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glViewer.py
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'''
This code has opengl visualization of 3D skeletons, including floor visualization and mouse+keyboard control
See the main function for demo codes.
showSkeleton: visualize 3D human body skeletons. This can handle holden's formation, 3.6m formation, and domeDB
setSpeech: to set speechAnnotation. Should be called before showSkeleton
renderscene: main function to render scenes using openGL
Note: this visualizer is assuming centimeter metric (joint, mesh).
Hanbyul Joo ([email protected])
'''
from OpenGL.GL import *
from OpenGL.GLU import *
from OpenGL.GLUT import *
import json
import numpy as np
from PIL import Image, ImageOps
import numpy as np
import sys, math
import threading
import time
#from time import time
#import pickle
#import cPickle as pickle
import _pickle as pickle
#-----------
# Global Variables
#-----------
#g_camView_fileName = '/ssd/camInfo/camInfo.pkl'
g_camView_fileName = './camInfo/camInfo.pkl'
g_fViewDistance = 50.
# g_Width = 1280
# g_Height = 720
# g_Width = 1920
# g_Height = 1080
g_Width = 1000
g_Height = 1280
g_nearPlane = 0.01 #original
# g_nearPlane = 1000 #cameramode
g_farPlane = 5000.
g_show_fps = False
g_action = ""
g_xMousePtStart = g_yMousePtStart = 0.
g_xTrans = 0.
g_yTrans = 0.
g_zTrans = 0.
g_zoom = 434
g_xRotate = -44.
g_yRotate = -39.
g_zRotate = 0.
g_xrot = 0.0
g_yrot = 0.0
# the usual screen dimension variables and lighting
# Generic Lighting values and coordinates
g_ambientLight = (0.35, 0.35, 0.35, 1.0)
g_diffuseLight = (0.75, 0.75, 0.75, 0.7)
g_specular = (0.2, 0.2, 0.2, 1.0)
g_specref = (0.5, 0.5, 0.5, 1.0)
# To visualize in Dome View point
#g_viewMode = 'camView'#free' #'camView'
g_viewMode = 'free' #'camView'
g_bOrthoCam = False #If true, draw by ortho camera mode
from collections import deque
#g_camid = deque('00',maxlen=2)
g_camid = deque('27',maxlen=2)
g_onlyDrawHumanIdx = -1
# To save rendered scene into file
g_stopMainLoop = False
g_winID = None
g_bSaveToFile = False
g_bSaveToFile_done = False #If yes, file has been saved
# g_savedImg = None # Keep the save image as a global variable, if ones want to obtain this
# g_haggling_render = False #Automatically Load next seqeucne, when frames are done
g_bSaveOnlyMode = False #If true, load camera turn on save mode and exit after farmes are done
g_saveFolderName = None
"Visualization Options"
g_bApplyRootOffset = False
ROOT_OFFSET_DIST = 160
#ROOT_OFFSET_DIST = 30
""" Mesh Drawing Option """
#A tutorial for VAO and VBO: https://www.khronos.org/opengl/wiki/Tutorial2:_VAOs,_VBOs,_Vertex_and_Fragment_Shaders_(C_/_SDL)
g_vao= None
g_vertex_buffer= None
g_normal_buffer= None
g_tangent_buffer = None
g_index_buffer = None
g_hagglingSeqName= None
# global vts_num
# global SMPL_vts
# global face_num
# global SMPLModel
g_saveFrameIdx = 0
# global MoshParam
g_bGlInitDone = False #To initialize opengl only once
BACKGROUND_IMAGE_PLANE_DEPTH=3000
######################################################
# MTC Camera view
g_camView_K = None
g_camView_K_list = None #if each mesh uses diff K.... very ugly
g_bShowBackground = True
g_backgroundTextureID = None
g_textureData = None
# g_textureImgOriginal = None #Original Size
g_renderOutputSize = None #(width, height) If not None, crop the output to this size
