def surfacescan(scene, density):
result = []
for shape in scene:
position = pgl.Vector3(0, 0, 0)
heading = pgl.Vector3(0, 0, 1)
geometry = shape.geometry
while isinstance(geometry, pgl.Transformed):
if isinstance(geometry, pgl.Translated):
position = geometry.translation
if isinstance(geometry, pgl.Oriented):
heading = cross(geometry.primary, geometry.secondary)
geometry = geometry.geometry
if isinstance(geometry, pgl.Cylinder):
for p in range(
int((pi * (geometry.radius**2) * geometry.height) //
density)):
v = pgl.Vector3(random.rand() * 2 - 1,
random.rand() * 2 - 1,
random.rand() * 2 - 1)
pos = position + \
pgl.Vector3(cross(heading, v)).normed() * (geometry.radius)
point = pos + heading * random.rand() * geometry.height
result.append(point)
elif isinstance(geometry, pgl.Extrusion):
result.append(geometry.axis)
result = pgl.PointSet(result)
return result
def projectedBBox(bbx, direction, up):
from itertools import product
proj = getProjectionMatrix(direction, up)
pts = [
proj * pt
for pt in product([bbx.getXMin(), bbx.getXMax()],
[bbx.getYMin(), bbx.getYMax()],
[bbx.getZMin(), bbx.getZMax()])
]
projbbx = pgl.BoundingBox(pgl.PointSet(pts))
return projbbx
def lidarscan(scene, a=90, z=1):
pgl.Viewer.display(scene)
sc = pgl.Viewer.getCurrentScene()
bbx = pgl.BoundingBox(sc)
c = bbx.getCenter()
p, h, u = pgl.Viewer.camera.getPosition()
pts = pgl.PointSet([], [])
for a in arange(0, 360, a):
np = (c + pgl.Matrix3.axisRotation(
(0, 0, 1), a) * pgl.Vector3(1, 0, 0) * pgl.norm(p - c))
pgl.Viewer.camera.lookAt(np / z, c)
pi, ci = pgl.Viewer.frameGL.grabZBufferPoints()
pts.pointList += pi
pts.colorList += ci
return pts
def PointCloud(self, color, points, pointSize, **kwds):
points = str(points)
color = str(color)
points = [float(num) for num in points.split(",")]
colorlist = [float(num) for num in color.split(",")]
pointSize = int(pointSize)
if pointSize <= 0:
pointSize = 1
items, chunk = points, 3
point3Array = zip(*[iter(items)] * chunk)
idx4 = pgl.Index4(int(colorlist[0] * 255), int(colorlist[1] * 255),
int(colorlist[2] * 255), int(colorlist[3] * 255))
lidx4, v3array = [], []
for item in point3Array:
v3array.append(Vector3(item))
lidx4.append(idx4)
c4array = Color4Array(lidx4)
return (pgl.PointSet(v3array, c4array, pointSize), None)
def skeleton(scene, threshold=0.01):
result = []
for shape in scene:
position = pgl.Vector3(0, 0, 0)
heading = pgl.Vector3(0, 0, 1)
geometry = shape.geometry
while isinstance(geometry, pgl.Transformed):
if isinstance(geometry, pgl.Translated):
position = geometry.translation
if isinstance(geometry, pgl.Oriented):
heading = cross(geometry.primary, geometry.secondary)
geometry = geometry.geometry
if isinstance(geometry, pgl.Cylinder) or isinstance(
geometry, pgl.Cone):
line = pgl.Polyline(
[position, position + heading * geometry.height])
splits = max(1, line.getLength() / threshold)
for i in linspace(0, 1, splits):
subline = line.split(i)[0]
result.append(subline.pointList[1])
elif isinstance(geometry, pgl.Extrusion):
result.append(geometry.axis)
result = pgl.PointSet(result)
return result
def topointset(obj):
pointset = pgl.Scene(obj)[0] if isinstance(obj, str) else pgl.PointSet(obj)
while not isinstance(pointset, pgl.PointSet):
pointset = pointset.geometry
return pointset
def zoom(pointset, zoom):
position = getbbx(pointset)[0]
return pgl.PointSet((array(pointset.pointList) - position) * zoom + position)
def move(pointset, position):
return pgl.PointSet(array(pointset.pointList) - getbbx(pointset)[0] + position)