrite(fn, pixels)
self.state = oldstate
self.update()
return overlay
def getpredimg(self):
oldstate = self.state
self.state = 'raw'
self.draw(None)
pixels = gloo.read_pixels()
self.state = oldstate
return pixels
def error(self, state, y_im, y_flow, y_m):
state.refresh()
state.render()
with self._fbo1:
pixels = gloo.read_pixels()
with self._fbo2:
fx = gloo.read_pixels(out_type = np.float32)
with self._fbo3:
fy = gloo.read_pixels(out_type = np.float32)
with self._fbo4:
m = gloo.read_pixels()
e_im = np.sum(np.multiply(y_im-pixels[:,:,0], y_im-pixels[:,:,0]))
e_fx = np.sum(np.multiply(y_flow[:,:,0]-fx[:,:,0], y_flow[:,:,0]-fx[:,:,0]))
e_fy = np.sum(np.multiply(y_flow[:,:,1]+fy[:,:,0], y_flow[:,:,1]+fy[:,:,0]))
e_m = np.sum(np.multiply(255*y_m-m[:,:,0], 255*y_m-m[:,:,0]))
return e_im, e_fx, e_fy, e_m, fx, fy
def update_vertex_buffer(self, vertices, velocities, multi_idx = -1, hess = False):
self.vertices = vertices
self.velocities = velocities
verdata = np.zeros((self.nP,3))
veldata = np.zeros((self.nP,3))
#rescale
verdata[:,0:2] = 2*vertices/self.nx-1
verdata[:,1] = -verdata[:,1]
#veldata[:,0:2] = 2*velocities/self.nx
veldata[:,0:2] = velocities
veldata[:,1] = -veldata[:,1]
self.vertex_data['a_position'] = verdata
self.vertex_data['a_velocity'] = veldata
self._vbo = gloo.VertexBuffer(self.vertex_data)
self._program.bind(self._vbo)
self._program_lines.bind(self._vbo)
self._program_flowx.bind(self._vbo)
self._program_flowy.bind(self._vbo)
self._program_flow.bind(self._vbo)
self._program_mask.bind(self._vbo)
#Update color of bars if update based on force available
for idx, t in enumerate(self.tri):
if self.force is not None:
#First edge
pt = vertices[t[0],:]-vertices[t[1],:]
self.l[3*idx,0] = np.linalg.norm(pt)
f = self.force(self.l[3*idx,0], self.l0[3*idx,0])
c = (f-self.fmin)/(self.fmax-self.fmin)
c = 255*min(max(c, 0), 1)
self.linecolors[3*idx,:] = [0, 0, c, 255]
#Second edge
pt = vertices[t[1],:]-vertices[t[2],:]
self.l[3*idx+1,0] = np.linalg.norm(pt)
f = self.force(self.l[3*idx+1,0], self.l0[3*idx+1,0])
c = (f-self.fmin)/(self.fmax-self.fmin)
c = min(max(c, 0), 1)
self.linecolors[3*idx+1,:] = [0, 0, c, 255]
#Third edge
pt = vertices[t[2],:]-vertices[t[0],:]
self.l[3*idx+2,0] = np.linalg.norm(pt)
f = self.force(self.l[3*idx+2,0], self.l0[3*idx+2,0])
c = (f-self.fmin)/(self.fmax-self.fmin)
c = min(max(c, 0), 1)
self.linecolors[3*idx+2,:] = [0, 0, c, 255]
#Update uniform data
self._updatelinecolors(self.linecolors)
#self._program_mask['u_colors'] = np.squeeze(self.facecolors[:,:,multi_idx])
if not hess:
self._updatemaskpalette(np.squeeze(self.facecolors[:,:,multi_idx]))
else:
self._updatemaskpalette(np.squeeze(self.hessfacecolors[:,:,multi_idx]))
#Load mesh data
def loadMesh(self, vertices, velocities, triangles, nx, labels, labels_hess):
self.vertices = vertices
self.velocities = velocities
# Create vetices and texture coords, combined in one array for high performance
self.nP = vertices.shape[0]
