def testMatrix():
"""
SRTTransform3D => Transform3D => SRTTransform3D
"""
tr = pg.SRTTransform3D()
tr.setRotate(45, (0, 0, 1))
tr.setScale(0.2, 0.4, 1)
tr.setTranslate(10, 20, 40)
assert tr.getRotation() == (45, QtGui.QVector3D(0, 0, 1))
assert tr.getScale() == QtGui.QVector3D(0.2, 0.4, 1)
assert tr.getTranslation() == QtGui.QVector3D(10, 20, 40)
tr2 = pg.Transform3D(tr)
assert np.all(tr.matrix() == tr2.matrix())
# This is the most important test:
# The transition from Transform3D to SRTTransform3D is a tricky one.
tr3 = pg.SRTTransform3D(tr2)
assert_array_almost_equal(tr.matrix(), tr3.matrix())
assert_almost_equal(tr3.getRotation()[0], tr.getRotation()[0])
assert_array_almost_equal(tr3.getRotation()[1], tr.getRotation()[1])
assert_array_almost_equal(tr3.getScale(), tr.getScale())
assert_array_almost_equal(tr3.getTranslation(), tr.getTranslation())
def _STTransform_to_pg(self, tr):
import pyqtgraph
if tr.dims == (2, 2):
ptr = pyqtgraph.SRTTransform()
ptr.setScale(tr.scale)
ptr.setTranslate(tr.offset)
return ptr
elif tr.dims == (3, 3):
ptr = pyqtgraph.SRTTransform3D()
ptr.setScale(tr.scale)
ptr.setTranslate(tr.offset)
return ptr
else:
raise TypeError("Converting STTransform of dimension %r to pyqtgraph is not supported." % tr.dims)
def setFromMatrix4x4(self, m):
m = pg.SRTTransform3D(m)
angle, axis = m.getRotation()
if angle != 0 and (axis[0] != 0 or axis[1] != 0 or axis[2] != 1):
print("angle: %s axis: %s" % (str(angle), str(axis)))
raise Exception(
"Can only convert 4x4 matrix to 3x3 if rotation is around Z-axis."
)
self._state = {
'pos': Point(m.getTranslation()),
'scale': Point(m.getScale()),
'angle': angle
}
self.update()
def get_transform(self):
tr = pg.SRTTransform3D()
tr.rotate(self.yaw, (0, 0, 1))
tr.rotate(self.pitch, (0, 1, 0))
tr.rotate(self.roll, (1, 0, 0))
return tr