def __init__(self,
render_scene=None,
plane_grid_spacing=1.,
plane_grid_num_of_lines=10,
spheres_count=(8, 8)) -> None:
""" Base class for PyRender viewer and offscreen renderer. """
ViewerBase.__init__(self)
self.spheres_count = spheres_count
self.plane_grid_num_of_lines = plane_grid_num_of_lines
self.plane_grid_spacing = plane_grid_spacing
if render_scene is None:
render_scene = PyRenderScene()
render_scene.bg_color = np.array([0.75] * 3)
if render_scene.main_camera_node is None:
cam = PerspectiveCamera(yfov=np.deg2rad(60),
aspectRatio=1.414,
znear=0.005)
cam_pose = np.eye(4)
cam_pose[:3, 3] = RoboticTrackball.spherical_to_cartesian(
3., 0., np.deg2rad(45.), target=np.zeros(3))
cam_pose[:3, :3] = RoboticTrackball.look_at_rotation(
eye=cam_pose[:3, 3], target=np.zeros(3), up=[0, 0, 1])
nc = Node(camera=cam, matrix=cam_pose)
render_scene.add_node(nc)
render_scene.main_camera_node = nc
self.render_scene = render_scene
self.nodes_and_actors = []
def test_spherical_coordinates_with_target(self):
target = np.array([1, 2, 3])
pos = RoboticTrackball.spherical_to_cartesian(1,
np.pi / 2,
np.pi / 4,
target=target)
d, a, e = RoboticTrackball.cartesian_to_spherical(pos, target=target)
self.assertAlmostEqual(d, 1.)
self.assertAlmostEqual(a, np.pi / 2)
self.assertAlmostEqual(e, np.pi / 4)
def test_spherical_coordinates(self):
pos = RoboticTrackball.spherical_to_cartesian(1,
np.pi / 2,
np.pi / 4,
target=np.zeros(3))
d, a, e = RoboticTrackball.cartesian_to_spherical(pos,
target=np.zeros(3))
self.assertAlmostEqual(d, 1.)
self.assertAlmostEqual(a, np.pi / 2)
self.assertAlmostEqual(e, np.pi / 4)
def __init__(self,
render_scene=None,
viewport_size=None,
render_flags=None,
viewer_flags=None,
registered_keys=None,
run_in_thread=True,
video_filename=None,
**kwargs):
"""
Use render_scene to specify camera or lighting or additional geometries if required.
Additional viewer flags:
- axes_scale - size of coordinate axes
"""
if render_scene is None:
render_scene = pyrender.Scene()
render_scene.bg_color = np.array([0.75] * 3)
if render_scene.main_camera_node is None:
cam = pyrender.PerspectiveCamera(yfov=np.deg2rad(60),
aspectRatio=1.414,
znear=0.005)
cam_pose = np.eye(4)
cam_pose[:3, 3] = RoboticTrackball.spherical_to_cartesian(
3., 0., np.deg2rad(45.), target=np.zeros(3))
cam_pose[:3, :3] = RoboticTrackball.look_at_rotation(
eye=cam_pose[:3, 3], target=np.zeros(3), up=[0, 0, 1])
nc = pyrender.Node(camera=cam, matrix=cam_pose)
render_scene.add_node(nc)
render_scene.main_camera_node = nc
_viewer_flags = {
'view_center': np.zeros(3),
'window_title': 'PyPhysX Scene Viewer',
'show_world_axis': True,
'show_mesh_axes': False,
'axes_scale': 0.5,
'use_raymond_lighting': True,
'plane_grid_spacing': 1.,
'plane_grid_num_of_lines': 10,
'spheres_count': [8, 8],
}
if viewer_flags is not None:
_viewer_flags.update(viewer_flags)
super().__init__(render_scene, viewport_size, render_flags,
_viewer_flags, registered_keys, run_in_thread,
**kwargs)
self.nodes_and_actors = []
fps = self.viewer_flags['refresh_rate']
self.video_writer = imageio.get_writer(
video_filename, fps=fps) if video_filename is not None else None
def test_move_target90deg(self):
pose = np.eye(4)
pose[:3,
3] = RoboticTrackball.spherical_to_cartesian(3.,
np.deg2rad(90.),
np.deg2rad(45.),
target=np.zeros(3))
pose[:3, :3] = RoboticTrackball.look_at_rotation(eye=pose[:3, 3],
target=np.zeros(3),
up=[0, 0, 1])
trackball = RoboticTrackball(pose, (640, 480), 1.)
trackball.move_target(np.array([1., 2., 3.]))
self.assertAlmostEqual(trackball._n_target[0], -2.)
self.assertAlmostEqual(trackball._n_target[1], 1.)
self.assertAlmostEqual(trackball._n_target[2], 3.)
def test_rotate(self):
pose = np.eye(4)
pose[:3,
3] = RoboticTrackball.spherical_to_cartesian(3.,
0.,
np.deg2rad(45.),
target=np.zeros(3))
pose[:3, :3] = RoboticTrackball.look_at_rotation(eye=pose[:3, 3],
target=np.zeros(3),
up=[0, 0, 1])
trackball = RoboticTrackball(pose, (640, 480), 1.)
trackball.set_state(RoboticTrackball.STATE_ROTATE)
trackball.drag([10, 20]) # 10px in azimuth, 20px in elevation
npose = trackball._n_pose
d, a, e = RoboticTrackball.cartesian_to_spherical(
npose[:3, 3], trackball._target)
self.assertAlmostEqual(d, 3.)
self.assertAlmostEqual(a, 0. - 10 * 5e-1 / (0.3 * 480))
self.assertAlmostEqual(e, np.deg2rad(45.) + 20 * 5e-1 / (0.3 * 480))