class ViewController(object):
'''
Creates a view matrix based on mouse and keyboard input.
'''
def __init__(self):
'''
Constructor
'''
self._initialViewM = np.eye(4,dtype=np.float32)
self._viewM = np.copy(self._initialViewM)
self.trackball = Trackball()
self.keyDict = {
ord('r') : self.reset,
key.UP: self.up,
key.DOWN: self.down,
key.LEFT: self.left,
key.RIGHT: self.right,
ord('w'): self.forward,
ord('s'): self.backward,
ord('a'): self.left,
ord('d'): self.right,
ord('q'): self.rollLeft,
ord('e'): self.rollRight,
ord('z'): self.pitchUp,
ord('x'): self.pitchDown,
ord('i'): self.info,
ord('1'): self.toggleMesh,
ord('2'): self.toggleFaces,
ord('3'): self.toggleNormals,
}
self.translateMult = -1.0
self.dragMult = -0.01
self.zoomMult = 0.01
self._zoom = 1.0
self.showMesh = True
self.showFaces = False
self.showNormals = False
def info(self):
print "OpenGL Version: ",GL.glGetString(GL.GL_VERSION)
print "OpenGL Vendor: ",GL.glGetString(GL.GL_VENDOR)
print "OpenGL Renderer: ",GL.glGetString(GL.GL_RENDERER)
print "OpenGL GLSL Version: ",GL.glGetString(GL.GL_SHADING_LANGUAGE_VERSION)
print "OpenGL Extensions: \n",GL.glGetString(GL.GL_EXTENSIONS).split()
print "FBO Max color attachments: ",GL.glGetIntegerv(GL.GL_MAX_COLOR_ATTACHMENTS)
# print "FBO Max Width: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_WIDTH)
# print "FBO Max Height: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_HEIGHT)
# print "FBO Max Samples: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_SAMPLES)
# print "FBO Max Layers: ",GL.glGetInteger(GL.GL_MAX_FRAMEBUFFER_LAYERS)
def unmapped(self):
# self.width = 640
# self.height =480
#
# # Read image from the OpenGL buffer
# buffer = ( GL.GLfloat * (self.width*self.height) )(0)
# GL.glReadPixels(0, 0, self.width, self.height, GL.GL_DEPTH_COMPONENT, GL.GL_FLOAT, buffer)
# depth = np.flipud(np.array(buffer, np.float32).reshape(self.height,self.width))
#
# # Read depth from the OpenGL buffer
# buffer = ( GL.GLubyte * (3*self.width*self.height) )(0)
# GL.glReadPixels(0, 0, self.width, self.height, GL.GL_BGR, GL.GL_UNSIGNED_BYTE, buffer)
# bgr = np.flipud(np.array(buffer, np.uint8).reshape(self.height,self.width,3))
#
#
# image.show("Depth", depth)
# image.show("BGR", bgr,30)
# print "Unmapped key pressed."
pass
def toggleMesh(self):
self.showMesh = not self.showMesh
self.parentWindow.redraw()
def toggleFaces(self):
self.showFaces = not self.showFaces
self.parentWindow.redraw()
def toggleNormals(self):
self.showNormals = not self.showNormals
self.parentWindow.redraw()
def on_key_press(self,symbol, modifiers):
self.keyDict.get(symbol, self.unmapped)();
self.parentWindow.redraw()
def on_mouse_scroll(self,dx, dy,s0,s1):
self._zoom += self.zoomMult * s1
if self._zoom<self.zoomMult:# do not allow negative zoom
self._zoom = self.zoomMult
# print "Zoom ",self._zoom
self.parentWindow.redraw()
def on_mouse_drag(self, x, y, dx, dy, buttons):
# print "Mouse Drag ",x,y," => ",dx,dy," Buttons: ",mouse.buttons_string(buttons)
if buttons&mouse.MIDDLE:
self.translate(-dx*self.dragMult, dy*self.dragMult, 0)
elif buttons&mouse.RIGHT:
self.translate(0, 0, dy*self.dragMult)
else:
self.trackball.dragTo(x, y, -dx, dy)
self.parentWindow.redraw()
pass
def on_mouse_release(self,x,y,buttons):
# print "Mouse Release ",x,y," => Buttons: ",buttons
pass
def rollLeft(self):
self.rotate(0,-1)
def rollRight(self):
self.rotate(0,+1)
def pitchUp(self):
self.rotate(-1,0)
def pitchDown(self):
self.rotate(1,0)
def rotate(self,dTheta, dPhi):
theta,phi = self.trackball.getOrientation()
phi += dPhi
theta +=dTheta
self.trackball.setOrientation(theta,phi)
def registerEvents(self,window):
window.event(self.on_key_press)
window.event(self.on_mouse_drag)
window.event(self.on_mouse_scroll)
window.event(self.on_mouse_release)
self.parentWindow=window
def reset(self):
print "Reset View."
self._viewM = self._initialViewM.copy()
self._zoom = 1.0
self.trackball.setOrientation(0, 0)
def up(self):
# print "Up."
dy = -1.0 * self.translateMult
self.translate(0, dy, 0)
def down(self):
# print "Down."
dy = 1.0 * self.translateMult
self.translate(0, dy, 0)
def left(self):
# print "Left."
dx = -1.0 * self.translateMult
self.translate(dx, 0, 0)
def right(self):
# print "Right."
dx = 1.0 * self.translateMult
self.translate(dx, 0, 0)
def forward(self):
# print "Forward."
dz = 1.0 * self.translateMult
self.translate(0, 0, dz)
def backward(self):
# print "Backward."
dz = -1.0 * self.translateMult
self.translate(0, 0, dz)
def translate(self,dx,dy,dz):
tr = np.eye(4,dtype=np.float32)
tr[0:3,3] = np.array([dx,dy,dz],dtype=np.float32)
self._viewM = tr.dot(self._viewM)
def getViewM(self):
'''
Return the view matrix in PyOpenGL usable format (flat list of floats, column major)
'''
scaleM = np.diag([self._zoom,self._zoom,self._zoom,1.0])
viewM = self._viewM.dot(self.trackball.getRotMat().dot(scaleM))
return viewM.transpose().reshape(-1).tolist()
def setCameraPosition(self,trXYZ,rotQuat=[1,0,0,0],scale=1):
'''
set the camera orientation. This will not set the reset location.
:param trXYZ:
:param rotQuat: in the form of: x,y,z,w
:param scale:
:return:
'''
tr = np.eye(4,dtype=np.float32)
tr[0:3,3] = np.array(trXYZ,dtype=np.float32)
self._viewM = tr
self._zoom = scale
self.trackball.setRotation(rotQuat)
def getCameraPosition(self):
quat = self.trackball.getRotation()
tr = self._viewM[0:3,3]
return tr,quat,self._zoom
