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341
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1 #!/usr/bin/python2.4
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2 from __future__ import division
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3 import sys, time, math
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4 import Image, ImageFilter
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5 import Numeric as num
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6 from OpenGL import GL, GLUT, GLU
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7 from OpenGL.GL import *
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8
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9 def openglSetup(width=512, height=256):
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10 global cardList
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11
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12 glClearColor (0.0, 0.0, 0.0, 0.0)
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13 glShadeModel (GL_SMOOTH)
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14 glEnable(GL_COLOR_MATERIAL)
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15
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16 glLightfv(GL_LIGHT0, GL_AMBIENT, [0.0, 0.0, 0.0, 1.0])
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17 glLightfv(GL_LIGHT0, GL_DIFFUSE, [1.0, 1.0, 1.0, 1.0])
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18 glLightfv(GL_LIGHT0, GL_POSITION, [0.0, 3.0, 3.0, 0.0])
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19 glLightModelfv(GL_LIGHT_MODEL_AMBIENT, [0.2, 0.2, 0.2, 1.0])
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20 glLightModelfv(GL_LIGHT_MODEL_LOCAL_VIEWER, [0])
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21
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22 #glFrontFace(GL_CW)
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23 glEnable(GL_LIGHTING)
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24 glEnable(GL_LIGHT0)
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25 #glEnable(GL_AUTO_NORMAL)
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26 #glEnable(GL_NORMALIZE)
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27 glEnable(GL_DEPTH_TEST)
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28
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29
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30 glViewport (0, 0, width, height)
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31 glMatrixMode (GL_PROJECTION)
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32 glLoadIdentity ()
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33 glFrustum (-1.0, 1.0, -1.0, 1.0, 1.5, 20.0)
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34 glMatrixMode (GL_MODELVIEW)
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35
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36 cardList = glGenLists(1)
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37 glNewList(cardList, GL_COMPILE)
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38 glColor3f(1,1,1)
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39 glBegin(GL_QUADS)
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40 glTexCoord2f(0.0, 1.0); glVertex3f(-1.0, 0.0, 1.0)
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41 glTexCoord2f(1.0, 1.0); glVertex3f( 1.0, 0.0, 1.0)
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42 glTexCoord2f(1.0, 0.0); glVertex3f( 1.0, 1.0, 1.0)
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43 glTexCoord2f(0.0, 0.0); glVertex3f(-1.0, 1.0, 1.0)
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44 glEnd()
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45 glEndList()
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46
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47
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48
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49 def imageCard(img):
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50 """card facing +Z from -1<x<1 -1<y<1"""
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51 textureData = img.convert(mode="RGBA").tostring()
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52
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53 glBindTexture(GL_TEXTURE_2D, 0)
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54 glTexImage2D( GL_TEXTURE_2D, 0, GL_RGBA,
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55 512, #multiImage.size()[0],
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56 256, #multiImage.size()[1],
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57 0,
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58 GL_RGBA, GL_UNSIGNED_BYTE, textureData)
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59 glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
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60 glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
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61
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62 glCallList(cardList)
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63
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64 def setupDraw():
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65 """per-frame setup"""
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66 glClearColor(0.0, 0.0, 0.0, 0.0)
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67 glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
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68 glLoadIdentity ()
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69 GLU.gluLookAt (0.5, 0.5, 8.0,
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70 0.5, 0.5, 0.0,
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71 0.0, 1.0, 0.0)
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72
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73 glDisable(GL_TEXTURE_2D)
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74
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75 correctFrameStart = None
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76 def drawFrame():
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77 global correctFrameStart
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78 t1 = time.time()
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79 setupDraw()
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80
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81 matching = False
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82 glPushMatrix()
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83 try:
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84 glTranslatef(1, -.9, 3.2)
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85 # flip to compensate for the camera facing the user
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86 glScalef(-1, 1, 1)
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87
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88 glDisable(GL_LIGHTING)
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89 glEnable(GL_TEXTURE_2D)
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90
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91 # imageCard(Image.open("skyline/bg.png"))
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92 imageCard(Image.open("skyline/cyc-lo-red.png"))
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93
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94 ## if grab.lastFrame:
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95 ## imageCard(grab.lastFrame)
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96 ## glEnable(GL_LIGHTING)
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97 ## glDisable(GL_TEXTURE_2D)
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98 ## if grab.seenPose:
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99 ## for colorName, pos in grab.seenPose.pos.items():
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100 ## cube(color=(x / 255 for x in vision.colors[colorName]),
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101 ## center=((1-pos[0]) * 2 - 1, pos[1] * 2 - 1, 1),
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102 ## side=.1, wire=False)
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103 ## matching = game.pose.compare(grab.seenPose)
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104 glEnable(GL_LIGHTING)
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105 glDisable(GL_TEXTURE_2D)
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106 finally:
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107 glPopMatrix()
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108
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109
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110 glFlush()
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111 #print "draw", time.time() - t1
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112
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113 GLUT.glutInit(sys.argv)
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114 window = GLUT.glutCreateWindow("sim2")
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115 openglSetup()
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116 GLUT.glutDisplayFunc(drawFrame)
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117 def menu(arg):
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118 print "hi", arg
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119 GLUT.glutCreateMenu(menu)
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120 GLUT.glutAddMenuEntry("hi", 1)
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121 GLUT.glutAttachMenu(GLUT.GLUT_RIGHT_BUTTON)
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122
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123 GLUT.glutMainLoop()
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