self.nT = triangles.shape[0]
self.nx = nx
vertex_data = np.zeros(self.nP, dtype=[('a_position', np.float32, 3),
('a_texcoord', np.float32, 2), ('a_velocity', np.float32, 3)])
verdata = np.zeros((self.nP,3))
veldata = np.zeros((self.nP,3))
uvdata = np.zeros((self.nP,2))
outlinedata = np.zeros((self.nT, 6))
#rescale
verdata[:,0:2] = 2*vertices/nx-1
verdata[:,1] = -verdata[:,1]
#veldata[:,0:2] = 2*velocities/nx-1
veldata[:,0:2] = velocities
veldata[:,1] = -veldata[:,1]
uvdata = vertices/nx
vertex_data['a_position'] = verdata
vertex_data['a_texcoord'] = uvdata
vertex_data['a_velocity'] = veldata
indices = triangles.reshape((1,-1)).astype(np.uint16)
indices_buffer = gloo.IndexBuffer(indices)
l0 = np.zeros((3*len(triangles),1))
for idx, t in enumerate(triangles):
outlinedata[idx,0] = t[0]
outlinedata[idx,1] = t[1]
pt = vertices[t[0],:]-vertices[t[1],:]
l0[3*idx,0] = np.linalg.norm(pt)
outlinedata[idx,2] = t[1]
outlinedata[idx,3] = t[2]
pt = vertices[t[1],:]-vertices[t[2],:]
l0[3*idx+1,0] = np.linalg.norm(pt)
outlinedata[idx,4] = t[2]
outlinedata[idx,5] = t[0]
pt = vertices[t[2],:]-vertices[t[0],:]
l0[3*idx+2,0] = np.linalg.norm(pt)
self.linecolors = np.zeros((3*len(triangles),4))
self.linecolors[:,2] = 128
self.linecolors[:,3] = 255
self.outlinecolors = np.zeros((len(triangles),4))
#Setup multiperturbation face colors
self.facecolors = 255*np.ones((len(self.tri), 3, labels.shape[1]+1), dtype=np.uint8)
for i in range(labels.shape[1]):
for idx,t in enumerate(self.tri):
self.facecolors[idx, 1, i] = np.floor_divide(labels[idx,i], 256)
self.facecolors[idx, 2, i] = np.remainder(labels[idx,i], 256)
#Setup multiperturbation face colors, randomized for clearer visualization
randcolors = np.random.rand(len(vertices), 3)
self.randfacecolors = 255*np.ones((len(self.tri), 3, labels.shape[1]+1), dtype=np.uint8)
for i in range(labels.shape[1]):
for idx,t in enumerate(self.tri):
self.randfacecolors[idx, :, i] = 255*randcolors[labels[idx,i],:]
#Setup multiperturbation face colors
self.hessfacecolors = 255*np.ones((len(self.tri), 3, labels_hess.shape[1]+1), dtype=np.uint8)
for i in range(labels_hess.shape[1]):
for idx,t in enumerate(self.tri):
self.hessfacecolors[idx, 1, i] = np.floor_divide(labels_hess[idx,i], 256)
self.hessfacecolors[idx, 2, i] = np.remainder(labels_hess[idx,i], 256)
#Setup multiperturbation face colors
randcolors = np.random.rand(np.max(labels_hess)+1, 3)
self.randhessfacecolors = 255*np.ones((len(self.tri), 3, labels_hess.shape[1]+1), dtype=np.uint8)
for i in range(labels_hess.shape[1]):
for idx,t in enumerate(self.tri):
self.randhessfacecolors[idx, :, i] = 255*randcolors[labels_hess[idx,i],:]
outline = outlinedata.reshape((1,-1)).astype(np.uint16)
outline_buffer = gloo.IndexBuffer(outline)
quad_data = np.zeros(4, dtype=[('a_position', np.float32, 3),
('a_texcoord', np.float32, 2), ('a_velocity', np.float32, 3)])
