def draw_chains(self): ''' Draws the source and target chain on the same axes, for debugging purposes. ''' mlab.figure() mlab.grid('on') mlab.draw(self.source) mlab.draw(self.target, 'r')
def show_image(im): mlab.figure() mlab.imagesc(data.x_vec, data.y_vec, 20*numpy.log10(numpy.abs(im))) mlab.colormap('green14',nout=0) mlab.axis('image', nout=0) mlab.colorbar(nout=0) mlab.axis('xy',nout=0) mlab.caxis(numpy.max(mlab.caxis()) - numpy.array([do(data.dyn_range), 0]), nout=0)
def show_image(im): mlab.figure() mlab.imagesc(data.x_vec, data.y_vec, 20 * numpy.log10(numpy.abs(im))) mlab.colormap('green14', nout=0) mlab.axis('image', nout=0) mlab.colorbar(nout=0) mlab.axis('xy', nout=0) mlab.caxis(numpy.max(mlab.caxis()) - numpy.array([do(data.dyn_range), 0]), nout=0)
def show_image(im): """Matlab-specific function to plot a dB image nicely.""" mlab.figure() mlab.imagesc(data.x_vec, data.y_vec, 20*numpy.log10(numpy.abs(im))) mlab.colormap('green14',nout=0) mlab.axis('image', nout=0) mlab.colorbar(nout=0) mlab.axis('xy',nout=0) mlab.caxis(numpy.max(mlab.caxis()) - numpy.array([a2f(data.dyn_range), 0]), nout=0)
human = mlab.human24(lengths) # ----------------------------------------------------------- # # Manipulating and Visualizing Chains: # ----------------------------------------------------------- # # Manipulate chain pose with setJointAngles(chain, angles) pr2_initial_angles = np.matrix([0,0,0,0]) pr2 = mlab.setJointAngles(pr2, pr2_initial_angles) human_initial_angles = np.matrix([0,-110,40,-60]) human = mlab.setJointAngles(human, human_initial_angles) # Visualize chains with the draw() function. mlab.figure() mlab.grid('on') mlab.headSphere() #creates a dummy head that provides context. mlab.draw(pr2,'k') mlab.draw(human) # ----------------------------------------------------------- # # Retargeting Chains: # ----------------------------------------------------------- # # easy_retarget(source, target) abstracts away all the messy bits. pr2_retargeted = mlab.easy_retarget(human, pr2) # draw on the open figure: mlab.draw(pr2_retargeted,'g')