ICON / lib /renderer /gl /render.py
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# -*- coding: utf-8 -*-
# Max-Planck-Gesellschaft zur Förderung der Wissenschaften e.V. (MPG) is
# holder of all proprietary rights on this computer program.
# You can only use this computer program if you have closed
# a license agreement with MPG or you get the right to use the computer
# program from someone who is authorized to grant you that right.
# Any use of the computer program without a valid license is prohibited and
# liable to prosecution.
#
# Copyright©2019 Max-Planck-Gesellschaft zur Förderung
# der Wissenschaften e.V. (MPG). acting on behalf of its Max Planck Institute
# for Intelligent Systems. All rights reserved.
#
# Contact: ps-license@tuebingen.mpg.de
from ctypes import *
import numpy as np
from .framework import *
GLUT = None
# NOTE: Render class assumes GL context is created already.
class Render:
def __init__(self,
width=1600,
height=1200,
name='GL Renderer',
program_files=['simple.fs', 'simple.vs'],
color_size=1,
ms_rate=1,
egl=False):
self.width = width
self.height = height
self.name = name
self.use_inverse_depth = False
self.egl = egl
glEnable(GL_DEPTH_TEST)
glClampColor(GL_CLAMP_READ_COLOR, GL_FALSE)
glClampColor(GL_CLAMP_FRAGMENT_COLOR, GL_FALSE)
glClampColor(GL_CLAMP_VERTEX_COLOR, GL_FALSE)
# init program
shader_list = []
for program_file in program_files:
_, ext = os.path.splitext(program_file)
if ext == '.vs':
shader_list.append(loadShader(GL_VERTEX_SHADER, program_file))
elif ext == '.fs':
shader_list.append(loadShader(GL_FRAGMENT_SHADER,
program_file))
elif ext == '.gs':
shader_list.append(loadShader(GL_GEOMETRY_SHADER,
program_file))
self.program = createProgram(shader_list)
for shader in shader_list:
glDeleteShader(shader)
# Init uniform variables
self.model_mat_unif = glGetUniformLocation(self.program, 'ModelMat')
self.persp_mat_unif = glGetUniformLocation(self.program, 'PerspMat')
self.vertex_buffer = glGenBuffers(1)
# Init screen quad program and buffer
self.quad_program, self.quad_buffer = self.init_quad_program()
# Configure frame buffer
self.frame_buffer = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, self.frame_buffer)
self.intermediate_fbo = None
if ms_rate > 1:
# Configure texture buffer to render to
self.color_buffer = []
for i in range(color_size):
color_buffer = glGenTextures(1)
multi_sample_rate = ms_rate
glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, color_buffer)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S,
GL_CLAMP_TO_EDGE)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T,
GL_CLAMP_TO_EDGE)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,
GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
GL_LINEAR)
glTexImage2DMultisample(GL_TEXTURE_2D_MULTISAMPLE,
multi_sample_rate, GL_RGBA32F,
self.width, self.height, GL_TRUE)
glBindTexture(GL_TEXTURE_2D_MULTISAMPLE, 0)
glFramebufferTexture2D(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT0 + i,
GL_TEXTURE_2D_MULTISAMPLE, color_buffer,
0)
self.color_buffer.append(color_buffer)
self.render_buffer = glGenRenderbuffers(1)
glBindRenderbuffer(GL_RENDERBUFFER, self.render_buffer)
glRenderbufferStorageMultisample(GL_RENDERBUFFER,
multi_sample_rate,
GL_DEPTH24_STENCIL8, self.width,
self.height)
glBindRenderbuffer(GL_RENDERBUFFER, 0)
glFramebufferRenderbuffer(GL_FRAMEBUFFER,
GL_DEPTH_STENCIL_ATTACHMENT,
GL_RENDERBUFFER, self.render_buffer)
attachments = []
for i in range(color_size):
attachments.append(GL_COLOR_ATTACHMENT0 + i)
glDrawBuffers(color_size, attachments)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
