feat: calibration in opengl
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108
objloader.py
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108
objloader.py
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import pygame
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from OpenGL.GL import *
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def MTL(filename):
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dir_name = '/'.join(filename.split('/')[:-1])
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contents = {}
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mtl = None
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for line in open(filename, "r"):
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if line.startswith('#'): continue
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values = line.split()
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if not values: continue
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if values[0] == 'newmtl':
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mtl = contents[values[1]] = {}
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elif mtl is None:
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raise ValueError("mtl file doesn't start with newmtl stmt")
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elif values[0] == 'map_Kd':
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# load the texture referred to by this declaration
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mtl[values[0]] = values[1]
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surf = pygame.image.load(f"{dir_name}/{mtl['map_Kd']}")
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image = pygame.image.tostring(surf, 'RGBA', 1)
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ix, iy = surf.get_rect().size
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texid = mtl['texture_Kd'] = glGenTextures(1)
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glBindTexture(GL_TEXTURE_2D, texid)
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
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GL_LINEAR)
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glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,
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GL_LINEAR)
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glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, ix, iy, 0, GL_RGBA,
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GL_UNSIGNED_BYTE, image)
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else:
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mtl[values[0]] = map(float, values[1:])
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return contents
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class OBJ:
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def __init__(self, filename, swapyz=False):
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"""Loads a Wavefront OBJ file. """
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self.vertices = []
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self.normals = []
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self.texcoords = []
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self.faces = []
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dir_name = '/'.join(filename.split('/')[:-1])
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material = None
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for line in open(filename, "r"):
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if line.startswith('#'): continue
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values = line.split()
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if not values: continue
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if values[0] == 'v':
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v = list(map(float, values[1:4]))
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if swapyz:
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v = v[0], v[2], v[1]
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self.vertices.append(v)
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elif values[0] == 'vn':
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v = list(map(float, values[1:4]))
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if swapyz:
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v = v[0], v[2], v[1]
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self.normals.append(v)
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elif values[0] == 'vt':
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self.texcoords.append(list(map(float, values[1:3])))
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elif values[0] in ('usemtl', 'usemat'):
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material = values[1]
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elif values[0] == 'mtllib':
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print("mtllib: ", values[1])
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self.mtl = MTL(f"{dir_name}/{values[1]}")
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elif values[0] == 'f':
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face = []
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texcoords = []
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norms = []
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for v in values[1:]:
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w = v.split('/')
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face.append(int(w[0]))
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if len(w) >= 2 and len(w[1]) > 0:
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texcoords.append(int(w[1]))
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else:
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texcoords.append(0)
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if len(w) >= 3 and len(w[2]) > 0:
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norms.append(int(w[2]))
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else:
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norms.append(0)
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self.faces.append((face, norms, texcoords, material))
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self.gl_list = glGenLists(1)
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glNewList(self.gl_list, GL_COMPILE)
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glEnable(GL_TEXTURE_2D)
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glFrontFace(GL_CCW)
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for face in self.faces:
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vertices, normals, texture_coords, material = face
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mtl = self.mtl[material]
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if 'texture_Kd' in mtl:
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# use diffuse texmap
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glBindTexture(GL_TEXTURE_2D, mtl['texture_Kd'])
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else:
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# just use diffuse colour
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glColor(*mtl['Kd'])
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glBegin(GL_POLYGON)
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for i in range(len(vertices)):
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if normals[i] > 0:
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glNormal3fv(self.normals[normals[i] - 1])
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if texture_coords[i] > 0:
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glTexCoord2fv(self.texcoords[texture_coords[i] - 1])
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glVertex3fv(self.vertices[vertices[i] - 1])
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glEnd()
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glDisable(GL_TEXTURE_2D)
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glEndList()
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43
projection_matrix.py
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43
projection_matrix.py
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import numpy as np
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from numpy.core.multiarray import dtype
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CAMERA_MATRIX = np.load('camera_parameters.npy', allow_pickle=True).item()['K']
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W, H = 1280, 720
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FAR, NEAR = 100, 1
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def build_opengl_projection_for_intrinsics(intrinsics, w, h, far, near):
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left = 0
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right = w
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bottom = h
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top = 0
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print("Instrinsics")
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print(intrinsics)
