def __init__(self, window_width, window_height, samples, window_title):
self.window_title = window_title
assert glfw.Init(), 'Glfw Init failed!'
glfw.WindowHint(glfw.SAMPLES, samples)
self.windowID = glfw.CreateWindow(window_width, window_height,
self.window_title, None)
assert self.windowID, 'Could not create Window!'
glfw.MakeContextCurrent(self.windowID)
assert glInitBindlessTextureNV(), 'Bindless Textures not supported!'
self.framebuf_width, self.framebuf_height = glfw.GetFramebufferSize(
self.windowID)
def framebuffer_size_callback(window, w, h):
self.framebuf_width, self.framebuf_height = w, h
glfw.SetFramebufferSizeCallback(self.windowID,
framebuffer_size_callback)
def key_callback(window, key, scancode, action, mode):
if action == glfw.PRESS:
if key == glfw.KEY_ESCAPE:
glfw.SetWindowShouldClose(window, True)
glfw.SetKeyCallback(self.windowID, key_callback)
self.previous_second = glfw.GetTime()
self.frame_count = 0.0
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE)
glDisable(GL_STENCIL_TEST)
glDisable(GL_BLEND)
glDisable(GL_CULL_FACE)
glClearColor(0.0, 0.0, 0.0, 1.0)
glEnable(GL_LINE_SMOOTH)
glEnable(GL_POLYGON_SMOOTH)
def display(window):
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT)
glUseProgram(theProgram)
# unif = glGetUniformLocation(theProgram, 'myPos')
# glUniform1f(unif, anim)
# glUniform1f(unif, anim)
# unif = glGetUniformLocation(theProgram, 'heartCenter')
# glUniform2f(unif, x / 2, y / 2)
# anim += 0.1 * dirc
# if anim > 1 or anim < 0:
# dirc *= -1
unif = glGetUniformLocation(theProgram, 'iTime')
glUniform1f(unif, time() - start_time)
unif = glGetUniformLocation(theProgram, 'iResolution')
x, y = glfw.GetFramebufferSize(window)
glUniform2f(unif, x, y)
unif = glGetUniformLocation(theProgram, 'iMouse')
glUniform2f(unif, 10, 10)
unif = glGetUniformLocation(theProgram, 'MVP')
global angle
cosA = cos(angle)
sinA = sin(angle)
# angle += 0.05
glUniformMatrix3fv(
unif, 1, GL_TRUE,
np.array([cosA * 2, sinA, 0, -sinA, cosA * 2, 0, 0, 0, 1],
dtype='float32'))
# uniform float iTime;
# uniform vec2 iResolution;
# uniform vec2 iMouse;
# anim = 1
glBindVertexArray(vao)
glEnableVertexAttribArray(0)
glDrawArrays(GL_TRIANGLES, 0, nVertices)
glDisableVertexAttribArray(0)
glBindVertexArray(0)
glUseProgram(0)
import rospy
from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError
import cv2
bridge = CvBridge()
window_width, window_height = 640, 480
samples = 16
window_title = 'OpenCV+OpenGL'
assert glfw.Init(), 'Glfw Init failed!'
glfw.WindowHint(glfw.SAMPLES, samples)
window = glfw.CreateWindow(window_width, window_height, window_title, None)
assert window, 'Could not create Window!'
glfw.MakeContextCurrent(window)
assert glInitBindlessTextureNV(), 'Bindless Textures not supported!'
framebuf_width, framebuf_height = glfw.GetFramebufferSize(window)
def framebuffer_size_callback(window, w, h):
global framebuf_width, framebuf_height
framebuf_width, framebuf_height = w, h
glfw.SetFramebufferSizeCallback(window, framebuffer_size_callback)
def key_callback(window, key, scancode, action, mode):
if action == glfw.PRESS:
if key == glfw.KEY_ESCAPE:
glfw.SetWindowShouldClose(window, True)
glfw.SetKeyCallback(window, key_callback)
previous_second = glfw.GetTime(); frame_count = 0.0
def update_fps_counter(window):
global previous_second, frame_count
current_second = glfw.GetTime()
elapsed_seconds = current_second - previous_second
def __init__(self,
window_width,
window_height,
samples=1,
window_title="",
monitor=1,
show_at_center=True,
offscreen=False):
self.window_title = window_title
assert glfw.Init(), "Glfw Init failed!"