self.intermediate_fbo = glGenFramebuffers(1)
glBindFramebuffer(GL_FRAMEBUFFER, self.intermediate_fbo)
self.screen_texture = []
for i in range(color_size):
screen_texture = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, screen_texture)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA32F, self.width,
self.height, 0, GL_RGBA, GL_FLOAT, None)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
GL_LINEAR)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,
GL_LINEAR)
glFramebufferTexture2D(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT0 + i, GL_TEXTURE_2D,
screen_texture, 0)
self.screen_texture.append(screen_texture)
glDrawBuffers(color_size, attachments)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
else:
self.color_buffer = []
for i in range(color_size):
color_buffer = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, color_buffer)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S,
GL_CLAMP_TO_EDGE)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T,
GL_CLAMP_TO_EDGE)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER,
GL_NEAREST)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER,
GL_NEAREST)
glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA32F, self.width,
self.height, 0, GL_RGBA, GL_FLOAT, None)
glFramebufferTexture2D(GL_FRAMEBUFFER,
GL_COLOR_ATTACHMENT0 + i, GL_TEXTURE_2D,
color_buffer, 0)
self.color_buffer.append(color_buffer)
# Configure depth texture map to render to
self.depth_buffer = glGenTextures(1)
glBindTexture(GL_TEXTURE_2D, self.depth_buffer)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_REPEAT)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST)
glTexParameteri(GL_TEXTURE_2D, GL_DEPTH_TEXTURE_MODE, GL_INTENSITY)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_MODE,
GL_COMPARE_R_TO_TEXTURE)
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_COMPARE_FUNC, GL_LEQUAL)
glTexImage2D(GL_TEXTURE_2D, 0, GL_DEPTH_COMPONENT, self.width,
self.height, 0, GL_DEPTH_COMPONENT, GL_FLOAT, None)
glFramebufferTexture2D(GL_FRAMEBUFFER, GL_DEPTH_ATTACHMENT,
GL_TEXTURE_2D, self.depth_buffer, 0)
attachments = []
for i in range(color_size):
attachments.append(GL_COLOR_ATTACHMENT0 + i)
glDrawBuffers(color_size, attachments)
self.screen_texture = self.color_buffer
glBindFramebuffer(GL_FRAMEBUFFER, 0)
# Configure texture buffer if needed
self.render_texture = None
# NOTE: original render_texture only support one input
# this is tentative member of this issue
self.render_texture_v2 = {}
# Inner storage for buffer data
self.vertex_data = None
self.vertex_dim = None
self.n_vertices = None
self.model_view_matrix = None
self.projection_matrix = None
if not egl:
global GLUT
import OpenGL.GLUT as GLUT
GLUT.glutDisplayFunc(self.display)
def init_quad_program(self):
shader_list = []
shader_list.append(loadShader(GL_VERTEX_SHADER, "quad.vs"))
shader_list.append(loadShader(GL_FRAGMENT_SHADER, "quad.fs"))
the_program = createProgram(shader_list)
for shader in shader_list:
glDeleteShader(shader)
# vertex attributes for a quad that fills the entire screen in Normalized Device Coordinates.
# positions # texCoords
quad_vertices = np.array([
-1.0, 1.0, 0.0, 1.0, -1.0, -1.0, 0.0, 0.0, 1.0, -1.0, 1.0, 0.0,
-1.0, 1.0, 0.0, 1.0, 1.0, -1.0, 1.0, 0.0, 1.0, 1.0, 1.0, 1.0
])
quad_buffer = glGenBuffers(1)
glBindBuffer(GL_ARRAY_BUFFER, quad_buffer)
glBufferData(GL_ARRAY_BUFFER, quad_vertices, GL_STATIC_DRAW)
glBindBuffer(GL_ARRAY_BUFFER, 0)
return the_program, quad_buffer
def set_mesh(self, vertices, faces):
self.vertex_data = vertices[faces.reshape([-1])]
self.vertex_dim = self.vertex_data.shape[1]
