def on_timer(self, event):
model = np.eye(4, dtype=np.float32)
#scale(model, 1, 1, 1)
self.cube['model'] = model
self.view = np.eye(4)
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
translate(self.view, *self.translate)
self.listener.waitForTransform("/robot", "/wrist_joint", rospy.Time(), rospy.Duration(4))
pos, rot = self.listener.lookupTransform("/robot", "/wrist_joint", rospy.Time(0))
print list(pos)
self.translate[0] = -list(pos)[0] * 10
self.translate[1] = -list(pos)[1] * 10
self.translate[2] = -5
self.cube['view'] = self.view
self.update()
def on_key_press(self, event):
"""Controls -
a(A) - move left
d(D) - move right
w(W) - move up
s(S) - move down
x/X - rotate about x-axis cw/anti-cw
y/Y - rotate about y-axis cw/anti-cw
z/Z - rotate about z-axis cw/anti-cw
space - reset view
p(P) - print current view
i(I) - zoom in
o(O) - zoom out
"""
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
if(event.text == 'p' or event.text == 'P'):
print(self.view)
elif(event.text == 'd' or event.text == 'D'):
self.translate[0] = 0.3
elif(event.text == 'a' or event.text == 'A'):
self.translate[0] = -0.3
elif(event.text == 'w' or event.text == 'W'):
self.translate[1] = 0.3
elif(event.text == 's' or event.text == 'S'):
self.translate[1] = -0.3
elif(event.text == 'o' or event.text == 'O'):
self.translate[2] = 0.3
elif(event.text == 'i' or event.text == 'I'):
self.translate[2] = -0.3
elif(event.text == 'x'):
self.rotate = [1, 0, 0]
elif(event.text == 'X'):
self.rotate = [-1, 0, 0]
elif(event.text == 'y'):
self.rotate = [0, 1, 0]
elif(event.text == 'Y'):
self.rotate = [0, -1, 0]
elif(event.text == 'z'):
self.rotate = [0, 0, 1]
elif(event.text == 'Z'):
self.rotate = [0, 0, -1]
elif(event.text == ' '):
self.view = self.default_view
translate(self.view, -self.translate[0], -self.translate[1],
-self.translate[2])
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
self.program['u_view'] = self.view
self.update()
def on_key_press(self, event):
"""Controls -
a(A) - move left
d(D) - move right
w(W) - move up
s(S) - move down
x/X - rotate about x-axis cw/anti-cw
y/Y - rotate about y-axis cw/anti-cw
z/Z - rotate about z-axis cw/anti-cw
space - reset view
p(P) - print current view
i(I) - zoom in
o(O) - zoom out
"""
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
if (event.text == 'p' or event.text == 'P'):
print(self.view)
elif (event.text == 'd' or event.text == 'D'):
self.translate[0] = 0.3
elif (event.text == 'a' or event.text == 'A'):
self.translate[0] = -0.3
elif (event.text == 'w' or event.text == 'W'):
self.translate[1] = 0.3
elif (event.text == 's' or event.text == 'S'):
self.translate[1] = -0.3
elif (event.text == 'o' or event.text == 'O'):
self.translate[2] = 0.3
elif (event.text == 'i' or event.text == 'I'):
self.translate[2] = -0.3
elif (event.text == 'x'):
self.rotate = [1, 0, 0]
elif (event.text == 'X'):
self.rotate = [-1, 0, 0]
elif (event.text == 'y'):
self.rotate = [0, 1, 0]
elif (event.text == 'Y'):
self.rotate = [0, -1, 0]
elif (event.text == 'z'):
self.rotate = [0, 0, 1]
elif (event.text == 'Z'):
self.rotate = [0, 0, -1]
elif (event.text == ' '):
self.view = self.default_view
translate(self.view, -self.translate[0], -self.translate[1],
-self.translate[2])
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
self.program['u_view'] = self.view
self.update()
def on_timer(self, event):
# self.phi += .5
model = np.eye(4, dtype=np.float32)
scale(model, 1, 1, 1)
# rotate(model, self.phi, 0, 0, 1)
self.cube['model'] = model
self.view = np.eye(4)
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
