def addBox(self, box, colour=None):
if not Visualiser.VISUALISER_ON:
return
if isinstance(box, geo.Box):
if colour == None:
colour = visual.color.red
org = geo.transform_point(box.origin, box.transform)
ext = geo.transform_point(box.extent, box.transform)
print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext))
size = np.abs(ext - org)
pos = org + 0.5 * size
print "Visualiser: box position=%s, size=%s" % (str(pos),
str(size))
angle, direction, point = tf.rotation_from_matrix(box.transform)
print "colour,", colour
if colour == [0, 0, 0]:
visual.box(pos=pos,
size=size,
opacity=0.3,
material=visual.materials.plastic)
else:
visual.box(pos=pos,
size=size,
color=geo.norm(colour),
opacity=0.5)
def addBox(self, box, colour=None, opacity=1., material=None):
if not VISUAL_INSTALLED:
return
if isinstance(box, geo.Box):
if colour == None:
colour = visual.color.red
if material is None:
material = visual.materials.plastic
org = geo.transform_point(box.origin, box.transform)
ext = geo.transform_point(box.extent, box.transform)
print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext))
size = np.abs(ext - org)
pos = org + 0.5 * size
print "Visualiser: box position=%s, size=%s" % (str(pos),
str(size))
angle, direction, point = tf.rotation_from_matrix(box.transform)
print "colour,", colour
if np.allclose(np.array(colour), np.array([0, 0, 0])):
visual.box(pos=pos,
size=size,
material=material,
opacity=opacity)
else:
visual.box(pos=pos,
size=size,
color=colour,
materials=material,
opacity=opacity)
def addBox(self, box, colour=None):
if not Visualiser.VISUALISER_ON:
return
if isinstance(box, geo.Box):
if colour == None:
colour = visual.color.red
org = geo.transform_point(box.origin, box.transform)
ext = geo.transform_point(box.extent, box.transform)
print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext))
size = np.abs(ext - org)
pos = org + 0.5*size
print "Visualiser: box position=%s, size=%s" % (str(pos), str(size))
angle, direction, point = tf.rotation_from_matrix(box.transform)
print "colour,", colour
if colour == [0,0,0]:
visual.box(pos=pos, size=size, opacity=0.3, material=visual.materials.plastic)
else:
visual.box(pos=pos, size=size, color=geo.norm(colour), opacity=0.5)
def addBox(self, box, colour=None, opacity=1., material=None):
if not VISUAL_INSTALLED:
return
if isinstance(box, geo.Box):
if colour == None:
colour = visual.color.red
if material is None:
material = visual.materials.plastic
org = geo.transform_point(box.origin, box.transform)
ext = geo.transform_point(box.extent, box.transform)
print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext))
size = np.abs(ext - org)
pos = org + 0.5*size
print "Visualiser: box position=%s, size=%s" % (str(pos), str(size))
angle, direction, point = tf.rotation_from_matrix(box.transform)
print "colour,", colour
if np.allclose(np.array(colour), np.array([0,0,0])):
visual.box(pos=pos, size=size, material=material, opacity=opacity)
else:
visual.box(pos=pos, size=size, color=colour, materials=material, opacity=opacity)
def transform_direction(direction, transform):
angle, axis, point = tf.rotation_from_matrix(transform)
rotation_transform = tf.rotation_matrix(angle, axis)
return np.array(np.dot(rotation_transform, np.matrix(np.concatenate((direction, [1.]))).transpose()).transpose()[0,0:3]).squeeze()