self.n_vertices = self.vertex_data.shape[0]
glBindBuffer(GL_ARRAY_BUFFER, self.vertex_buffer)
glBufferData(GL_ARRAY_BUFFER, self.vertex_data, GL_STATIC_DRAW)
glBindBuffer(GL_ARRAY_BUFFER, 0)
def set_viewpoint(self, projection, model_view):
self.projection_matrix = projection
self.model_view_matrix = model_view
def draw_init(self):
glBindFramebuffer(GL_FRAMEBUFFER, self.frame_buffer)
glEnable(GL_DEPTH_TEST)
glClearColor(0.0, 0.0, 0.0, 0.0)
if self.use_inverse_depth:
glDepthFunc(GL_GREATER)
glClearDepth(0.0)
else:
glDepthFunc(GL_LESS)
glClearDepth(1.0)
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
def draw_end(self):
if self.intermediate_fbo is not None:
for i in range(len(self.color_buffer)):
glBindFramebuffer(GL_READ_FRAMEBUFFER, self.frame_buffer)
glReadBuffer(GL_COLOR_ATTACHMENT0 + i)
glBindFramebuffer(GL_DRAW_FRAMEBUFFER, self.intermediate_fbo)
glDrawBuffer(GL_COLOR_ATTACHMENT0 + i)
glBlitFramebuffer(0, 0, self.width, self.height, 0, 0,
self.width, self.height, GL_COLOR_BUFFER_BIT,
GL_NEAREST)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
glDepthFunc(GL_LESS)
glClearDepth(1.0)
def draw(self):
self.draw_init()
glUseProgram(self.program)
glUniformMatrix4fv(self.model_mat_unif, 1, GL_FALSE,
self.model_view_matrix.transpose())
glUniformMatrix4fv(self.persp_mat_unif, 1, GL_FALSE,
self.projection_matrix.transpose())
glBindBuffer(GL_ARRAY_BUFFER, self.vertex_buffer)
glEnableVertexAttribArray(0)
glVertexAttribPointer(0, self.vertex_dim, GL_DOUBLE, GL_FALSE, 0, None)
glDrawArrays(GL_TRIANGLES, 0, self.n_vertices)
glDisableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, 0)
glUseProgram(0)
self.draw_end()
def get_color(self, color_id=0):
glBindFramebuffer(
GL_FRAMEBUFFER, self.intermediate_fbo
if self.intermediate_fbo is not None else self.frame_buffer)
glReadBuffer(GL_COLOR_ATTACHMENT0 + color_id)
data = glReadPixels(0,
0,
self.width,
self.height,
GL_RGBA,
GL_FLOAT,
outputType=None)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
rgb = data.reshape(self.height, self.width, -1)
rgb = np.flip(rgb, 0)
return rgb
def get_z_value(self):
glBindFramebuffer(GL_FRAMEBUFFER, self.frame_buffer)
data = glReadPixels(0,
0,
self.width,
self.height,
GL_DEPTH_COMPONENT,
GL_FLOAT,
outputType=None)
glBindFramebuffer(GL_FRAMEBUFFER, 0)
z = data.reshape(self.height, self.width)
z = np.flip(z, 0)
return z
def display(self):
self.draw()
if not self.egl:
# First we draw a scene.
# Notice the result is stored in the texture buffer.
# Then we return to the default frame buffer since we will display on the screen.
glBindFramebuffer(GL_FRAMEBUFFER, 0)
# Do the clean-up.
glClearColor(0.0, 0.0, 0.0, 0.0)
glClear(GL_COLOR_BUFFER_BIT)
# We draw a rectangle which covers the whole screen.
glUseProgram(self.quad_program)
glBindBuffer(GL_ARRAY_BUFFER, self.quad_buffer)
size_of_double = 8
glEnableVertexAttribArray(0)
glVertexAttribPointer(0, 2, GL_DOUBLE, GL_FALSE,
4 * size_of_double, None)
glEnableVertexAttribArray(1)
glVertexAttribPointer(1, 2, GL_DOUBLE, GL_FALSE,
4 * size_of_double,
c_void_p(2 * size_of_double))
glDisable(GL_DEPTH_TEST)
# The stored texture is then mapped to this rectangle.
# properly assing color buffer texture
glActiveTexture(GL_TEXTURE0)
glBindTexture(GL_TEXTURE_2D, self.screen_texture[0])
glUniform1i(
glGetUniformLocation(self.quad_program, 'screenTexture'), 0)
glDrawArrays(GL_TRIANGLES, 0, 6)
glDisableVertexAttribArray(1)
glDisableVertexAttribArray(0)
glEnable(GL_DEPTH_TEST)
glBindBuffer(GL_ARRAY_BUFFER, 0)
glUseProgram(0)
GLUT.glutSwapBuffers()
GLUT.glutPostRedisplay()
def show(self):
if not self.egl:
GLUT.glutMainLoop()