translate(self.view, *self.translate)
self.cube['view'] = self.view
self.update()
def on_timer(self, event):
# self.phi += .5
model = np.eye(4, dtype=np.float32)
scale(model, 1, 1, 1)
# rotate(model, self.phi, 0, 0, 1)
self.cube['model'] = model
self.view = np.eye(4)
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
translate(self.view, *self.translate)
self.cube['view'] = self.view
self.update()
def __init__(self):
app.Canvas.__init__(self, keys='interactive')
self.program = gloo.Program(vertex, fragment)
self.default_view = np.eye(4, dtype=np.float32)
self.view = self.default_view
self.model = np.eye(4, dtype=np.float32)
self.projection = np.eye(4, dtype=np.float32)
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
self.program[
"u_light_position"] = self.lightx, self.lighty, self.lightz
self.program["u_light_intensity"] = 1, 1, 1
self.program['u_model'] = scale(self.model, cellsize, cellsize, 1.0)
translate(self.view, -1250, -1250, -2000)
zrotate(self.view, 90)
self.program['u_view'] = self.view
self.program['u_normal'] = np.array(
np.matrix(np.dot(self.view, self.model)).I.T)
self.update()
self.program['a_position'] = gloo.VertexBuffer(triangles)
self.program['a_scale'] = np.array([cellsize, cellsize, 1.0, 1.0])
def rotate_ctm(self, radian_angle):
degree_angle = -180 * radian_angle / np.pi
self._state.ctm = zrotate(self._state.ctm, degree_angle)
def on_key_press(self, event):
"""Controls -
a(A) - move left
d(D) - move right
w(W) - move up
s(S) - move down
x/X - rotate about x-axis cw/anti-cw
y/Y - rotate about y-axis cw/anti-cw
z/Z - rotate about z-axis cw/anti-cw
space - reset view
p(P) - print current view
i(I) - zoom in
o(O) - zoom out
6 - Move light right
4 - Move light left
8 - Move light up
5 - Move light down
7 - Move light up (depthwise)
1 - Move light down (depthwise)
"""
self.translate = [0, 0, 0]
self.rotate = [0, 0, 0]
if (event.text == 'p' or event.text == 'P'):
print(self.view)
elif (event.text == 'd' or event.text == 'D'):
self.translate[0] = 30.
elif (event.text == 'a' or event.text == 'A'):
self.translate[0] = -30.
elif (event.text == 'w' or event.text == 'W'):
self.translate[1] = 30.
elif (event.text == 's' or event.text == 'S'):
self.translate[1] = -30.
elif (event.text == 'o' or event.text == 'O'):
self.translate[2] = 30.
elif (event.text == 'i' or event.text == 'I'):
self.translate[2] = -30.
elif (event.text == 'x'):
self.rotate = [1, 0, 0]
elif (event.text == 'X'):
self.rotate = [-1, 0, 0]
elif (event.text == 'y'):
self.rotate = [0, 1, 0]
elif (event.text == 'Y'):
self.rotate = [0, -1, 0]
elif (event.text == 'z'):
self.rotate = [0, 0, 1]
elif (event.text == 'Z'):
self.rotate = [0, 0, -1]
elif (event.text == 'h'):
self.rotate = [0, 0, 0]
elif (event.text == 'j'):
self.rotate = [90, 0, 0]
elif (event.text == 'k'):
self.rotate = [180, 0, 0]
elif (event.text == 'l'):
self.rotate = [270, 0, 0]
elif (event.text == ' '):
self.view = self.default_view
elif (event.text == '6'):
self.lightx += 100.
elif (event.text == '4'):
self.lightx += -100.
elif (event.text == '8'):
self.lighty += 100.
elif (event.text == '5'):
self.lighty += -100.
elif (event.text == '7'):
self.lightz += 100.
elif (event.text == '1'):
self.lightz += -100.
translate(self.view, -self.translate[0], -self.translate[1],
-self.translate[2])
xrotate(self.view, self.rotate[0])
yrotate(self.view, self.rotate[1])
zrotate(self.view, self.rotate[2])
self.program[
"u_light_position"] = self.lightx, self.lighty, self.lightz
self.program['u_view'] = self.view
self.update()