######################################################
# Visualizeation Option
g_bShowFloor = True
g_bShowWiredMesh = False
g_bRotateView = False #Rotate view 360 degrees
g_rotateView_counter = 0
g_rotateInterval = 2
g_bShowSkeleton = True
g_bShowMesh = True
########################################################
# 3D keypoints Visualization Setting
g_skeletons = None # list of np.array. skeNum x (skelDim, skelFrames)
g_skeletons_GT = None
g_trajectory = None # list of np.array. skeNum x (trajDim:3, skelFrames)
HOLDEN_DATA_SCALING = 5
g_faces = None #(faceNum, skelDim, skelFrames)
g_faceNormals = None
g_bodyNormals = None
g_hands = None #(handNum, skelDim, skelFrames)
g_hands_left = None
g_hands_right = None
g_posOnly = None
g_meshes = None
g_cameraPoses = None
g_cameraRots = None
g_ptCloud =None
g_ptCloudColor =None
g_ptSize = 2
g_frameLimit = -1
g_frameIdx = 0
g_lastframetime = g_currenttime = time.time()
g_fps = 0
g_speech = None # list of np.array. humanNum x speechUnit, where elmenet is a dict with 'indicator', 'word', 'root' with a size of (1, skelFrames)
g_speechGT = None # list of np.array. humanNum x speechUnit, , where elmenet is a dict with 'indicator', 'word', 'root' with a size of (1, skelFrames)
# Original
# g_colors = [ (0, 255, 127), (209, 206, 0), (0, 0, 128), (153, 50, 204), (60, 20, 220),
# (0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
# (30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
# g_colors = [ (0, 255, 127), (170, 170, 0), (0, 0, 128), (153, 50, 204), (60, 20, 220),
# (0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
# (30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
# g_colors = [ (250,0,0), (255,0, 0 ), (0, 255, 127), (209, 206, 0), (0, 0, 128), (153, 50, 204), (60, 20, 220),
# (0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
# (30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
#GT visualization (by red)
g_colors = [ (255,0,0), (0, 255, 127), (170, 170, 0), (0, 0, 128), (153, 50, 204), (60, 20, 220),
(0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
(30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
#Custom (non brl) originalPanoptic data
g_colors = [(0, 255, 127), (255,0,0), (170, 170, 0), (0, 0, 128), (153, 50, 204), (60, 20, 220),
(0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
(30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
#RGB order!!
g_colors = [ (0,0,255), (255,0,0), (0, 255, 127), (170, 170, 0), (0, 0, 128), (153, 50, 204), (60, 20, 220),
(0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
(30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
# g_colors = [(0, 255, 127), (255,0,0), (170, 170, 0) , (0, 0, 128), (153, 50, 204), (60, 20, 220),
# (0, 128, 0), (180, 130, 70), (147, 20, 255), (128, 128, 240), (154, 250, 0), (128, 0, 0),
# (30, 105, 210), (0, 165, 255), (170, 178, 32), (238, 104, 123)]
import timeit
#######################################v
# Parametric Mesh Models
g_faceModel = None
########################################################3
# Opengl Setting
def init():
#global width
#global height
glClearColor(1.0, 1.0, 1.0, 1.0)
# Enable depth testing
glEnable(GL_DEPTH_TEST)
glDepthFunc(GL_LESS)
#glShadeModel(GL_FLAT)
glShadeModel(GL_SMOOTH)
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT0, GL_AMBIENT, g_ambientLight)
glLightfv(GL_LIGHT0, GL_DIFFUSE, g_diffuseLight)
