def test_inverse():
t = Transform(Quat.from_axis_angle(Vec3(1, 1, 1), np.pi / 2), Vec3(4, 5, 6))
t_inv = t.inverse()
t_identity_one = t * t_inv
t_identity_two = t_inv * t
np_identity = np.diag((1, 1, 1, 1))
t_fromnp = Transform.from_mat4_numpy(np_identity)
assert np.allclose(t_identity_one.to_mat4_numpy(), np_identity)
assert np.allclose(t_identity_two.to_mat4_numpy(), np_identity)
assert np.allclose(t_identity_one.to_mat4_numpy(), t_identity_two.to_mat4_numpy())
assert t_identity_one == t_fromnp
assert t_identity_two == t_fromnp
assert t_identity_one == t_identity_two
class LedScreen(abstractled.AbstractLed):
"""
The low-level LED wall screen.
"""
def __init__(self,
fname='/dev/ttyACM0',
brate=1000000,
dim=(12, 10),
gamma=2.2):
"""
Initialise a LedScreen object.
>>> screen = LedScreen()
"""
if type(dim) not in (tuple, list) or len(dim) != 2:
raise ValueError("Invalid dimension. Format is tuple(x,y)")
abstractled.AbstractLed.__init__(self, dimension=dim, gamma=gamma)
self.tty = uspp.SerialPort(fname, timeout=0)
#self.tty = uspp.SerialPort(fname, speed=brate, timeout=0)
os.environ['LEDWALL_TTY'] = fname
os.system("stty -F $LEDWALL_TTY " + str(brate))
self.transform = Transform(*dim)
self.b = [(0, 0, 0)] * self.w * self.h
def __setitem__(self, tup, val):
abstractled.AbstractLed.__setitem__(self, tup, val)
waiting = self.tty.inWaiting()
if waiting > 0:
_ = self.tty.read(waiting)
def push(self):
for x in xrange(self.w):
for y in xrange(self.h):
i = x + y * self.w
self.b[self.transform.inverse((x, y))] = self.buf[i]
self.tty.write(''.join(chr(g) + chr(r) + chr(b)
for r, g, b in self.b) + chr(254))
class LedScreen(abstractled.AbstractLed):
"""
The low-level LED wall screen.
"""
def __init__(self, fname='/dev/ttyACM0', brate=1000000, dim=(12,10), gamma=2.2):
"""
Initialise a LedScreen object.
>>> screen = LedScreen()
"""
if type(dim) not in (tuple, list) or len(dim) != 2:
raise ValueError("Invalid dimension. Format is tuple(x,y)")
abstractled.AbstractLed.__init__(self, dimension=dim, gamma=gamma)
self.tty = uspp.SerialPort(fname, timeout=0)
#self.tty = uspp.SerialPort(fname, speed=brate, timeout=0)
os.environ['LEDWALL_TTY'] = fname
os.system("stty -F $LEDWALL_TTY " + str(brate))
self.transform = Transform(*dim)
self.b = [(0,0,0)] * self.w * self.h
def __setitem__(self, tup, val):
abstractled.AbstractLed.__setitem__(self, tup, val)
waiting = self.tty.inWaiting()
if waiting > 0:
_ = self.tty.read(waiting)
def push(self):
for x in xrange(self.w):
for y in xrange(self.h):
i = x + y * self.w
self.b[self.transform.inverse( (x, y) )] = self.buf[i]
self.tty.write( ''.join(chr(g)+chr(r)+chr(b) for r,g,b in self.b) + chr(254) )
class LedScreen(object):
"""
The low-level LED wall screen.
"""
def __init__(self, fname='/dev/ttyACM0', brate=1000000, dim=(12,10), gamma=2.2):
"""
Initialise a LedScreen object.
