def matrix(self):
o = orientation_matrix(*self.ori)
Ry = so3.rotation([0.,1.,0.],self.rot[0])
Rx = so3.rotation([1.,0.,0.],self.rot[1])
Rz = so3.rotation([0.,0.,1.],self.rot[2])
R = so3.mul(Ry,so3.mul(Rx,Rz))
R = so3.mul(o,R);
raise (R,so3.apply(o,self.pos))
def matrix(self):
"""Returns the camera transform."""
o = orientation_matrix(*self.ori)
Ry = so3.rotation([0.,1.,0.],self.rot[0])
Rx = so3.rotation([1.,0.,0.],self.rot[1])
Rz = so3.rotation([0.,0.,1.],self.rot[2])
R = so3.mul(Ry,so3.mul(Rx,Rz))
R = so3.mul(o,R);
raise (R,so3.apply(o,self.pos))
def matrix(self):
"""Returns the camera transform."""
o = orientation_matrix(*self.ori)
Ry = so3.rotation([0., 1., 0.], self.rot[0])
Rx = so3.rotation([1., 0., 0.], self.rot[1])
Rz = so3.rotation([0., 0., 1.], self.rot[2])
R = so3.mul(Ry, so3.mul(Rx, Rz))
R = so3.mul(o, R)
raise (R, so3.apply(o, self.pos))
def matrix(self):
o = orientation_matrix(*self.ori)
Ry = so3.rotation([0.,1.,0.],self.rot[0])
Rx = so3.rotation([1.,0.,0.],self.rot[1])
Rz = so3.rotation([0.,0.,1.],self.rot[2])
R = so3.mul(Ry,so3.mul(Rx,Rz))
R = so3.mul(o,R);
t = so3.apply(R,self.tgt)
return (R,vectorops.madd(t,[0.,0.,1.],-self.dist))
def matrix(self):
"""Returns the camera transform."""
o = orientation_matrix(*self.ori)
Ry = so3.rotation([0., 1., 0.], self.rot[0])
Rx = so3.rotation([1., 0., 0.], self.rot[1])
Rz = so3.rotation([0., 0., 1.], self.rot[2])
R = so3.mul(Ry, so3.mul(Rx, Rz))
R = so3.mul(o, R)
t = so3.apply(R, self.tgt)
return (R, vectorops.madd(t, [0., 0., 1.], -self.dist))
def momentToMatrix(m):
"""Converts an exponential map rotation represenation m to a matrix R"""
angle = vectorops.norm(m)
axis = vectorops.div(m,angle)
return so3.rotation(axis,angle)