glLightfv(GL_LIGHT0, GL_SPECULAR, g_specular)
glEnable(GL_LIGHT0)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glMaterialfv(GL_FRONT, GL_SPECULAR, g_specref)
glMateriali(GL_FRONT, GL_SHININESS, 128)
# # #Mesh Rendering
global g_vao
global g_vertex_buffer
global g_normal_buffer
global g_tangent_buffer
global g_index_buffer
g_vao = glGenVertexArrays(1)
# glBindVertexArray(g_vao)
g_vertex_buffer = glGenBuffers(40)
# #glBindBuffer(GL_ARRAY_BUFFER, g_vertex_buffer)
g_normal_buffer = glGenBuffers(40)
# #glBindBuffer(GL_ARRAY_BUFFER, g_normal_buffer)
g_tangent_buffer = glGenBuffers(40)
# #glBindBuffer(GL_ARRAY_BUFFER, g_tangent_buffer)
g_index_buffer = glGenBuffers(40)
# # #glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, g_index_buffer)
#Create Background Texture
global g_backgroundTextureID
glPixelStorei(GL_UNPACK_ALIGNMENT, 1) #So that texture doesnt have to be power of 2
g_backgroundTextureID = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, g_backgroundTextureID)
# glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB32F, 1920, 1080, 0, GL_RGB, GL_FLOAT, 0)
#glTexImage2D(GL_TEXTURE_2D, 0,GL_RGB, width, height, 0, GL_BGR, GL_UNSIGNED_BYTE, data);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
# glEnable(GL_CULL_FACE)
# glCullFace(GL_BACK)
def init_minimum():
#global width
#global height
glClearColor(1.0, 1.0, 1.0, 1.0)
# Enable depth testing
glEnable(GL_DEPTH_TEST)
glEnable(GL_LIGHTING)
glLightfv(GL_LIGHT0, GL_AMBIENT, g_ambientLight)
glLightfv(GL_LIGHT0, GL_DIFFUSE, g_diffuseLight)
glLightfv(GL_LIGHT0, GL_SPECULAR, g_specular)
glEnable(GL_LIGHT0)
glEnable(GL_COLOR_MATERIAL)
glColorMaterial(GL_FRONT, GL_AMBIENT_AND_DIFFUSE)
glMaterialfv(GL_FRONT, GL_SPECULAR, g_specref)
glMateriali(GL_FRONT, GL_SHININESS, 128)
"""Render text on bottom left corner"""
def RenderText(testStr):
glMatrixMode(GL_MODELVIEW)
glPushMatrix()
glLoadIdentity()
gluOrtho2D(0.0, glutGet(GLUT_WINDOW_WIDTH), 0.0, glutGet(GLUT_WINDOW_HEIGHT))
glMatrixMode(GL_PROJECTION)
glPushMatrix()
glLoadIdentity()
# glRasterPos2i(10, 10)
glPushMatrix()
glColor4f(1,1,1,1)
glClearDepth(1)
if testStr is not None:
glRasterPos2d(5,5)
for c in testStr:
#glutBitmapCharacter(GLUT_BITMAP_8_BY_13, ord(c))
glutBitmapCharacter(GLUT_BITMAP_HELVETICA_18, ord(c))
raster_pos = glGetIntegerv(GL_CURRENT_RASTER_POSITION)
glPopMatrix()
glClearDepth(0.99)
glColor4f(.3,.3,.3,.8)
glPushMatrix()
glBegin(GL_QUADS)
glVertex2i(0, 25)
glVertex2i(raster_pos[0]+5, 25)
glVertex2i(raster_pos[0]+5, 0)
glVertex2i(0, 0)
glEnd()
glPopMatrix()
glClearDepth(1)
glMatrixMode(GL_PROJECTION)
glPopMatrix()
glMatrixMode(GL_MODELVIEW)
glPopMatrix()
def RenderDomeFloor():
glPolygonMode(GL_FRONT, GL_FILL)
glPolygonMode(GL_BACK, GL_FILL)
# glPolygonMode(GL_FRONT, GL_FILL)
gridNum = 10
width = 200
halfWidth =width/2
# g_floorCenter = np.array([0,0.5,0])
# g_floorCenter = np.array([0,500,0])
g_floorCenter = np.array([0,100,0])
g_floorAxis1 = np.array([1,0,0])
g_floorAxis2 = np.array([0,0,1])
origin = g_floorCenter - g_floorAxis1*(width*gridNum/2 ) - g_floorAxis2*(width*gridNum/2)
axis1 = g_floorAxis1 * width
axis2 = g_floorAxis2 * width
for y in range(gridNum+1):
for x in range(gridNum+1):
if (x+y) % 2 ==0:
glColor(1.0,1.0,1.0,1.0) #white
else:
# glColor(0.95,0.95,0.95,0.3) #grey
glColor(0.3,0.3,0.3,0.5) #grey
p1 = origin + axis1*x + axis2*y
p2 = p1+ axis1
p3 = p1+ axis2
p4 = p1+ axis1 + axis2
