def _get_inputs():
# PlanarRectangle
ll = {'x': 0, 'y': 0, 'z': 0}
lr = {'x': 1, 'y': 0, 'z': 0}
ul = {'x': 0, 'y': 1, 'z': 0}
# Cylinder
base = {'x': 0, 'y': 0, 'z': 0}
axis = {'x': 0, 'y': 0, 'z': 1}
radius = 1
# Sphere
center = {'x': 1.23, 'y': 4.56, 'z': 7.89}
radius = 1
# ArbitraryGeometry
filename = rosmsg2json.fixup_path('$(find freemoovr)/data/pyramid.osg')
inputs = [
(simple_geom.PlanarRectangle,
dict(lowerleft=ll, upperleft=ul, lowerright=lr)),
(simple_geom.Cylinder, dict(base=base, axis=axis, radius=radius)),
(simple_geom.Sphere, dict(center=center, radius=radius)),
(pdsag.ArbitraryGeometry, dict(filename=filename, precision=1e-5)),
]
return inputs
def __init__(self, filename=None, geom_dict=None):
if filename and not geom_dict:
geom_dict = json.loads(open(filename).read())
elif geom_dict and not filename:
pass
else:
raise Exception(
"must supply filename OR geometry dict (but not both)")
if geom_dict['model'] == 'cylinder':
self.model = Cylinder(base=geom_dict['base'],
axis=geom_dict['axis'],
radius=geom_dict['radius'])
elif geom_dict['model'] == 'sphere':
self.model = Sphere(center=geom_dict['center'],
radius=geom_dict['radius'])
elif geom_dict['model'] == 'planar_rectangle':
kwargs = geom_dict.copy()
del kwargs['model']
self.model = PlanarRectangle(**kwargs)
elif geom_dict['model'] == 'from_file':
import PyDisplaySurfaceArbitraryGeometry as pdsag
import freemoovr.rosmsg2json as rosmsg2json
self.model = pdsag.ArbitraryGeometry(
filename=rosmsg2json.fixup_path(geom_dict['filename']),
precision=geom_dict.get('precision', 1e-6))
else:
raise ValueError("unknown model type: %s" % geom_dict['model'])
def __init__(self, filename=None, geom_dict=None):
if filename and not geom_dict:
geom_dict = json.loads( open(filename).read() )
elif geom_dict and not filename:
pass
else:
raise Exception("must supply filename OR geometry dict (but not both)")
if geom_dict['model']=='cylinder':
self.model = Cylinder(base=geom_dict['base'],
axis=geom_dict['axis'],
radius=geom_dict['radius'])
elif geom_dict['model']=='sphere':
self.model = Sphere(center=geom_dict['center'],
radius=geom_dict['radius'])
elif geom_dict['model']=='planar_rectangle':
kwargs = geom_dict.copy()
del kwargs['model']
self.model = PlanarRectangle(**kwargs)
elif geom_dict['model']=='from_file':
import PyDisplaySurfaceArbitraryGeometry as pdsag
import freemoovr.rosmsg2json as rosmsg2json
self.model = pdsag.ArbitraryGeometry(
filename=rosmsg2json.fixup_path( geom_dict['filename'] ),
precision=geom_dict.get('precision',1e-6))
else:
raise ValueError("unknown model type: %s"%geom_dict['model'])
def test_arbitrary_geom():
filename = rosmsg2json.fixup_path( '$(find freemoovr)/data/pyramid.osg' )
model = PyDisplaySurfaceArbitraryGeometry.ArbitraryGeometry(filename=filename,precision=1e-6)
# Use a few special texcoords because not all in range [0,1] are
# valid for arbitrary geometries.
eps = 1e-5;
tc1 = np.array( [[eps,eps],
[0.1, 0.1],
[0.2, 0.1],
[0.4, 0.2],
] )
wc1 = model.texcoord2worldcoord(tc1)
tc2 = model.worldcoord2texcoord(wc1)
wc2 = model.texcoord2worldcoord(tc2)
assert nan_shape_allclose( tc1, tc2)
assert nan_shape_allclose( wc1, wc2 )
def test_arbitrary_geom():
filename = rosmsg2json.fixup_path('$(find freemoovr)/data/pyramid.osg')
model = PyDisplaySurfaceArbitraryGeometry.ArbitraryGeometry(
filename=filename, precision=1e-6)
# Use a few special texcoords because not all in range [0,1] are
# valid for arbitrary geometries.
eps = 1e-5
tc1 = np.array([
[eps, eps],
[0.1, 0.1],
[0.2, 0.1],
[0.4, 0.2],
])
wc1 = model.texcoord2worldcoord(tc1)
tc2 = model.worldcoord2texcoord(wc1)
wc2 = model.texcoord2worldcoord(tc2)
assert nan_shape_allclose(tc1, tc2)
assert nan_shape_allclose(wc1, wc2)
def _get_inputs():
# PlanarRectangle
ll = {'x':0, 'y':0, 'z':0}
lr = {'x':1, 'y':0, 'z':0}
ul = {'x':0, 'y':1, 'z':0}
# Cylinder
base = {'x':0, 'y':0, 'z':0}
axis = {'x':0, 'y':0, 'z':1}
radius = 1
# Sphere
center = {'x':1.23, 'y':4.56, 'z':7.89}
radius = 1
# ArbitraryGeometry
filename = rosmsg2json.fixup_path( '$(find freemoovr)/data/pyramid.osg' )
inputs = [ (simple_geom.PlanarRectangle, dict(lowerleft=ll, upperleft=ul, lowerright=lr)),
(simple_geom.Cylinder, dict(base=base, axis=axis, radius=radius)),
(simple_geom.Sphere, dict(center=center, radius=radius)),
(pdsag.ArbitraryGeometry, dict(filename=filename, precision=1e-5)),
]
return inputs