>>> screen = LedScreen()
"""
if type(dim) not in (tuple, list) or len(dim) != 2:
raise ValueError("Invalid dimension. Format is tuple(x,y)")
self.tty = uspp.SerialPort(fname, timeout=0)
#self.tty = uspp.SerialPort(fname, speed=brate, timeout=0)
os.environ['LEDWALL_TTY'] = fname
os.system("stty -F $LEDWALL_TTY " + str(brate))
self.w, self.h = dim
self.buf = [(0, 0, 0)] * self.w * self.h
self.transform = Transform(*dim)
gamma = float(gamma)
max_gamma = 255.**gamma
self.gamma_map = [ int( (1 + 2 * x**gamma / (max_gamma/255.)) //2 ) for x in xrange(256) ]
for i, v in enumerate(self.gamma_map):
if v == 254:
self.gamma_map[i] = 253
def gamma_correct(self, colour):
"""
Returns gamma-corrected colour.
"""
return tuple(self.gamma_map[c] for c in colour)
def __setitem__(self, tup, val):
"""
Allows for easy frame access.
Use like:
>>> screen[(x, y)] = r, g, b
"""
if type(tup) not in (tuple, list) or len(tup) != 2:
raise ValueError("tup should be a tuple of length 2")
if type(val) not in (tuple, list) or len(val) != 3:
raise ValueError("val should be a tuple of length 3")
if tup[0] not in range(0, self.w) or tup[1] not in range(0, self.h):
raise ValueError("tup should be inside the grid:", (self.w, self.h))
self.buf[self.transform.inverse(tup)] = self.gamma_correct(val)
waiting = self.tty.inWaiting()
if waiting > 0:
_ = self.tty.read(waiting)
def push(self):
"""
Push the current frame contents to the screen
"""
self.tty.write( ''.join(chr(g)+chr(r)+chr(b) for r,g,b in self.buf) + chr(254) )
def load_data(self, data):
"""
Load byte array to framebuffer. Does not send anything yet.
"""
for i in xrange( min( len(data)/3, self.w*self.h ) ):
x, y = i % self.w, i // self.w
self[ (x, y) ] = tuple( ord(x) for x in data[i*3:(i+1)*3] )
def push_data(self, data):
"""
Push byte array to the screen.
"""
self.load_data(data)
self.push()
def load_frame(self, frame):
"""
Load three-dimensional array to framebuffer. Does not send anything yet.
>>> _ = (0,0,0) # black
>>> X = (0,255,0) # green
>>> frame = [
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... [_,_,_,X,_,_,_,_,_,X,_,_,],
... [_,_,_,_,X,_,_,_,X,_,_,_,],
... [_,_,_,X,X,X,X,X,X,X,_,_,],
... [_,_,X,X,_,X,X,X,_,X,X,_,],
... [_,X,X,X,X,X,X,X,X,X,X,X,],
... [_,X,_,X,X,X,X,X,X,X,_,X,],
... [_,X,_,X,_,_,_,_,_,X,_,X,],
... [_,_,_,_,X,X,_,X,X,_,_,_,],
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... ],
>>> screen.load_frame(frame) # doesn't write yet
>>> screen.push() # display
"""
for y in xrange(max(len(frame), self.h)):
for x in xrange(max(len(frame[y]), self.w)):
self[ (x, y) ] = frame[y][x]
def push_frame(self, frame):
"""
Push a three-dimensional array to the screen
>>> _ = (0,0,0) # black
>>> X = (0,255,0) # green
>>> frame = [
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... [_,_,_,X,_,_,_,_,_,X,_,_,],
... [_,_,_,_,X,_,_,_,X,_,_,_,],
... [_,_,_,X,X,X,X,X,X,X,_,_,],
... [_,_,X,X,_,X,X,X,_,X,X,_,],
... [_,X,X,X,X,X,X,X,X,X,X,X,],
... [_,X,_,X,X,X,X,X,X,X,_,X,],
... [_,X,_,X,_,_,_,_,_,X,_,X,],
... [_,_,_,_,X,X,_,X,X,_,_,_,],
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... ],
>>> screen.push_frame(frame) # display invader
"""
self.load_frame(frame)
self.push()
class LedScreen(object):
"""
The low-level LED wall screen.
"""
def __init__(self,
fname='/dev/ttyACM0',
brate=1000000,
dim=(12, 10),
gamma=2.2):
"""
Initialise a LedScreen object.