glBegin(GL_QUADS)
glVertex3f( p1[0], p1[1], p1[2])
glVertex3f( p2[0], p2[1], p2[2])
glVertex3f( p4[0], p4[1], p4[2])
glVertex3f( p3[0], p3[1], p3[2])
glEnd()
def setFree3DView():
glTranslatef(0,0,g_zoom)
glRotatef( -g_yRotate, 1.0, 0.0, 0.0)
glRotatef( -g_xRotate, 0.0, 1.0, 0.0)
glRotatef( g_zRotate, 0.0, 0.0, 1.0)
glTranslatef( g_xTrans, 0.0, 0.0 )
glTranslatef( 0.0, g_yTrans, 0.0)
glTranslatef( 0.0, 0, g_zTrans)
# g_hdCams = None
# def load_panoptic_cameras():
# global g_hdCams
# with open('/media/posefs3b/Users/xiu/domedb/171204_pose3/calibration_171204_pose3.json') as f:
# rawCalibs = json.load(f)
# cameras = rawCalibs['cameras']
# allPanel = map(lambda x:x['panel'],cameras)
# hdCamIndices = [i for i,x in enumerate(allPanel) if x==0]
# g_hdCams = [cameras[i] for i in hdCamIndices]
# def setPanopticCameraView(camid):
# if g_hdCams==None:
# load_cameras()
# if camid>=len(g_hdCams):
# camid = 0
# cam = g_hdCams[camid]
# invR = np.array(cam['R'])
# invT = np.array(cam['t'])
# camMatrix = np.hstack((invR, invT))
# # denotes camera matrix, [R|t]
# camMatrix = np.vstack((camMatrix, [0, 0, 0, 1]))
# #camMatrix = numpy.linalg.inv(camMatrix)
# K = np.array(cam['K'])
# #K = K.flatten()
# glMatrixMode(GL_PROJECTION)
# glLoadIdentity()
# Kscale = 1920.0/g_Width
# K = K/Kscale
# ProjM = np.zeros((4,4))
# ProjM[0,0] = 2*K[0,0]/g_Width
# ProjM[0,2] = (g_Width - 2*K[0,2])/g_Width
# ProjM[1,1] = 2*K[1,1]/g_Height
# ProjM[1,2] = (-g_Height+2*K[1,2])/g_Height
# ProjM[2,2] = (-g_farPlane-g_nearPlane)/(g_farPlane-g_nearPlane)
# ProjM[2,3] = -2*g_farPlane*g_nearPlane/(g_farPlane-g_nearPlane)
# ProjM[3,2] = -1
# glLoadMatrixd(ProjM.T)
# glMatrixMode(GL_MODELVIEW)
# glLoadIdentity()
# gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
# glMultMatrixd(camMatrix.T)
# def load_MTC_default_camera():
# global g_Width, g_Height
# camRender_width = 1920
# camRender_height = 1080
# g_Width = camRender_width
# g_Height = camRender_height
# 3x3 intrinsic camera matrix
def setCamView_K(K):
global g_camView_K
g_camView_K = K
# 3x3 intrinsic camera matrix
# Set a default camera matrix used for MTC
def setCamView_K_DefaultForMTC():
global g_camView_K
K = np.array([[2000, 0, 960],[0, 2000, 540],[0,0,1]]) #MTC default camera. for 1920 x 1080 input image
g_camView_K = K
#Show the world in a camera cooridnate (defined by K)
def setCameraView():
# camRender_width = 1920
# camRender_height = 1080
# global g_Width, g_Height
# if camRender_width != g_Width or camRender_height!=g_Height:
# g_Width = camRender_width
# g_Height = camRender_height
# #reshape(g_Width, g_Height)
# glutReshapeWindow(g_Width,g_Height)
# invR = np.array(cam['R'])
# invT = np.array(cam['t'])
invR = np.eye(3)
invT = np.zeros((3,1))
# invT[2] = 400
camMatrix = np.hstack((invR, invT))
# denotes camera matrix, [R|t]
camMatrix = np.vstack((camMatrix, [0, 0, 0, 1]))
#camMatrix = numpy.linalg.inv(camMatrix)
# K = np.array(cam['K'])
# K = np.array(cam['K'])
# K = np.array([[2000, 0, 960],[0, 2000, 540],[0,0,1]]) #MTC default camera
# global g_camView_K
# g_camView_K = K
#K = K.flatten()
if g_camView_K is None:
print("## Warning: no K is set, so I use a default cam parameter defined for MTC")
setCamView_K_DefaultForMTC()
K = g_camView_K.copy()
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
# Kscale = 1920.0/g_Width
Kscale = 1.0 #1920.0/g_Width :: why do we need this?
