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render.py
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render.py
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import numpy as np
import trimesh
from vispy import app, gloo
from vispy.util.transforms import translate, rotate, ortho
from matplotlib import pyplot as plt
app.use_app('pyqt5') # Set backend
vert = """
uniform mat4 u_model;
uniform mat4 u_view;
uniform mat4 u_projection;
attribute vec3 a_position;
attribute vec3 a_color;
varying vec4 v_color;
void main()
{
v_color = vec4(a_color, 1.0);
gl_Position = u_projection * u_view * u_model * vec4(a_position,1.0);
}
"""
frag = """
varying vec4 v_color;
void main()
{
//gl_FragColor = vec4( (gl_FragCoord.z / 1e5)+0.,(gl_FragCoord.z / 1e5)+0.,(gl_FragCoord.z / 1e5)+0.5,1.0);
gl_FragColor = vec4( v_color.z,v_color.z,v_color.z,1.0);
}
"""
class Canvas(app.Canvas):
@property
def resolution(self):
return self._resolution
@resolution.setter
def resolution(self, res: float):
self._resolution = res
@property
def visSize(self):
return self._visSize
@property
def mesh(self) -> trimesh.Trimesh:
return self._mesh
@property
def bbox(self) -> np.ndarray:
return self._bbox
def setMesh(self, mesh: trimesh.Trimesh):
self.vertices = np.copy(mesh.vertices).astype(np.float32)
self.filled = np.copy(mesh.faces).astype(np.int32)
self.verticesColor = np.copy(mesh.vertices).astype(np.float32)
self._bbox = mesh.bounds
self._mesh = mesh
def __enter__(self):
self._backend._vispy_warmup()
return self
def __init__(self, mesh: trimesh.Trimesh = None, rasterResolution: float = 0.05, flipDir = False, bbox = None):
self.flipDir = flipDir
self.rgb = None
self.vertices = None
self.filled = None
self.verticesColor = None
self._resolution = rasterResolution
self._mesh = None
self._bbox = None
if mesh:
self.setMesh(mesh)
if bbox is not None:
self._bbox = bbox
meshExtents = np.diff(self.bbox, axis=0)
self._visSize = (meshExtents / self.resolution).flatten()
app.Canvas.__init__(self, 'interactive', show=False, resizable=True, autoswap=False, decorate=False,
size=(self.visSize[0], self.visSize[1]))
print('size', self._visSize)
print('dpi', self.dpi)
self.filled = self.filled.astype(np.uint32).flatten()
self.filled_buf = gloo.IndexBuffer(self.filled)
vertex_data = np.zeros(self.vertices.shape[0], dtype=[('a_position', np.float32, 3),
('a_color', np.float32, 3)])
vertex_data['a_position'] = self.vertices.astype(np.float32)
vertex_data['a_color'] = self.vertices.astype(np.float32)
self.program = gloo.Program(vert, frag)
self.program.bind(gloo.VertexBuffer(vertex_data))
avg = np.mean(self.bbox, axis=0)
if flipDir:
self.view = rotate(0, [1, 0, 0])
else:
self.view = np.dot(np.dot(translate((-avg[0], -avg[1], -avg[2])),
rotate(-180, [1,0,0])),
translate((avg[0], avg[1], avg[2])))
self.model = np.eye(4, dtype=np.float32)
shape = int(self._visSize[1]), int(self._visSize[0])
# Create the render texture
self._rendertex = gloo.Texture2D((shape + (4,)), format='rgba', internalformat='rgba32f')
# self._colorBuffer = gloo.RenderBuffer(self.shape, format='color')
self._depthRenderBuffer = gloo.RenderBuffer(shape, format='depth')
#self._depthRenderBuffer.resize(shape, format=gloo.gl.GL_DEPTH_COMPONENT16)
# Create FBO, attach the color buffer and depth buffer
self._fbo = gloo.FrameBuffer(self._rendertex)#, self._depthRenderBuffer)
gloo.set_viewport(0, 0, self.physical_size[0], self.physical_size[1])
gloo.set_viewport(0, 0, self._visSize[0], self._visSize[1])
self.projection = ortho(self.bbox[1, 0], self.bbox[0, 0], self.bbox[1, 1], self.bbox[0, 1], 2, 40)
# Set MVP variables for shaders
self.program['u_projection'] = self.projection
self.program['u_model'] = self.model
self.program['u_view'] = self.view
gloo.set_clear_color('white')
gloo.set_state('opaque')
self.update()
def on_resize(self, event):
# TODO - find a better way to set the bounds for the orthographic projection
gloo.set_viewport(0, 0, self._visSize[0]*2, self._visSize[1]*2)
self.finalSize = (event.physical_size[0], event.physical_size[1])
print('event physical size', event.physical_size[0], event.physical_size[1])
# Zself.projection = ortho(self.box[0, 0], self.box[1, 0], self.box[0, 1], self.box[1, 1], -10, 40)
self.projection = ortho(self.bbox[1, 0], self.bbox[0, 0],
self.bbox[1, 1], self.bbox[0, 1],
-self.bbox[1, 2], self.bbox[0, 2])
self.projection = ortho(self.bbox[0, 0], self.bbox[1, 0],
self.bbox[0, 1], self.bbox[1, 1],
-1e4, 1e4)
self.program['u_projection'] = self.projection
def on_draw(self, event):
with self._fbo:
gloo.clear()
gloo.set_clear_color((0.0, 0.0, 0.0, 0.0))
gloo.set_viewport(0, 0, *self.finalSize)
gloo.set_viewport(0, 0, self._visSize[0], self._visSize[1])
gloo.set_state(blend=True, depth_test=True, polygon_offset_fill=False, cull_face=False)
self.program.draw('triangles', self.filled_buf)
# self.rgb = np.copy(self._fbo.read('color')) #_screenshot((0, 0, self.size[0], self.size[1])) #self._fbo.read('color')
self.rgb = gloo.read_pixels((0, 0, self._visSize[0], self._visSize[1]), True, out_type='float')
#self.rgb = _screenshot((0, 0, *self.physical_size))
def projectHeightMap(mesh: trimesh.Trimesh,
resolution: float = 0.05,
flipDir: bool = False,
bbox: np.ndarray = None):
c = Canvas(mesh, resolution, flipDir, bbox)
c.show(visible=True)
c.close()
return c.rgb[:, :, 1]