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Switch camera mesh to wireframe in visualizer #9

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Merged
merged 1 commit into from
Dec 22, 2023
Merged

Switch camera mesh to wireframe in visualizer #9

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2 changes: 1 addition & 1 deletion python/cli/visualization/visualizer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -281,7 +281,7 @@ def __init__(self, args=VisualizerArgs()):
renderMesh=args.showMesh)
self.poseTrail = PoseTrailRenderer(maxLength=args.poseTrailLength)
self.grid = GridRenderer(radius=args.gridRadius, length=args.gridCellLength, origin=args.gridOrigin)
self.cameraModelRenderer = MeshRenderer(createCameraModelMesh(scale=args.visualizationScale / 20.0))
self.cameraModelRenderer = CameraWireframeRenderer()
self.cameraFrustumRenderer = None # initialized later when camera projection matrix is available

# Recording
Expand Down
83 changes: 38 additions & 45 deletions python/cli/visualization/visualizer_renderers/renderers.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,10 +8,10 @@
DEFAULT_GRID_RGBA = [0.75, 0.75, 0.75, 0.3]
DEFAULT_FRUSTUM_RGBA = [0.75, 0.75, 0.75, 0.4]
DEFAULT_KEYFRAME_RGBA = [0.9, 0.4, 0.0, 0.75]
DEFAULT_CAMERA_MODEL_RGB = [1.0, 0.0, 0.0]
DEFAULT_CAMERA_RGBA = [1.0, 0.0, 0.0, 0.75]

class KeyFrameRenderer:
def __init__(self, color=np.array(DEFAULT_KEYFRAME_RGBA), scale=0.05, lineWidth=2):
class CameraWireframeRenderer:
def __init__(self, color=np.array(DEFAULT_CAMERA_RGBA), scale=0.05, lineWidth=2):
self.color = color
self.lineWidth = lineWidth
self.vertices = np.array([
Expand All @@ -33,7 +33,7 @@ def __init__(self, color=np.array(DEFAULT_KEYFRAME_RGBA), scale=0.05, lineWidth=
[4, 1],
]

def render(self, keyFrameCameraToWorldMatrices, viewMatrix, projectionMatrix):
def render(self, modelMatrix, viewMatrix, projectionMatrix):
glLineWidth(self.lineWidth)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
Expand All @@ -42,6 +42,37 @@ def render(self, keyFrameCameraToWorldMatrices, viewMatrix, projectionMatrix):
glEnable(GL_DEPTH_TEST)
glColor4fv(self.color)

modelView = viewMatrix @ modelMatrix
glMatrixMode(GL_MODELVIEW)
glLoadMatrixf(modelView.transpose())
glMatrixMode(GL_PROJECTION)
glLoadMatrixf(projectionMatrix.transpose())

glBegin(GL_LINES)
for edge in self.edges:
p0 = self.vertices[edge[0]]
p1 = self.vertices[edge[1]]
glVertex3f(p0[0], p0[1], p0[2])
glVertex3f(p1[0], p1[1], p1[2])
glEnd()

glDisable(GL_BLEND)
glDisable(GL_LINE_SMOOTH)
glDisable(GL_DEPTH_TEST)

class KeyFrameRenderer:
def __init__(self, color=np.array(DEFAULT_KEYFRAME_RGBA), scale=0.05, lineWidth=2):
self.cameraWireframe = CameraWireframeRenderer(color, scale, lineWidth)

def render(self, keyFrameCameraToWorldMatrices, viewMatrix, projectionMatrix):
glLineWidth(self.cameraWireframe.lineWidth)
glEnable(GL_BLEND)
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA)
glEnable(GL_LINE_SMOOTH)
glHint(GL_LINE_SMOOTH_HINT, GL_NICEST)
glEnable(GL_DEPTH_TEST)
glColor4fv(self.cameraWireframe.color)

for kfId in keyFrameCameraToWorldMatrices:
modelMatrix = keyFrameCameraToWorldMatrices[kfId]
modelView = viewMatrix @ modelMatrix
Expand All @@ -51,9 +82,9 @@ def render(self, keyFrameCameraToWorldMatrices, viewMatrix, projectionMatrix):
glLoadMatrixf(projectionMatrix.transpose())

glBegin(GL_LINES)
for edge in self.edges:
p0 = self.vertices[edge[0]]
p1 = self.vertices[edge[1]]
for edge in self.cameraWireframe.edges:
p0 = self.cameraWireframe.vertices[edge[0]]
p1 = self.cameraWireframe.vertices[edge[1]]
glVertex3f(p0[0], p0[1], p0[2])
glVertex3f(p1[0], p1[1], p1[2])
glEnd()
Expand Down Expand Up @@ -383,44 +414,6 @@ def render(self, modelMatrix, viewMatrix, projectionMatrix, render2d):

glDisable(GL_DEPTH_TEST)

def createCameraModelMesh(scale=1.0, color=np.array(DEFAULT_CAMERA_MODEL_RGB)):
scale = 0.2 * scale
vertices = np.array([
-0.5, -0.5, 0.0, # Vertex 0: Near top-left
0.5, -0.5, 0.0, # Vertex 1: Near top-right
0.5, 0.5, 0.0, # Vertex 2: Near bottom-right
-0.5, 0.5, 0.0, # Vertex 3: Near bottom-left
-1.0, -1.0, 1.0, # Vertex 4: Far top-left
1.0, -1.0, 1.0, # Vertex 5: Far top-right
1.0, 1.0, 1.0, # Vertex 6: Far bottom-right
-1.0, 1.0, 1.0 # Vertex 7: Far bottom-left
], dtype=np.float32)

vertices *= scale

colors = np.array([
color,
color,
color,
color,
# add some shading
0.5 * color,
0.5 * color,
0.5 * color,
0.5 * color
], dtype=np.float32)

triangles = np.array([
0, 1, 2, 0, 2, 3, # Near face
4, 5, 6, 4, 6, 7, # Far face
0, 1, 5, 0, 5, 4, # Bottom face
1, 2, 6, 1, 6, 5, # Right face
2, 3, 7, 2, 7, 6, # Top face
3, 0, 4, 3, 4, 7 # Left face
], dtype=np.uint32)

return Mesh(vertices, colors, triangles)

def createPlaneMesh(scale, position, color):
# 3 ---- 2
# | |
Expand Down