K = K/Kscale
ProjM = np.zeros((4,4))
ProjM[0,0] = 2*K[0,0]/g_Width
ProjM[0,2] = (g_Width - 2*K[0,2])/g_Width
ProjM[1,1] = 2*K[1,1]/g_Height
ProjM[1,2] = (-g_Height+2*K[1,2])/g_Height
ProjM[2,2] = (-g_farPlane-g_nearPlane)/(g_farPlane-g_nearPlane)
ProjM[2,3] = -2*g_farPlane*g_nearPlane/(g_farPlane-g_nearPlane)
ProjM[3,2] = -1
glLoadMatrixd(ProjM.T)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
glMultMatrixd(camMatrix.T)
def SetOrthoCamera(bOrtho=True):
global g_bOrthoCam
g_bOrthoCam = bOrtho
#Show the world in a camera cooridnate (defined by K)
def setCameraViewOrth():
glMatrixMode(GL_PROJECTION)
glLoadIdentity()
texHeight,texWidth = g_textureData.shape[:2]
# texHeight,texWidth = 1024, 1024
texHeight*=0.5
texWidth*=0.5
# texHeight *=BACKGROUND_IMAGE_PLANE_DEPTH
# texWidth *=BACKGROUND_IMAGE_PLANE_DEPTH
glOrtho(-texWidth, texWidth, -texHeight, texHeight, -1500, 1500)
glMatrixMode(GL_MODELVIEW)
glLoadIdentity()
gluLookAt(0, 0, 0, 0, 0, 1, 0, -1, 0)
# glMultMatrixd(camMatrix.T)
def setRenderOutputSize(imWidth, imHeight):
global g_renderOutputSize
g_renderOutputSize = (imWidth, imHeight)
def setWindowSize(new_width, new_height):
global g_Width, g_Height
if new_height>1600: #Max height of screen
new_width = int(new_width *0.7)
new_height = int(new_height *0.7)
if new_width != g_Width or new_height!=g_Height:
g_Width = new_width
g_Height =new_height
#reshape(g_Width, g_Height)
if g_bGlInitDone:
glutReshapeWindow(g_Width,g_Height)
def reshape(width, height):
#lightPos = (-50.0, 50.0, 100.0, 1.0)
nRange = 250.0
global g_Width, g_Height
g_Width = width
g_Height = height
glViewport(0, 0, g_Width, g_Height)
# # Set perspective (also zoom)
# glMatrixMode(GL_PROJECTION)
# glLoadIdentity()
# #gluPerspective(zoom, float(g_Width)/float(g_Height), g_nearPlane, g_farPlane)
# gluPerspective(65, float(g_Width)/float(g_Height), g_nearPlane, g_farPlane)
# print("here: {}".format(float(g_Width)/float(g_Height)))
def SaveScenesToFile():
#global g_Width, g_Height, g_bSaveToFile, g_fameIdx, g_hagglingSeqName
# global g_bSaveToFile
global g_saveFrameIdx
glReadBuffer(GL_FRONT)
img = glReadPixels(0, 0, g_Width, g_Height, GL_RGBA, GL_UNSIGNED_BYTE, outputType=None)
img = Image.frombytes("RGBA", (g_Width, g_Height), img)
img = ImageOps.flip(img)
if False:
pix = np.array(img)
import viewer2D
viewer2D.ImShow(pix)
#Crop and keep the original size
# if g_textureImgOriginal is not None and g_viewMode=='camView':
# width, height = img.size
# img = img.crop( (0,0,g_textureImgOriginal.shape[1], g_textureImgOriginal.shape[0])) #top, left, bottom, right where origin seems top left
if g_renderOutputSize is not None and g_viewMode=='camView':
width, height = g_renderOutputSize
img = img.crop( (0,0,width, height)) #top, left, bottom, right where origin seems top left
#img.save('/ssd/render_general/frame_{}.png'.format(g_frameIdx), 'PNG')
if g_saveFolderName is not None:
folderPath = g_saveFolderName
else:# g_haggling_render == False:
# folderPath = '/home/hjoo//temp/render_general/'
folderPath = '/home/hjoo//temp/render_general/'
# else:
# if g_meshes == None and g_hagglingFileList == None: #Initial loading
# LoadHagglingData_Caller() #Load New Scene
# folderPath = '/hjoo/home/temp/render_mesh/' + g_hagglingSeqName
# if os.path.exists(folderPath) == False:
# os.mkdir(folderPath)
if os.path.exists(folderPath) == False:
