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 rotationCoordinates(self):
"""Returns the SO(3) coordinates that rotate elements from the source
to the destination Frame"""
if self._destination == None:
return self._source.worldRotation()
return so3.mul(so3.inv(self._destination.worldRotation()),
self._source.worldRotation())
def preTransform(self,R): """Premultiplies every rotation in here by the so3 element R. In other words, if R rotates a local frame F to frame F', this method converts this SO3Trajectory from coordinates in F to coordinates in F'""" for i,m in enumerate(self.milestones): self.milestones[i] = so3.mul(R,m)
def mul(T1, T2):
"""Composes two transformations."""
(R1, t1) = T1
(R2, t2) = T2
R = so3.mul(R1, R2)
t = apply(T1, t2)
return (R, t)
def mul(T1,T2):
"""Composes two transformations."""
(R1,t1) = T1
(R2,t2) = T2
R = so3.mul(R1,R2)
t = vectorops.add(so3.apply(R1,t2),t1)
return (R,t)
def mul(T1,T2):
"""Composes two transformations."""
(R1,t1) = T1
(R2,t2) = T2
R = so3.mul(R1,R2)
t = vectorops.add(so3.apply(R1,t2),t1)
return (R,t)
def mul(T1,T2):
"""Composes two transformations."""
(R1,t1) = T1
(R2,t2) = T2
R = so3.mul(R1,R2)
t = apply(T1,t2)
return (R,t)
def integrate(self,x,d):
w = [d[0],d[4],d[8]]
return so3.mul(x,so3.from_moment(w))
def rotationCoordinates(self):
"""Returns the SO(3) coordinates that rotate elements from the source
to the destination Frame"""
if self._destination==None:
return self._source.worldRotation()
return so3.mul(so3.inv(self._destination.worldRotation()),self._source.worldRotation())
def integrate(self, x, d):
w = [d[0], d[4], d[8]]
return so3.mul(x, so3.from_moment(w))