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print()
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ortho = np.array([
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[ 2/(right-left), 0, 0, -(right+left)/(right-left)],
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[ 0, 2/(top-bottom), 0, -(top+bottom)/(top-bottom)],
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[ 0, 0, -2/(far-near), -(far+near)/(far-near)],
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[ 0, 0, 0, 1],
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], dtype=np.float32)
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print("Ortho")
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print(ortho)
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print()
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persp = np.array([
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[ intrinsics[0][0], intrinsics[0][1], -intrinsics[0][2], 0],
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[ 0, intrinsics[1][1], -intrinsics[1][2], 0],
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[ 0, 0, (near+far), (near*far)],
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[ 0, 0, -1, 0],
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], dtype=np.float32)
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print("Persp")
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print(persp)
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print()
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print("ANS")
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print(ortho @ persp)
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print()
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return ortho @ persp
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105
test.py
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105
test.py
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# Basic OBJ file viewer. needs objloader from:
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# http://www.pygame.org/wiki/OBJFileLoader
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# LMB + move: rotate
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# RMB + move: pan
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# Scroll wheel: zoom in/out
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import sys, pygame
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from pygame.locals import *
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from pygame.constants import *
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from OpenGL.GL import *
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from OpenGL.GLU import *
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# IMPORT OBJECT LOADER
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from objloader import *
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from projection_matrix import build_opengl_projection_for_intrinsics
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import numpy as np
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CAMERA_MATRIX = np.load('camera_parameters.npy', allow_pickle=True).item()['K']
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EXTRINSIC_MATRIX = np.array([[0.7227021503496043, -0.3686776760226368, 0.5846181429639397, -16.218840163220325], [0.44397563400870765, 0.8958935447266068, 0.016136694945417585, -1.2057431225855768], [-0.5297048596026128, 0.24789418653881962, 0.8111480962152553, 49.33418176483625], [0.0, 0.0, 0.0, 1.0]])
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W, H = 1280, 720
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FAR, NEAR = 10000.0, 1.0
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if __name__ == '__main__':
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proj = build_opengl_projection_for_intrinsics(CAMERA_MATRIX, W, H, FAR, NEAR)
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pygame.init()
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viewport = (W, H)
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hx = viewport[0]/2
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hy = viewport[1]/2
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srf = pygame.display.set_mode(viewport, OPENGL | DOUBLEBUF)
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# glLightfv(GL_LIGHT0, GL_POSITION, (-40, 200, 100, 0.0))
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# glLightfv(GL_LIGHT0, GL_AMBIENT, (0.2, 0.2, 0.2, 1.0))
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# glLightfv(GL_LIGHT0, GL_DIFFUSE, (0.5, 0.5, 0.5, 1.0))
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glEnable(GL_LIGHT0)
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glEnable(GL_LIGHTING)
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glEnable(GL_COLOR_MATERIAL)
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glEnable(GL_DEPTH_TEST)
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glShadeModel(GL_SMOOTH) # most obj files expect to be smooth-shaded
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# LOAD OBJECT AFTER PYGAME INIT
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obj = OBJ(sys.argv[1], swapyz=True)
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clock = pygame.time.Clock()
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# set projection matrix
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# use intrinsics to build for OpenGL
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glMatrixMode(GL_PROJECTION)
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glLoadIdentity()
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# width, height = viewport
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# gluPerspective(90.0, width/float(height), 1, 100.0)
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print(proj)
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glLoadMatrixf(proj)
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glEnable(GL_DEPTH_TEST)
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# set model view matrix
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# use extrinsics
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glMatrixMode(GL_MODELVIEW)
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rx, ry = (0,0)
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tx, ty = (0,0)
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zpos = 5
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rotate = move = False
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while 1:
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clock.tick(30)
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for e in pygame.event.get():
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if e.type == QUIT:
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sys.exit()
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elif e.type == KEYDOWN and e.key == K_ESCAPE:
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sys.exit()
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elif e.type == MOUSEBUTTONDOWN:
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if e.button == 4: zpos = max(1, zpos-1)
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elif e.button == 5: zpos += 1
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elif e.button == 1: rotate = True
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elif e.button == 3: move = True
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elif e.type == MOUSEBUTTONUP:
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if e.button == 1: rotate = False
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elif e.button == 3: move = False
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elif e.type == MOUSEMOTION:
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i, j = e.rel
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if rotate:
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rx += i
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ry += j
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if move:
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tx += i
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ty -= j
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
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glMatrixMode(GL_MODELVIEW)
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glLoadIdentity()
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glLoadMatrixf(EXTRINSIC_MATRIX)
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# RENDER OBJECT
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'''
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glTranslate(tx/20., ty/20., - zpos)
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size = 3
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glScale(size, size, size)
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glRotate(ry, 1, 0, 0)
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glRotate(rx, 0, 1, 0)
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'''
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glCallList(obj.gl_list)
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pygame.display.flip()
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