os.mkdir(folderPath)
# img.save('{0}/scene_{1:08d}.png'.format(folderPath,g_saveFrameIdx), 'PNG')
img = img.convert("RGB")
fileNameOut = '{0}/scene_{1:08d}.jpg'.format(folderPath,g_saveFrameIdx)
img.save(fileNameOut, "JPEG")
print(fileNameOut)
#Done saving
global g_bSaveToFile_done
g_bSaveToFile_done = True
g_saveFrameIdx+=1
# global g_savedImg = img #save rendered one into gobal variable
# if g_frameIdx+1 >= g_frameLimit:
# if g_haggling_render == False:
# g_bSaveToFile = False
# else:
# bLoaded = LoadHagglingData_Caller() #Load New Scene
# if bLoaded ==False:
# g_bSaveToFile = False
#cur_ind += 1
#print(cur_ind)
#glutPostRedisplay()
def SaveCamViewInfo():
global g_Width, g_Height
global g_nearPlane,g_farPlane
global g_zoom,g_yRotate,g_xRotate, g_zRotate, g_xTrans, g_yTrans, g_zTrans
fileName = '/ssd/camInfo/camInfo.pkl'
if os.path.exists('/ssd/camInfo/') == False:
os.mkdir('/ssd/camInfo/')
if os.path.exists('/ssd/camInfo/archive/') == False:
os.mkdir('/ssd/camInfo/archive/')
if os.path.exists(fileName):
#resave it
for i in range(1000):
newName = '/ssd/camInfo/archive/camInfo_old{}.pkl'.format(i)
if os.path.exists(newName) == False:
import shutil
shutil.copy2(fileName,newName)
break
camInfo = dict()
camInfo['g_Width'] = g_Width
camInfo['g_Height'] =g_Height
camInfo['g_nearPlane'] = g_nearPlane
camInfo['g_farPlane'] = g_farPlane
camInfo['g_zoom'] = g_zoom
camInfo['g_yRotate'] = g_yRotate
camInfo['g_xRotate'] =g_xRotate
camInfo['g_zRotate'] = g_zRotate
camInfo['g_xTrans'] = g_xTrans
camInfo['g_yTrans'] = g_yTrans
pickle.dump( camInfo, open(fileName, "wb" ) )
print('camInfo')
def LoadCamViewInfo():
global g_Width, g_Height
global g_nearPlane,g_farPlane
global g_zoom,g_yRotate,g_xRotate, g_zRotate, g_xTrans, g_yTrans
global g_camView_fileName
fileName = g_camView_fileName
if not os.path.exists(fileName):
print("No cam info: {}".format(fileName))
return
camInfo = pickle.load( open( fileName, "rb" ) , encoding='latin1')
g_yTrans = camInfo['g_Width']
g_Height = camInfo['g_Height']
g_nearPlane = camInfo['g_nearPlane']
g_farPlane = camInfo['g_farPlane']
g_zoom = camInfo['g_zoom']
g_yRotate = camInfo['g_yRotate']
g_xRotate = camInfo['g_xRotate']
g_zRotate = camInfo['g_zRotate']
g_xTrans = camInfo['g_xTrans']
g_yTrans= camInfo['g_yTrans']
reshape(g_Width, g_Height)
def PuttingObjectCenter():
global g_zoom, g_xTrans, g_yTrans, g_zTrans
global g_xRotate, g_yRotate, g_zRotate
if (g_skeletons is not None) and len(g_skeletons)>0:
g_xRotate =0
g_yRotate =0
g_zRotate =0
if g_skeletonType == 'smplcoco':
g_xTrans = -(g_skeletons[0][9,0] + g_skeletons[0][12,0] )*0.5
g_yTrans = -(g_skeletons[0][10,0] + g_skeletons[0][13,0] )*0.5
g_zTrans = -(g_skeletons[0][11,0] + g_skeletons[0][14,0] )*0.5
g_zoom = 300
else: #Adam
g_xTrans = -g_skeletons[0][0,0]
g_yTrans = -g_skeletons[0][1,0]# 0#100
g_zTrans = -g_skeletons[0][2,0]
g_zoom = 300
elif g_meshes is not None and len(g_meshes)>0:
g_xRotate =0
g_yRotate =0
g_zRotate =0
g_xTrans = -g_meshes[0]['ver'][0,1767,0]
g_yTrans = -g_meshes[0]['ver'][0,1767,1]
g_zTrans = -g_meshes[0]['ver'][0,1767,2]
# print("{} {} {}".format(g_xTrans, g_yTrans, g_zTrans))
g_zoom = 300
def keyboard(key, x, y):
global g_stopMainLoop,g_frameIdx,g_show_fps
global g_ptSize
if isinstance(key, bytes):
key = key.decode() #Python3: b'X' -> 'X' (bytes -> str)
if key == chr(27) or key == 'q':
#sys.exit()