>>> screen = LedScreen()
"""
if type(dim) not in (tuple, list) or len(dim) != 2:
raise ValueError("Invalid dimension. Format is tuple(x,y)")
self.tty = uspp.SerialPort(fname, timeout=0)
#self.tty = uspp.SerialPort(fname, speed=brate, timeout=0)
os.environ['LEDWALL_TTY'] = fname
os.system("stty -F $LEDWALL_TTY " + str(brate))
self.w, self.h = dim
self.buf = [(0, 0, 0)] * self.w * self.h
self.transform = Transform(*dim)
gamma = float(gamma)
max_gamma = 255.**gamma
self.gamma_map = [
int((1 + 2 * x**gamma / (max_gamma / 255.)) // 2)
for x in xrange(256)
]
for i, v in enumerate(self.gamma_map):
if v == 254:
self.gamma_map[i] = 253
def gamma_correct(self, colour):
"""
Returns gamma-corrected colour.
"""
return tuple(self.gamma_map[c] for c in colour)
def __setitem__(self, tup, val):
"""
Allows for easy frame access.
Use like:
>>> screen[(x, y)] = r, g, b
"""
if type(tup) not in (tuple, list) or len(tup) != 2:
raise ValueError("tup should be a tuple of length 2")
if type(val) not in (tuple, list) or len(val) != 3:
raise ValueError("val should be a tuple of length 3")
if tup[0] not in range(0, self.w) or tup[1] not in range(0, self.h):
raise ValueError("tup should be inside the grid:",
(self.w, self.h))
self.buf[self.transform.inverse(tup)] = self.gamma_correct(val)
waiting = self.tty.inWaiting()
if waiting > 0:
_ = self.tty.read(waiting)
def push(self):
"""
Push the current frame contents to the screen
"""
self.tty.write(''.join(
chr(g) + chr(r) + chr(b) for r, g, b in self.buf) + chr(254))
def load_data(self, data):
"""
Load byte array to framebuffer. Does not send anything yet.
"""
for i in xrange(min(len(data) / 3, self.w * self.h)):
x, y = i % self.w, i // self.w
self[(x, y)] = tuple(ord(x) for x in data[i * 3:(i + 1) * 3])
def push_data(self, data):
"""
Push byte array to the screen.
"""
self.load_data(data)
self.push()
def load_frame(self, frame):
"""
Load three-dimensional array to framebuffer. Does not send anything yet.
>>> _ = (0,0,0) # black
>>> X = (0,255,0) # green
>>> frame = [
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... [_,_,_,X,_,_,_,_,_,X,_,_,],
... [_,_,_,_,X,_,_,_,X,_,_,_,],
... [_,_,_,X,X,X,X,X,X,X,_,_,],
... [_,_,X,X,_,X,X,X,_,X,X,_,],
... [_,X,X,X,X,X,X,X,X,X,X,X,],
... [_,X,_,X,X,X,X,X,X,X,_,X,],
... [_,X,_,X,_,_,_,_,_,X,_,X,],
... [_,_,_,_,X,X,_,X,X,_,_,_,],
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... ],
>>> screen.load_frame(frame) # doesn't write yet
>>> screen.push() # display
"""
for y in xrange(max(len(frame), self.h)):
for x in xrange(max(len(frame[y]), self.w)):
self[(x, y)] = frame[y][x]
def push_frame(self, frame):
"""
Push a three-dimensional array to the screen
>>> _ = (0,0,0) # black
>>> X = (0,255,0) # green
>>> frame = [
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... [_,_,_,X,_,_,_,_,_,X,_,_,],
... [_,_,_,_,X,_,_,_,X,_,_,_,],
... [_,_,_,X,X,X,X,X,X,X,_,_,],
... [_,_,X,X,_,X,X,X,_,X,X,_,],
... [_,X,X,X,X,X,X,X,X,X,X,X,],
... [_,X,_,X,X,X,X,X,X,X,_,X,],
... [_,X,_,X,_,_,_,_,_,X,_,X,],
... [_,_,_,_,X,X,_,X,X,_,_,_,],
... [_,_,_,_,_,_,_,_,_,_,_,_,],
... ],
>>> screen.push_frame(frame) # display invader
"""
self.load_frame(frame)
self.push()
