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Update Support Render (Project Height Map)
Shaders have been modified to use GLSL 1.2 (OpenGL 2.1) in order to be compatible on MacOS X - Monterey
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,191 +1,192 @@ | ||
| import numpy as np | ||
| import trimesh | ||
| from vispy import app, gloo | ||
| from vispy.util.transforms import translate, rotate, ortho | ||
| from vispy.gloo.util import _screenshot | ||
|
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||
| from matplotlib import pyplot as plt | ||
|
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| app.use_app('pyqt5') # Set backend | ||
|
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| 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 = """ | ||
| #version 330 core | ||
| varying vec4 v_color; | ||
| out vec4 fragColor; | ||
| void main() | ||
| { | ||
| //gl_FragColor = vec4( gl_FragCoord.z,gl_FragCoord.z,gl_FragCoord.z,1.0); | ||
| fragColor = vec4( v_color.z,v_color.z,v_color.z,1.0); | ||
| } | ||
| """ | ||
|
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||
|
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| class Canvas(app.Canvas): | ||
|
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||
| @property | ||
| def resolution(self): | ||
| return self._resolution | ||
|
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||
| @resolution.setter | ||
| def resolution(self, res: float): | ||
| self._resolution = res | ||
|
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||
| @property | ||
| def visSize(self): | ||
| return self._visSize | ||
|
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||
| @property | ||
| def mesh(self) -> trimesh.Trimesh: | ||
| return self._mesh | ||
|
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||
| @property | ||
| def bbox(self) -> np.ndarray: | ||
| return self._bbox | ||
|
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||
| def setMesh(self, mesh: trimesh.Trimesh): | ||
|
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| 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) | ||
|
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| self._bbox = mesh.bounds | ||
| self._mesh = mesh | ||
|
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||
| def __enter__(self): | ||
| self._backend._vispy_warmup() | ||
| return self | ||
|
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||
| def __init__(self, mesh: trimesh.Trimesh = None, rasterResolution: float = 0.05, flipDir = False, bbox = None): | ||
|
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| self.flipDir = flipDir | ||
| self.rgb = None | ||
| self.vertices = None | ||
| self.filled = None | ||
| self.verticesColor = None | ||
| self._resolution = rasterResolution | ||
| self._mesh = None | ||
| self._bbox = None | ||
|
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| if mesh: | ||
| self.setMesh(mesh) | ||
|
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||
| if bbox is not None: | ||
| self._bbox = bbox | ||
|
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| meshExtents = np.diff(self.bbox, axis=0) | ||
|
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| self._visSize = (meshExtents / self.resolution).flatten() | ||
|
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| app.Canvas.__init__(self, 'interactive', show=False, resizable=False,autoswap=True, | ||
| size=(self.visSize[0], self.visSize[1])) | ||
|
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||
| self.filled = self.filled.astype(np.uint32).flatten() | ||
| self.filled_buf = gloo.IndexBuffer(self.filled) | ||
|
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| vertex_data = np.zeros(self.vertices.shape[0], dtype=[('a_position', np.float32, 3), | ||
| ('a_color', np.float32, 3)]) | ||
|
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| vertex_data['a_position'] = self.vertices.astype(np.float32) | ||
| vertex_data['a_color'] = self.vertices.astype(np.float32) | ||
|
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| self.program = gloo.Program(vert, frag) | ||
| self.program.bind(gloo.VertexBuffer(vertex_data)) | ||
|
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| avg = np.mean(self.bbox, axis=0) | ||
|
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| 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]))) | ||
|
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|
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| self.model = np.eye(4, dtype=np.float32) | ||
|
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| shape = self.physical_size[1], self.physical_size[0] | ||
|
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| # 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) | ||
|
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| # Create FBO, attach the color buffer and depth buffer | ||
| self._fbo = gloo.FrameBuffer(self._rendertex, self._depthRenderBuffer) | ||
|
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| gloo.set_viewport(0, 0, self.physical_size[0], self.physical_size[1]) | ||
|
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| self.projection = ortho(self.bbox[1, 0], self.bbox[0, 0], self.bbox[1, 1], self.bbox[0, 1], 2, 40) | ||
|
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| # Set MVP variables for shaders | ||
| self.program['u_projection'] = self.projection | ||
| self.program['u_model'] = self.model | ||
| self.program['u_view'] = self.view | ||
|
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| gloo.set_clear_color('white') | ||
| gloo.set_state('opaque') | ||
|
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| self.update() | ||
|
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| def on_resize(self, event): | ||
|
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| # TODO - find a better way to set the bounds for the orthographic projection | ||
| gloo.set_viewport(0, 0, event.physical_size[0], event.physical_size[1]) | ||
|
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| # 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]) | ||
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| self.projection = ortho(self.bbox[0, 0], self.bbox[1, 0], | ||
| self.bbox[0, 1], self.bbox[1, 1], | ||
| -1e4, 1e4) | ||
|