g_stopMainLoop= True
g_frameIdx = 0
# glutIdleFunc(0); # Turn off Idle function if used.
# glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE,GLUT_ACTION_CONTINUE_EXECUTION)
# glutLeaveMainLoop()
# glutDestroyWindow(g_winID) # Close open windows
elif key == 'p':
#global width, height
glReadBuffer(GL_FRONT)
img = glReadPixels(0, 0, g_Width, g_Height, GL_RGBA, GL_UNSIGNED_BYTE, outputType=None)
img = Image.frombytes("RGBA", (g_Width, g_Height), img)
img = ImageOps.flip(img)
img.save('temp.jpg', 'JPG')
elif key == 's':
g_frameIdx = 0
elif key == 't':
global g_xRotate,g_yRotate,g_zRotate
g_xRotate =0
g_yRotate =-90
g_zRotate =0
print('showTopView')
# elif key == 'r':
# global g_bSaveToFile
# g_frameIdx = 0
# g_bSaveToFile = True
elif key == 'w':
global g_bShowWiredMesh
g_bShowWiredMesh = not g_bShowWiredMesh
elif key == 'h': #Load Next Haggling Data
LoadHagglingData_Caller()
elif key =='o':
global g_bApplyRootOffset
g_bApplyRootOffset = not g_bApplyRootOffset
elif key =='f':
global g_bShowFloor
g_bShowFloor = not g_bShowFloor
elif key =='V':
SaveCamViewInfo()
elif key =='v':
LoadCamViewInfo()
# elif key =='c':
# g_xRotate =0
# g_yRotate =0
# g_zRotate =180
elif key =='c': #put the target human in the center
PuttingObjectCenter()
elif key=='+':
g_ptSize +=1
elif key=='-':
# global g_ptSize
if g_ptSize >=2:
g_ptSize -=1
elif key =='R': #rotate cameras
global g_bRotateView, g_rotateView_counter
g_bRotateView = not g_bRotateView
g_rotateView_counter =0
elif key =='j': #Toggle joint
global g_bShowSkeleton
g_bShowSkeleton = not g_bShowSkeleton
elif key =='m':
global g_bShowMesh
g_bShowMesh = not g_bShowMesh
elif key =='b':
global g_bShowBackground
g_bShowBackground = not g_bShowBackground
# elif key =='C':
# g_xRotate =0
# g_yRotate =0
# g_zRotate =0
elif key == 'C':
print('Toggle camview / freeview')
global g_viewMode, g_nearPlane
if g_viewMode=='free':
g_viewMode = 'camView'
g_nearPlane = 500 #cameramode
else:
g_viewMode ='free'
g_nearPlane = 0.01 #original
# elif key>='0' and key<='9':
# g_camid.popleft()
# g_camid.append(key)
# print('camView: CamID:{}'.format(g_camid))
elif key =='0':
glutReshapeWindow(1920,720)
elif key =='z': # Toggle fps printing
g_show_fps = not g_show_fps
glutPostRedisplay()
def mouse(button, state, x, y):
global g_action, g_xMousePtStart, g_yMousePtStart
if (button==GLUT_LEFT_BUTTON):
if (glutGetModifiers() == GLUT_ACTIVE_SHIFT):
g_action = "TRANS"
else:
g_action = "MOVE_EYE"
#elif (button==GLUT_MIDDLE_BUTTON):
# action = "TRANS"
elif (button==GLUT_RIGHT_BUTTON):
g_action = "ZOOM"
g_xMousePtStart = x
g_yMousePtStart = y
def motion(x, y):
global g_zoom, g_xMousePtStart, g_yMousePtStart, g_xRotate, g_yRotate, g_zRotate, g_xTrans, g_zTrans
if (g_action=="MOVE_EYE"):
g_xRotate += x - g_xMousePtStart
g_yRotate -= y - g_yMousePtStart
