def resetCameraToRobot(view):
t = robotModel.getLinkFrame('pelvis')
if t is None:
t = vtk.vtkTransform()
focalPoint = [0.0, 0.0, 0.25]
position = [-4.0, -2.0, 2.25]
t.TransformPoint(focalPoint, focalPoint)
t.TransformPoint(position, position)
flyer = cameracontrol.Flyer(view)
flyer.zoomTo(focalPoint, position)
def resetCameraToRobotAbove(self, view):
link = drcargs.getRobotConfig(self.robotName)["pelvisLink"]
t = self.robotModel.getLinkFrame(link)
if t is None:
t = vtk.vtkTransform()
focalPoint = [2, 0.0, 0.25]
position = [1, 0.0, 15.25] # to avoid singularities
t.TransformPoint(focalPoint, focalPoint)
t.TransformPoint(position, position)
flyer = cameracontrol.Flyer(view)
flyer.zoomTo(focalPoint, position)
def resetCameraToRobot(self, view):
link = drcargs.getRobotConfig(self.robotName)["pelvisLink"]
t = self.robotModel.getLinkFrame(link)
if t is None:
t = vtk.vtkTransform()
focalPoint = [0.0, 0.0, 0.25]
position = [-4.0, -2.0, 2.25]
t.TransformPoint(focalPoint, focalPoint)
t.TransformPoint(position, position)
flyer = cameracontrol.Flyer(view)
flyer.zoomTo(focalPoint, position)
def zoomToPick(displayPoint, view):
pickedPoint, prop, _ = vis.pickProp(displayPoint, view)
if not prop:
return
flyer = cameracontrol.Flyer(view)
flyer.zoomTo(pickedPoint)
def __init__(self, view):
self.bookmarks = {}
self.view = view
self.flyer = cameracontrol.Flyer(view)
self.flyer.flyTime = 1.0