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Code Rendering With Black Frame Scale

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sarazermane1
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77 views3 pages

Code Rendering With Black Frame Scale

Uploaded by

sarazermane1
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as TXT, PDF, TXT or read online on Scribd
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def camera(self):

# scale = self.camera_frame_picture_ratio * self.camera_scale


Cy = self.camera_height * 0.5 - (self.camera_cy - self.camera_height * 0.5)

perspective = np.array([[self.camera_fx*self.camera_scale,
self.camera_skew*self.camera_scale, -
(self.camera_cx+self.camera_width*self.camera_frame_picture_ratio)*self.camera_scal
e, 0],
[0, self.camera_fy*self.camera_scale, -
(Cy+self.camera_height*self.camera_frame_picture_ratio)*self.camera_scale, 0],
[0, 0, (self.camera_near + self.camera_far),
(self.camera_near * self.camera_far)],
[0, 0, -1, 0]], dtype=np.float32)

ortho = np.array([[2 / (self.windowWidth), 0, 0, -1],


[0, 2 / (self.windowHeight), 0, -1],
[0, 0, -2 / (self.camera_far - self.camera_near), -
(self.camera_far + self.camera_near) / (self.camera_far - self.camera_near)],
[0, 0, 0, 1]], dtype=np.float32)

P = np.matmul(ortho, perspective)

P = P.transpose()

# P = np.zeros(shape=(4, 4), dtype=np.float32)

# width_padded = self.camera_width + 2*(self.camera_width *


self.camera_frame_picture_ratio)
# height_padded = self.camera_height + 2*(self.camera_height *
self.camera_frame_picture_ratio)

# P[0, 0] = 2 * (self.camera_fx) / width_padded


# P[1, 1] = 2 * (self.camera_fy) / height_padded
# P[2, 0] = 1 - 2 *
(self.camera_cx+self.camera_width*self.camera_frame_picture_ratio) / width_padded
# P[2, 1] = 2 *
(self.camera_cy+self.camera_height*self.camera_frame_picture_ratio) / height_padded
- 1
# P[2, 2] = -(self.camera_far + self.camera_near) / (self.camera_far -
self.camera_near)
# P[2, 3] = -1.0
# P[3, 2] = - (2 * self.camera_far * self.camera_near) / (self.camera_far -
self.camera_near)

self.projectionMatrix = P

def drawImage(self):
# glBindBuffer(GL_ARRAY_BUFFER, 0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)

glDepthMask(GL_FALSE)
glDisable(GL_DEPTH_TEST)

scale = self.camera_frame_picture_ratio * self.camera_scale

# Drawable area in the widget


glViewport(int(self.camera_width * scale), int(self.camera_height * scale),
int(self.windowWidth - (2 * self.camera_width * scale)),
int(self.windowHeight - (2 * self.camera_height * scale)))

# glViewport(0, 0, self.windowWidth, self.windowHeight)

glBindVertexArray(self.imageVAO)
glUseProgram(self.imageShaderProgram)
glUniform1f(self.quadScaleLoc, 1.0)
glUniform1f(self.quadAlphaLoc, self.imageAlpha)

glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, self.textureId)

glDrawArrays(GL_TRIANGLES, 0, 6)

glBindVertexArray(0)
glBindTexture(GL_TEXTURE_2D, 0)
glUseProgram(0)

def drawModels(self):
glEnable(GL_DEPTH_TEST) # Depth buffer ON
glDepthMask(GL_TRUE)
glEnable(GL_CULL_FACE)

glViewport(0, 0, self.windowWidth, self.windowHeight) # Draw in the whole


widget area

glBindBuffer(GL_ARRAY_BUFFER, 0)

# Sweep through the existing models:


for i in range(0,len(self.modelVAOs)):
glBindVertexArray(self.modelVAOs[i])
glUseProgram(self.modelShaderProgram)
glUniformMatrix4fv(self.projMatrixLoc, 1, False,
self.projectionMatrix.flatten())

# Compute normal matrix:


rotation_inv = np.linalg.inv(self.modelviewMatrix[0:3,0:3])
self.normalMatrix = np.transpose(rotation_inv)

glUniformMatrix4fv(self.mvMatrixLoc, 1, False,
self.modelviewMatrix.flatten())
glUniformMatrix3fv(self.normalMatrixLoc, 1, False,
self.normalMatrix.flatten())
glUniform3f(self.lightPosLoc, self.lightPosition[0],
self.lightPosition[1], self.lightPosition[2])
glUniform1f(self.usingLightFalloffLoc, 1.0)
glUniform1f(self.modelTexturemappingLoc, 0.0)
glUniform1f(self.modelTexScaleLoc, 1.0)
glUniform1f(self.modelCLoc, self.cForRendering)
glUniform4f(self.modelAmbientColourLoc, self.modelAmbientColour[0],
self.modelAmbientColour[1], self.modelAmbientColour[2], self.modelAmbientColour[3])

glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, self.textureId)

# glEnable(GL_NORMALIZE) # Normalization vectors ON


glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
glDrawArrays(GL_TRIANGLES, 0,
GLsizei(round(len(self.modelVertexData[i]) / 17)))

glBindTexture(GL_TEXTURE_2D, 0)
glUseProgram(0)

def __init__(self, parent=None):


# Load camera parameters:
self.path_calibration = "../patient_data/20180905/calibration.xml"
self.camera_width, self.camera_height, self.camera_fx, self.camera_fy,
self.camera_cx, self.camera_cy, self.camera_matrix, self.camera_dist_coeffs =
self.load_camera_params_from_xml(self.path_calibration)
self.camera_skew = 0
self.camera_frame_picture_ratio = 0.2
self.camera_scale = 0.5
frames = (2*self.camera_frame_picture_ratio)+1
scale = self.camera_scale*frames
self.windowWidth = int(self.camera_width * scale)
self.windowHeight = int(self.camera_height * scale)
self.camera_near = 0.0001
self.camera_far = 1000
self.modelviewMatrix = np.identity(4, dtype=np.float32)

image_orig = cv2.imread('../patient_data/20180905/image74.png')
self.background_image =
cv2.undistort(image_orig,self.camera_matrix,self.camera_dist_coeffs)
width, height = self.background_image.shape[1],
self.background_image.shape[0]

self.model_paths =
["../patient_data/20180905/models_registered_hepataug/tumour.obj",

"../patient_data/20180905/models_registered_hepataug/vein.obj",

"../patient_data/20180905/models_registered_hepataug/liver.obj"]

self.model_colors = np.array([[1.0, 1.0, 0.0, 1.0],


[0.0, 0.0, 1.0, 1.0],
[1.0, 1.0, 1.0, 0.5]
], dtype=np.float32)

# Lightning parameters:
self.modelAmbientColour = [0.1, 0.1, 0.1, 1.0]
self.lightPosition = [0.0, 0.0, 0.0]
self.cForRendering = 0.03

self.imageShaderProgram = None
self.positionHandle = None
self.textureId = None
self.imageVAO = None
self.models = []
self.modelVAOs = []
self.modelVBOs = []
self.modelVertexData = []

# Set window size:


self.setMinimumSize(self.windowWidth, self.windowHeight)

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