elif (g_action=="MOVE_EYE_2"):
g_zRotate += y - g_yMousePtStart
elif (g_action=="TRANS"):
g_xTrans += x - g_xMousePtStart
g_zTrans += y - g_yMousePtStart
elif (g_action=="ZOOM"):
g_zoom -= y - g_yMousePtStart
# print(g_zoom)
else:
print("unknown action\n", g_action)
g_xMousePtStart = x
g_yMousePtStart = y
print ('xTrans {}, yTrans {}, zoom {} xRotate{} yRotate {} zRotate {}'.format(g_xTrans, g_yTrans, g_zoom, g_xRotate, g_yRotate, g_zRotate))
glutPostRedisplay()
def setBackgroundTexture(img):
global g_textureData#, g_textureImgOriginal
g_textureData = img
#In MTC, the background should be always 1920x1080
# g_textureData = np.ones( (1080, 1920, 3), dtype=img.dtype)*0 #dtype==np.unit8
# g_textureData[:img.shape[0],:img.shape[1] ] = img
# g_textureImgOriginal = img #keep the original image
# import cv2
# cv2.imshow('here??',img)
# cv2.waitKey(0)
def SetCameraPoses(camRots, camPoses):
global g_cameraPoses,g_cameraRots
g_cameraPoses = camPoses
g_cameraRots = camRots
""" ptCloud: N,3 """
def SetPtCloud(ptCloud, ptCloudColor = None):
global g_ptCloud, g_ptCloudColor
g_ptCloud = ptCloud
g_ptCloudColor = ptCloudColor
def DrawBackgroundOrth():
if g_textureData is None:
return
glDisable(GL_CULL_FACE)
glDisable(GL_DEPTH_TEST)
glDisable(GL_LIGHTING)
glEnable(GL_TEXTURE_2D)
# glUseProgram(0)
glBindTexture(GL_TEXTURE_2D, g_backgroundTextureID)
# glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 1920, 1080, 0, GL_RGB, GL_UNSIGNED_BYTE, g_textureData)
# glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, 480, 640, 0, GL_RGB, GL_UNSIGNED_BYTE, g_textureData.data)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGB, g_textureData.shape[1], g_textureData.shape[0], 0, GL_BGR, GL_UNSIGNED_BYTE, g_textureData.data)
texHeight,texWidth = g_textureData.shape[:2]
texHeight*=0.5
texWidth*=0.5
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glBegin(GL_QUADS)
glColor3f(1.0, 1.0, 1.0)
# d = BACKGROUND_IMAGE_PLANE_DEPTH
d = 10
glTexCoord2f(0, 0)
# #Eigen::Map<Eigen::Matrix<double, 3, 3, Eigen::RowMajor>> K(m_options.m_pK);
P = np.array([-texWidth, -texHeight, d])
# P = np.matmul(K_inv,P)
# P = P / P[2]
glVertex3f(P[0] , P[1] , P[2] ); # K^{-1} [0, 0, 1]^T
glTexCoord2f(1, 0)
# P = [1920, 0, 1]
P = [texWidth, -texHeight, d]
glVertex3f(P[0] , P[1] , P[2] ); # K^{-1} [0, 0, 1]^T
glTexCoord2f(1, 1)
# P = [1920, 1080, 1]
P = [texWidth, texHeight, d]
# P = np.matmul(K_inv,P)
# P = P / P[2]
# glVertex3f(P[0] * d, P[1] * d, P[2] * d)
glVertex3f(P[0] , P[1] , P[2] ); # K^{-1} [0, 0, 1]^T
glTexCoord2f(0, 1)
# P = [0, 1080, 1]
P = [-texWidth, texHeight, d]
# glVertex3f(P[0] * d, P[1] * d, P[2] * d)
glVertex3f(P[0] , P[1] , P[2] ); # K^{-1} [0, 0, 1]^T
glEnd()
glEnable(GL_LIGHTING)
glEnable(GL_CULL_FACE)
glEnable(GL_DEPTH_TEST)
glDisable(GL_TEXTURE_2D)