def create_frustum_points(rt_mtx, k_mtx, ratio, frustums_depth=1.0):
rt_inv = np.linalg.inv(rt_mtx)
camera_corners = homo_translate(np.linalg.inv(k_mtx), aabb.rect_to_quad([[-1.0, -1.0 * ratio],
[1.0, 1.0 * ratio]]))
corners = np.hstack([camera_corners, [[-1]] * 4]) * frustums_depth
frustum_points = homo_translate(rt_inv, np.vstack([[[0, 0, 0]], corners]))
return frustum_points
def create_frustum_points(self, frustums_depth=1.0):
rt_inv = np.linalg.inv(self.get_mv_matrix())
p = self.get_p_matrix()[:-1, :-1]
camera_corners = math.homo_translate(np.linalg.inv(p), aabb.rect_to_quad([[-1.0, -1.0 * self.aspect],
[1.0, 1.0 * self.aspect]]))
corners = np.hstack([camera_corners, [[-1]] * 4]) * frustums_depth
frustum_points = math.homo_translate(rt_inv, np.vstack([[[0, 0, 0]], corners]))
return frustum_points
def create_frustum_points(rt_mtx, k_mtx, ratio, frustums_depth=1.0):
rt_inv = np.linalg.inv(rt_mtx)
camera_corners = homo_translate(
np.linalg.inv(k_mtx),
aabb.rect_to_quad([[-1.0, -1.0 * ratio], [1.0, 1.0 * ratio]]))
corners = np.hstack([camera_corners, [[-1]] * 4]) * frustums_depth
frustum_points = homo_translate(rt_inv, np.vstack([[[0, 0, 0]], corners]))
return frustum_points
def create_frustum_points(self, frustums_depth=1.0):
rt_inv = np.linalg.inv(self.get_mv_matrix())
p = self.get_p_matrix()[:-1, :-1]
camera_corners = math.homo_translate(
np.linalg.inv(p),
aabb.rect_to_quad([[-1.0, -1.0 * self.aspect],
[1.0, 1.0 * self.aspect]]))
corners = np.hstack([camera_corners, [[-1]] * 4]) * frustums_depth
frustum_points = math.homo_translate(rt_inv,
np.vstack([[[0, 0, 0]], corners]))
return frustum_points
if __name__ == '__main__':
import sys
from triangulum_test.test_support import resources_dir_path
logging.basicConfig(level=logging.DEBUG,
format='%(relativeCreated)d [%(threadName)s]\t%(name)s [%(levelname)s]:\t %(message)s')
frame = Frame3D()
datas = []
for points_path in sys.argv[1:]:
points = points_cloud.load_ply(points_path)
frame.add_points_cloud(points)
if len(sys.argv[1:]) == 0:
dog_mesh = PointsCloud(np.array([[1, -0.5, 0], [0, -0.5, 0], [0, -0.5, 1.5], [1, -0.5, 1.5]], np.float32),
uv=np.float32(aabb.rect_to_quad([[0, 0], [1, 1]])),
faces=np.int32([[0, 1, 2], [0, 2, 3]]), name='USSR Cute Dog Poster')
box1 = Box(xs=[0.2, 0.4], ys=[0.0, -0.4], zs=[0.6, 0.8],
course=-20, roll=45)
box2 = Box(xs=[0.2, 0.5], ys=[0.0, -0.3], zs=[0.1, 0.4],
course=15, pitch=10)
texture = asyncio.get_event_loop().run_until_complete(frame._gl_executor.map(gl.create_image_texture,
resources_dir_path / 'data' / 'dog.jpg'))
bunny = ply.read_ply(resources_dir_path / 'scenes' / 'bunny' / 'bunny.ply')
dog_mesh.set_texture(texture)
def move_bunny(ps):
world_pos = np.array([0.5, -0.2, 0.0])
ps[:, 0] += world_pos[0]
ps[:, [0, 1, 2]] = ps[:, [0, 2, 1]]
ps = world_pos + (ps - world_pos) * 7
level=logging.DEBUG,
format=
'%(relativeCreated)d [%(threadName)s]\t%(name)s [%(levelname)s]:\t %(message)s'
)
frame = Frame3D()
datas = []
for points_path in sys.argv[1:]:
points = points_cloud.load_ply(points_path)
frame.add_points_cloud(points)
if len(sys.argv[1:]) == 0:
dog_mesh = PointsCloud(np.array(
[[1, -0.5, 0], [0, -0.5, 0], [0, -0.5, 1.5], [1, -0.5, 1.5]],
np.float32),
uv=np.float32(
aabb.rect_to_quad([[0, 0], [1, 1]])),
faces=np.int32([[0, 1, 2], [0, 2, 3]]),
name='USSR Cute Dog Poster')
box1 = Box(xs=[0.2, 0.4],
ys=[0.0, -0.4],
zs=[0.6, 0.8],
course=-20,
roll=45)
box2 = Box(xs=[0.2, 0.5],
ys=[0.0, -0.3],
zs=[0.1, 0.4],
course=15,
pitch=10)
texture = asyncio.get_event_loop().run_until_complete(
frame._gl_executor.map(gl.create_image_texture,
resources_dir_path / 'data' / 'dog.jpg'))