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| self.program['u_projection'] = self.projection | ||
|
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| def on_draw(self, event): | ||
|
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| with self._fbo: | ||
| gloo.clear() | ||
| gloo.set_clear_color((0.0, 0.0, 0.0, 0.0)) | ||
| gloo.set_viewport(0, 0, *self.physical_size) | ||
| gloo.set_state(blend=True, depth_test=True, polygon_offset_fill=False, cull_face=False) | ||
|
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| #self.program['u_color'] = 1, 1, 1, 1 | ||
| 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.physical_size), True) | ||
| self.rgb = _screenshot((0, 0, *self.physical_size)) | ||
|
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|
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| def projectHeightMap(mesh: trimesh.Trimesh, | ||
| resolution: float = 0.05, | ||
| flipDir: bool = False, | ||
| bbox: np.ndarray = None): | ||
|
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| c = Canvas(mesh, resolution, flipDir, bbox) | ||
|
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| c.show(visible=True) | ||
| # c.render() | ||
| c.close() | ||
| return c.rgb[:, :, 1] | ||
| 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); | ||
| } | ||
| """ | ||
|
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||
| 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); | ||
| } | ||
| """ | ||
|
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||
|
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| class Canvas(app.Canvas): | ||
|
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||
| @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): | ||
|
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| self.flipDir = flipDir | ||
| self.rgb = None | ||
| self.vertices = None | ||
| self.filled = None | ||
| self.verticesColor = None | ||
| self._resolution = rasterResolution | ||
| self._mesh = None | ||
| self._bbox = None | ||
|
|
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| if mesh: | ||
| self.setMesh(mesh) | ||
|
|
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| if bbox is not None: | ||
| self._bbox = bbox | ||
|
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| meshExtents = np.diff(self.bbox, axis=0) | ||
|
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| self._visSize = (meshExtents / self.resolution).flatten() | ||
|
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| app.Canvas.__init__(self, 'interactive', show=False, resizable=True, autoswap=False, decorate=False, | ||
| size=(self.visSize[0], self.visSize[1])) | ||
|
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| print('size', self._visSize) | ||
| print('dpi', self.dpi) | ||
|
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| self.filled = self.filled.astype(np.uint32).flatten() | ||
| self.filled_buf = gloo.IndexBuffer(self.filled) | ||
|
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| vertex_data = np.zeros(self.vertices.shape[0], dtype=[('a_position', np.float32, 3), | ||
| ('a_color', np.float32, 3)]) | ||
|
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| vertex_data['a_position'] = self.vertices.astype(np.float32) | ||
| vertex_data['a_color'] = self.vertices.astype(np.float32) | ||
|
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| self.program = gloo.Program(vert, frag) | ||
| self.program.bind(gloo.VertexBuffer(vertex_data)) | ||
|
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| 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]))) | ||
|
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||
|
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| self.model = np.eye(4, dtype=np.float32) | ||
| shape = int(self._visSize[1]), int(self._visSize[0]) | ||
|
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||
| # 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) | ||
|
|
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| # Create FBO, attach the color buffer and depth buffer | ||
| self._fbo = gloo.FrameBuffer(self._rendertex)#, self._depthRenderBuffer) | ||
|
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| 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) | ||
|
|
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| # Set MVP variables for shaders | ||
| self.program['u_projection'] = self.projection | ||
| self.program['u_model'] = self.model | ||
| self.program['u_view'] = self.view | ||
|
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| gloo.set_clear_color('white') | ||
| gloo.set_state('opaque') | ||
|
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| self.update() | ||
|
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| def on_resize(self, event): | ||
|
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| # TODO - find a better way to set the bounds for the orthographic projection | ||
|
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| 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]) | ||
|
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| self.projection = ortho(self.bbox[0, 0], self.bbox[1, 0], | ||
| self.bbox[0, 1], self.bbox[1, 1], | ||
| -1e4, 1e4) | ||
|
|
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| self.program['u_projection'] = self.projection | ||
|
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| def on_draw(self, event): | ||
|
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| with self._fbo: | ||
| gloo.clear() | ||
| gloo.set_clear_color((0.0, 0.0, 0.0, 0.0)) | ||
|
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| 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) | ||
|
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||
| 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)) | ||
|
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|
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| def projectHeightMap(mesh: trimesh.Trimesh, | ||
| resolution: float = 0.05, | ||
| flipDir: bool = False, | ||
| bbox: np.ndarray = None): | ||
|
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| c = Canvas(mesh, resolution, flipDir, bbox) | ||
|
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| c.show(visible=True) | ||
| c.close() | ||
|
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| return c.rgb[:, :, 1] |