quad_ver = np.array([[-1.0, 1.0, 0.0], [-1.0, -1.0, 0.0],
[ 1.0, 1.0, 0.0], [ 1.0, -1.0, 0.0,] ], np.float32)
quad_coord = np.array([ [0.0, 0.0], [0.0, 1.0],
[1.0, 0.0], [1.0, 1.0] ], np.float32)
quad_vel = np.zeros((4,3))
quad_data['a_texcoord'] = quad_coord
quad_data['a_position'] = quad_ver
quad_data['a_velocity'] = quad_vel
quad_triangles = np.array([[0, 1, 2], [1, 2, 3]])
quad_indices = quad_triangles.reshape((1,-1)).astype(np.uint16)
quad_buffer = gloo.IndexBuffer(quad_indices)
return indices_buffer, outline_buffer, vertex_data, quad_data, quad_buffer, l0
def update_frame(self, y_im, y_flow, y_m):
self.current_frame = y_im
self.current_texture = gloo.Texture2D(y_im)
self.current_flowx = y_flow[:,:,0]
self.current_fx_texture = gloo.Texture2D(y_flow[:,:,0], format="luminance", internalformat="r32f")
self.current_flowy = y_flow[:,:,1]
self.current_fy_texture = gloo.Texture2D(y_flow[:,:,1], format="luminance", internalformat="r32f")
self.current_mask = 255*y_m
self.current_mask_texture = gloo.Texture2D(255*y_m)
def get_flow(self):
self.render()
with self._fbo2:
flowx = gloo.read_pixels(out_type = np.float32)
with self._fbo3:
flowy = gloo.read_pixels(out_type = np.float32)
return (flowx, flowy)
def initjacobian(self, y_im, y_flow, y_m):
if self.cuda:
self.cudagl.initjacobian(y_im, y_flow, 255*y_m)
#self.cudagl.initjacobian_CPU(y_im, y_flow, 255*y_m)
else:
self.cudagl.initjacobian_CPU(y_im, y_flow, 255*y_m)
def jz(self, state):
#Compare both and see if they're always off, or just sometimes...
if self.cuda:
#print 'jz(). Using GPU (CUDA)'
jz_GPU = self.cudagl.jz(state)
#jz_CPU = self.cudagl.jz_CPU()
#print 'GPU:', jz_GPU, 'CPU:', jz_CPU
return jz_GPU
#return self.cudagl.jz()
else:
#print 'Using CPU'
return self.cudagl.jz_CPU(state)
def jz_multi(self, state):
#Compare both and see if they're always off, or just sometimes...
if self.cuda:
#print 'jz(). Using GPU (CUDA)'
jz_GPU = self.cudagl.jz_multi(state)
#jz_CPU = self.cudagl.jz_CPU()
#print 'GPU:', jz_GPU, 'CPU:', jz_CPU
return jz_GPU
#return self.cudagl.jz()
else:
#print 'Using CPU'
return self.cudagl.jz_CPU(state)
def j(self, state, deltaX, i, j):
if self.cuda:
#print 'j(). Using GPU (CUDA)'
j_GPU = self.cudagl.j(state, deltaX, i, j)
#j_CPU = self.cudagl.j_CPU(state, deltaX, i, j)
#print 'GPU:', j_GPU, 'CPU:', j_CPU
return j_GPU
#return self.cudagl.j(state, deltaX, i, j)
else:
return self.cudagl.j_CPU(state, deltaX, i, j)
def j_multi(self, state, deltaX, ee, labelidx, ee_idx):
if self.cuda:
#print 'j(). Using GPU (CUDA)'
j_GPU = self.cudagl.j_multi(state, deltaX, ee, labelidx)
#j_CPU = self.cudagl.j_CPU(state, deltaX, ee)
#print 'GPU:', j_GPU, 'CPU:', j_CPU
return j_GPU
else:
h = np.zeros((len(self.Q), 1))
h_hist = np.zeros((len(self.Q), 1))
for idx, eidx in enumerate(ee_idx):
e = ee[idx]
h[eidx] = self.cudagl.j_CPU(state, deltaX, e[0], e[1])
h_hist[eidx] = 1
return (h, h_hist)
