def gen_frame(pos=np.array([0, 0, 0]),
rotmat=np.eye(3),
length=.1,
thickness=.005,
rgbmatrix=None,
alpha=None,
plotname="frame"):
"""
gen an axis for attaching
:param pos:
:param rotmat:
:param length:
:param thickness:
:param rgbmatrix: each column indicates the color of each base
:param plotname:
:return:
author: weiwei
date: 20161212tsukuba, 20191228osaka
"""
endx = pos + rotmat[:, 0] * length
endy = pos + rotmat[:, 1] * length
endz = pos + rotmat[:, 2] * length
if rgbmatrix is None:
rgbx = np.array([1, 0, 0])
rgby = np.array([0, 1, 0])
rgbz = np.array([0, 0, 1])
else:
rgbx = rgbmatrix[:, 0]
rgby = rgbmatrix[:, 1]
rgbz = rgbmatrix[:, 2]
if alpha is None:
alphax = alphay = alphaz = 1
elif isinstance(alpha, np.ndarray):
alphax = alpha[0]
alphay = alpha[1]
alphaz = alpha[2]
else:
alphax = alphay = alphaz = alpha
# TODO 20201202 change it to StaticGeometricModelCollection
frame_nodepath = NodePath(plotname)
arrowx_trm = trihelper.gen_arrow(spos=pos, epos=endx, thickness=thickness)
arrowx_nodepath = da.trimesh_to_nodepath(arrowx_trm)
arrowx_nodepath.setTransparency(TransparencyAttrib.MDual)
arrowx_nodepath.setColor(rgbx[0], rgbx[1], rgbx[2], alphax)
arrowy_trm = trihelper.gen_arrow(spos=pos, epos=endy, thickness=thickness)
arrowy_nodepath = da.trimesh_to_nodepath(arrowy_trm)
arrowy_nodepath.setTransparency(TransparencyAttrib.MDual)
arrowy_nodepath.setColor(rgby[0], rgby[1], rgby[2], alphay)
arrowz_trm = trihelper.gen_arrow(spos=pos, epos=endz, thickness=thickness)
arrowz_nodepath = da.trimesh_to_nodepath(arrowz_trm)
arrowz_nodepath.setTransparency(TransparencyAttrib.MDual)
arrowz_nodepath.setColor(rgbz[0], rgbz[1], rgbz[2], alphaz)
arrowx_nodepath.reparentTo(frame_nodepath)
arrowy_nodepath.reparentTo(frame_nodepath)
arrowz_nodepath.reparentTo(frame_nodepath)
frame_sgm = StaticGeometricModel(frame_nodepath)
return frame_sgm
def drawanySingleSurface(base, vertices, color):
'''
draw a surface using a calculated fourth point to creat a hull
:param base:
:param vertices:
:param faces:
:param color:
:return:
'''
# print("faces in plotsurface",faces)
surface_vertices = vertices
# surface = humath.centerPoftrangle(surface_vertices[0][:3], surface_vertices[1][:3], surface_vertices[2][:3])
surface = trimesh.Trimesh(surface_vertices)
surface = surface.convex_hull
surface = da.trimesh_to_nodepath(surface)
surface.set_color(color)
surface.reparentTo(base.render)
def __init__(self,
initor=None,
name="defaultname",
btransparency=True,
btwosided=False):
"""
:param initor: path type defined by os.path or trimesh or nodepath
:param btransparency
:param name
"""
if isinstance(initor, StaticGeometricModel):
self._objpath = copy.deepcopy(initor.objpath)
self._objtrm = copy.deepcopy(initor.objtrm)
self._objpdnp = copy.deepcopy(initor.objpdnp)
self._name = copy.deepcopy(initor.name)
self._localframe = copy.deepcopy(initor.localframe)
else:
# make a grandma nodepath to separate decorations (-autoshader) and raw nodepath (+autoshader)
self._name = name
self._objpdnp = NodePath(name)
if isinstance(initor, str):
self._objpath = initor
self._objtrm = da.trm.load(self._objpath)
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, da.trm.Trimesh):
self._objpath = None
self._objtrm = initor
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm)
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, o3d.geometry.PointCloud
): # TODO should pointcloud be pdnp or pdnp_raw
self._objpath = None
self._objtrm = da.trm.Trimesh(np.asarray(initor.points))
objpdnp_raw = da.nodepath_from_points(self._objtrm.vertices,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(
initor,
np.ndarray): # TODO should pointcloud be pdnp or pdnp_raw
self._objpath = None
if initor.shape[1] == 3:
self._objtrm = da.trm.Trimesh(initor)
objpdnp_raw = da.nodepath_from_points(
self._objtrm.vertices)
elif initor.shape[1] == 7:
self._objtrm = da.trm.Trimesh(initor[:, :3])
objpdnp_raw = da.nodepath_from_points(
self._objtrm.vertices, initor[:, 3:].tolist())
objpdnp_raw.setRenderMode(RenderModeAttrib.MPoint, 3)
else:
# TODO depth UV?
raise NotImplementedError
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, o3d.geometry.TriangleMesh):
self._objpath = None
self._objtrm = da.trm.Trimesh(
vertices=initor.vertices,
faces=initor.triangles,
face_normals=initor.triangle_normals)
objpdnp_raw = da.trimesh_to_nodepath(self._objtrm,
name='pdnp_raw')
objpdnp_raw.reparentTo(self._objpdnp)
elif isinstance(initor, NodePath):
self._objpath = None
self._objtrm = None # TODO nodepath to trimesh?
objpdnp_raw = initor
objpdnp_raw.reparentTo(self._objpdnp)
else:
self._objpath = None
self._objtrm = None
objpdnp_raw = NodePath("pdnp_raw")
objpdnp_raw.reparentTo(self._objpdnp)
if btransparency:
self._objpdnp.setTransparency(TransparencyAttrib.MDual)
if btwosided:
self._objpdnp.getChild(0).setTwoSided(True)
self._localframe = None