def gen_image(alpha, dist):
Rcam = np.eye(3);
s.setObjectPosition('camera', vec3(0,0,-dist));
s.setObjectAttitude('camera', MatToQuat(Rcam));
s.setObjectPosition('sun', pos_sun);
s.setObjectPosition('asteroid', pos_target);
R_ast = np.eye(3);
R_ast = QuatToMat(quat(vec3(0,0,1), pi/2)) @ R_ast;
R_ast = QuatToMat(quat(vec3(1,0,0), (90-11)/180*pi)) @ R_ast;
R_ast = QuatToMat(quat(vec3(0,1,0), -alpha-pi/3)) @ R_ast;
s.setObjectAttitude('asteroid', MatToQuat(R_ast));
s.render();
im = s.getImageGray32F();
## Color
imageRGBA = s.getImageRGBA8()
# discards the alpha channel:
r,g,b,a = Image.fromarray(imageRGBA).split()
imageRGB = Image.merge("RGB", (r, g, b))
im = imageRGB;
im.save('images/' + 'ceres' + '_' + str(it).zfill(4) +'.png')
#
plot.ioff()
plot.imshow(im, aspect='equal', interpolation='none', cmap='gray');
plot.draw()
plot.pause(0.01)
def gen_image(alpha, beta):
Rcam = np.eye(3)
s.setObjectPosition('camera', vec3(0, 0, 0))
s.setObjectAttitude('camera', MatToQuat(Rcam))
s.setObjectPosition('sun', pos_sun)
s.setObjectPosition('asteroid', pos_target)
R_ast = np.eye(3)
R_ast = QuatToMat(quat(vec3(1, 0, 0), pi / 2)) @ R_ast
R_ast = QuatToMat(quat(vec3(0, 1, 0), -pi / 2)) @ R_ast
R_ast = QuatToMat(quat(vec3(0, 1, 0), -pi / 8)) @ R_ast
R_ast = QuatToMat(quat(vec3(0, 0, 1), pi / 4)) @ R_ast
R_ast = QuatToMat(quat(vec3(1, 0, 0), -pi / 3)) @ R_ast
R_ast = QuatToMat(quat(vec3(0, 1, 0), -pi / 5)) @ R_ast
s.setObjectAttitude('asteroid', MatToQuat(R_ast))
s.render()
def __setup_backend(self,
DEM_filename="FullMoon.dem",
texture_filename="lroc_color_poles.tiff"):
self.backend = setup_renderer(fov=self.fov, resolution=self.resolution)
self.backend.createBRDF('sun', 'sun.brdf', {})
self.backend.createShape('sun', 'sphere.shp', {'radius': SUN_RADIUS})
self.backend.createBody('sun', 'sun', 'sun', [])
self.backend.setObjectPosition('sun', self.sun_pos * 1e3)
self.backend.createBRDF("mate", "mate.brdf", {})
self.backend.createShape("earth_shape", "sphere.shp", {'radius': EARTH_RADIUS})
self.backend.createBody("earth", "earth_shape", "mate", ["earth.jpg"])
self.backend.setObjectPosition('earth', self.earth_pos * 1e3)
self.backend.createBRDF('hapke', 'hapke.brdf', {})
self.backend.createSphericalDEM('moon', DEM_filename, 'hapke', texture_filename)
self.backend.setObjectElementBRDF('moon', 'moon', 'hapke')
self.backend.setObjectAttitude('moon', np.array([0, 0, 0, 1]))
self.backend.setObjectPosition('moon', (0, 0, 0))
self.backend.setObjectAttitude('moon', quat(vec3(1, 0, 0), 0))
self.backend.setObjectAttitude('moon', Rotation.from_euler('z', np.pi, degrees=False).as_quat())
target = 'HAYABUSA'
et1 = spiceypy.utc2et(et1Str)
frame = 'ITOKAWA_FIXED'
center = 'ITOKAWA'
state1 = spiceypy.spkezr(target, spiceypy.utc2et(et1Str), frame, 'none',
center)[0]
stateSun = spiceypy.spkezr('SUN', spiceypy.utc2et(et1Str), frame, 'none',
center)[0]
frame2 = 'HAYABUSA_AMICA'
frame1 = 'ITOKAWA_FIXED'
rot1 = spiceypy.pxform(frame1, frame2, et1)
quat1 = spiceypy.m2q(rot1)
# SPICE data are in km
s.setObjectPosition(
'camera', vec3(state1[0] * 1000, state1[1] * 1000, state1[2] * 1000))
# opposite convetion is used between SurRender and JPL
s.setObjectAttitude('camera',
vec4(quat1[0], -quat1[1], -quat1[2], -quat1[3]))
# SPICE data are in km
s.setObjectPosition(
'sun', vec3(stateSun[0] * 1000, stateSun[1] * 1000,
stateSun[2] * 1000))
s.setObjectPosition('asteroid', vec3(0, 0, 0))
s.printState(s.getState())
s.render()
im = s.getImageGray32F()
imgName = os.path.splitext(ntpath.basename(p))[0] + '.png'
cv2.imwrite(
(C) 2019 Airbus copyright all rights reserved """ from surrender.surrender_client import surrender_client from surrender.geometry import vec3, vec4, quat, normalize, QuatToMat, MatToQuat, gaussian import numpy as np import matplotlib.pyplot as plot import cv2 from PIL import Image # Constants: sun_radius = 696342000 ua2km = 149597870.700 ua = ua2km * 1000 Rceres = 4.7e5 pi = np.pi pos_sun = normalize(vec3(-4e11,-4e11,-8e11)) * 8e11 pos_target = vec3(0,0,0) # Image setup: fov=5; raytracing=True; N = [512,512]; rays = 16; # set PSF surech_PSF=10; sigma = 1; wPSF = 5; PSF = gaussian(wPSF * surech_PSF, sigma * surech_PSF); ## Initializing SurRender
Moon_radius = 1737400.0;
s = surrender_client()
s.connectToServer('127.0.0.1', 5151) # A SurRender server must be on
s.closeViewer()
s.setConventions(s.XYZ_SCALAR_CONVENTION, s.Z_FRONTWARD)
s.setImageSize(1024,1024)
s.setCameraFOVDeg(70,70)
s.setCubeMapSize(512)
s.setShadowMapSize(1024)
s.createBRDF('sun', 'sun.brdf', {})
s.createShape("sun_shape", "sphere.shp", {'radius' : 1392000000.0 * 0.5})
s.createBody("sun", "sun_shape", "sun", {})
s.setObjectPosition("sun", normalize(vec3(1, 1, 0.1)) * ua)
s.createBRDF('raw', 'raw.brdf', {})
s.createBRDF('mate', 'mate.brdf', {})
s.createBRDF('hapke', 'hapke.brdf', {})
info = s.createSphericalDEM('moon', 'FullMoon_demi.dem', 'hapke', 'Kaguya_MI_refl_b2_750nm_global_128ppd.big')
CENTER_LATITUDE = (info['MINIMUM_LATITUDE'] + info['MAXIMUM_LATITUDE']) / 2.0 * (pi / 180.0);
CENTER_LONGITUDE = (info['WESTERNMOST_LONGITUDE'] + info['EASTERNMOST_LONGITUDE']) / 2.0 * (pi / 180.0);
DEM_ref_pos = vec3(cos(CENTER_LONGITUDE) * cos(CENTER_LATITUDE),
sin(CENTER_LONGITUDE) * cos(CENTER_LATITUDE),
sin(CENTER_LATITUDE)) * info['A_AXIS_RADIUS'];
p = pi * ua * ua * 6;
s.setSunPower([p,p,p,p])