def set_planar_viewpoint(vis,
camera_position=[0, -1, 0],
camera_focus=[0, 0, 0],
xmin=-1,
xmax=1,
ymin=-1,
ymax=1):
# TODO(russt): Figure out the proper set of camera transformations to
# implement camera_focus.
if np.any(camera_focus):
warnings.warn("Non-zero camera_focus is not supported yet")
# Set up orthographic camera.
camera = g.OrthographicCamera(left=xmin,
right=xmax,
top=ymax,
bottom=ymin,
near=-1000,
far=1000)
vis['/Cameras/default/rotated'].set_object(camera)
vis['/Cameras/default'].set_transform(
RigidTransform(camera_position).GetAsMatrix4())
# Lock the orbit controls.
vis['/Cameras/default/rotated/<object>'].set_property(
"position", [0, 0, 0])
# Turn off background, axes, and grid.
vis['/Background'].set_property("visible", False)
vis['/Grid'].set_property("visible", False)
vis['/Axes'].set_property("visible", False)
def set_planar_viewpoint(self,
camera_position=[0, -1, 0],
camera_focus=[0, 0, 0],
xmin=-1,
xmax=1,
ymin=-1,
ymax=1):
"""
Sets meshcat to use an orthographic projection with locked out orbit
controls, and turns off the background, axes, and grid. This allows
meshcat to play a role similar to PlanarSceneGraphVisualizer.
Args:
camera_position: a 3 element vector specifying the initial xyz
location of the camera.
camera_focus: a 3 element vector specifying the focal point of the
camera.
xmin, xmax, ymin, ymax: Scalars specifying the initial view
coordinates of the orthographic camera. (Note that xmax is
actually ignored because the view is scaled to fit the size of
the browser window).
Note: The orientation of the camera will be locked, but users can still
pan and zoom interactively in the browser.
"""
# TODO(russt): Figure out the proper set of camera transformations to
# implement camera_focus.
if np.any(camera_focus):
warnings.warn("Non-zero camera_focus is not supported yet")
# Set up orthographic camera.
camera = g.OrthographicCamera(left=xmin,
right=xmax,
top=ymax,
bottom=ymin,
near=-1000,
far=1000)
self.vis['/Cameras/default/rotated'].set_object(camera)
self.vis['/Cameras/default'].set_transform(
RigidTransform(camera_position).GetAsMatrix4())
# Lock the orbit controls.
self.vis['/Cameras/default/rotated/<object>'].set_property(
"position", [0, 0, 0])
# Turn off background, axes, and grid.
self.vis['/Background'].set_property("visible", False)
self.vis['/Grid'].set_property("visible", False)
self.vis['/Axes'].set_property("visible", False)
def runTest(self):
"""
Test that we can set_object with an OrthographicCamera.
"""
self.vis.set_object(g.Box([0.5, 0.5, 0.5]))
camera = g.OrthographicCamera(
left=-1, right=1, bottom=-1, top=1, near=-1000, far=1000)
self.vis['/Cameras/default/rotated'].set_object(camera)
self.vis['/Cameras/default'].set_transform(
tf.translation_matrix([0, -1, 0]))
self.vis['/Cameras/default/rotated/<object>'].set_property(
"position", [0, 0, 0])
self.vis['/Grid'].set_property("visible", False)