glfw.WindowHint(glfw.SAMPLES, samples)
if offscreen:
glfw.WindowHint(glfw.VISIBLE, False)
mon = glfw.GetMonitors()[monitor] if monitor != None else None
self.windowID = glfw.CreateWindow(window_width, window_height,
self.window_title, mon)
assert self.windowID, "Could not create Window!"
glfw.MakeContextCurrent(self.windowID)
if not glInitBindlessTextureNV():
raise RuntimeError("Bindless Textures not supported")
self.framebuf_width, self.framebuf_height = glfw.GetFramebufferSize(
self.windowID)
self.framebuffer_size_callback = []
def framebuffer_size_callback(window, w, h):
self.framebuf_width, self.framebuf_height = w, h
for callback in self.framebuffer_size_callback:
callback(w, h)
glfw.SetFramebufferSizeCallback(self.windowID,
framebuffer_size_callback)
self.key_callback = []
def key_callback(window, key, scancode, action, mode):
if action == glfw.PRESS:
if key == glfw.KEY_ESCAPE:
glfw.SetWindowShouldClose(window, True)
for callback in self.key_callback:
callback(key, scancode, action, mode)
glfw.SetKeyCallback(self.windowID, key_callback)
self.mouse_callback = []
def mouse_callback(window, xpos, ypos):
for callback in self.mouse_callback:
callback(xpos, ypos)
glfw.SetCursorPosCallback(self.windowID, mouse_callback)
self.mouse_button_callback = []
def mouse_button_callback(window, button, action, mods):
for callback in self.mouse_button_callback:
callback(button, action, mods)
glfw.SetMouseButtonCallback(self.windowID, mouse_button_callback)
self.scroll_callback = []
def scroll_callback(window, xoffset, yoffset):
for callback in self.scroll_callback:
callback(xoffset, yoffset)
glfw.SetScrollCallback(self.windowID, scroll_callback)
self.previous_second = glfw.GetTime()
self.frame_count = 0.0
if show_at_center:
monitors = glfw.GetMonitors()
assert monitor >= 0 and monitor < len(
monitors), "Invalid monitor selected."
vidMode = glfw.GetVideoMode(monitors[monitor])
glfw.SetWindowPos(
self.windowID,
vidMode.width / 2 - self.framebuf_width / 2,
vidMode.height / 2 - self.framebuf_height / 2,
)
window = glfw.CreateWindow(W, H, "My Title", None, None)
glfw.MakeContextCurrent(window)
def center_pos(monitor_id):
xpos = glfw.GetMonitorPos(mon[monitor_id])[0] + glfw.GetVideoMode(
mon[monitor_id]).width / 2 - W / 2
ypos = glfw.GetMonitorPos(mon[monitor_id])[1] + glfw.GetVideoMode(
mon[monitor_id]).height / 2 - H / 2
glfw.SetWindowPos(window, xpos, ypos)
center_pos(monitor_id)
w, h = glfw.GetFramebufferSize(window)
def key_callback(window, key, scancode, action, mods):
global monitor_id
if key == glfw.KEY_E and action == glfw.PRESS:
monitor_id = (monitor_id + 1) % len(mon)
center_pos(monitor_id)
if key == glfw.KEY_N and action == glfw.PRESS:
glfw.SetInputMode(window, glfw.CURSOR, glfw.CURSOR_NORMAL)
glfw.SetKeyCallback(window, key_callback)
def character_callback(window, codepoint):
def window_size_callback(window, w, h):
width, height = glfw.GetFramebufferSize(window)
glViewport(0, 0, width, height)