def test_merge_cameras(self):
"""Test function merge_cameras."""
cam_1 = TurntableCamera(center=(0., 0., 0.), scale_factor=100.,
distance=100.)
cam_2 = TurntableCamera(center=(10., 10., 10.), scale_factor=10.,
distance=10.)
cam_3 = TurntableCamera(center=(2., 20., 5.), scale_factor=20.,
distance=20.)
m_cam = merge_cameras(cam_1, cam_2, cam_3)
assert np.array_equal(m_cam.center, (4.0, 10.0, 5.0))
assert m_cam.scale_factor == 100.
assert m_cam.distance == 100.
def __init__(self,
fov=0.0,
elevation=30.0,
azimuth=30.0,
roll=0.0,
distance=None,
translate_speed=1.0,
**kwargs):
TurntableCamera.__init__(self, fov, elevation, azimuth, roll, distance,
**kwargs)
self._translate_speed = None
self.translate_speed = translate_speed
def __init__(self,
fov=0.0,
elevation=30.0,
azimuth=30.0,
roll=0.0,
distance=None,
translate_speed=1.0,
**kwargs):
TurntableCamera.__init__(self, fov, elevation, azimuth, roll, distance,
**kwargs)
self._translate_speed = None
self.translate_speed = translate_speed
def __init__(self, keyupdateCB):
scene.SceneCanvas.__init__(self, keys=None)
self.size = 800, 600
self.unfreeze()
self.view = self.central_widget.add_view()
self.view.bgcolor = '#ffffff'
self.view.camera = TurntableCamera(fov=10.0,
distance=30.0,
up='+z',
center=(0.0, 0.0, 0.0))
self.last_pos = [0, 0, 0]
self.pos_markers = visuals.Markers()
self.meas_markers = visuals.Markers()
self.pos_data = np.array([0, 0, 0], ndmin=2)
self.meas_data = np.array([0, 0, 0], ndmin=2)
self.lines = []
self.view.add(self.pos_markers)
self.view.add(self.meas_markers)
for i in range(6):
line = visuals.Line()
self.lines.append(line)
self.view.add(line)
self.keyCB = keyupdateCB
self.freeze()
scene.visuals.XYZAxis(parent=self.view.scene)
def merge_cameras(*args):
"""Merge several TurnTable cameras.
This function returns the mean center and the max across scale_factor and
distances.
Parameter
---------
args : TurnTableCamera
The turntable cameras to use.
Returns
-------
cam_state : dict
The dictionary of merged camera states.
"""
assert all([isinstance(k, TurntableCamera) for k in args])
center = np.zeros((3,), dtype=np.float32)
scale_factor, distance = [], []
# Get the camera state of multiple cameras :
for k in args:
cam_state = k.get_state()
center += cam_state['center']
scale_factor.append(cam_state['scale_factor'])
if isinstance(k.distance, (int, float)):
distance.append(k.distance)
# Get mean center, max scale_factor and max distance :
center /= len(args)
scale_factor = np.max(scale_factor)
distance = np.max(distance) if len(distance) else None
# Create turntable camera :
cam = TurntableCamera(center=center, scale_factor=scale_factor,
distance=distance)
return cam
def __init__(self):
self.canvas = scene.SceneCanvas(keys='interactive',
size=(1024, 768),
show=True,
config=dict(samples=4),
resizable=True)
self.plane_color = 0.25 * np.ones((1, 3))
self.bg_color = 0.9 * np.ones((1, 3))
self.line_color = 0.7 * np.ones((1, 3))
# Set up a viewbox to display the cube with interactive arcball
self.view = self.canvas.central_widget.add_view()
self.view.bgcolor = self.bg_color
self.view.camera = TurntableCamera(fov=30.0,
elevation=30.0,
azimuth=90.0,
center=(0.0, 0.0, 1.25))
self.cam_state = self.view.camera.get_state()
# add a colored 3D axis for orientation
axis = scene.visuals.XYZAxis(parent=self.view.scene)
self.cfs = []
self.color_cache = []
ground = scene.visuals.Plane(32.0,
32.0,
direction="+z",
color=self.plane_color,
parent=self.view.scene)
# Lazy-constructed vispy objects and data for connectivity graph gfx.
self.graph_edges = None
self.graph_lines = None
self.graph = None
def __init__(
self,
hidden=False): # hidden=true useful for speed when creating video
self.canvas = scene.SceneCanvas(keys='interactive',
size=(1900, 1145),
show=not hidden,
config=dict(samples=4),
resizable=True,
always_on_top=True,
bgcolor='white',
vsync=True)
# Set up a viewbox to display the cube with interactive arcball
self.view = self.canvas.central_widget.add_view()
self.view.bgcolor = '#efefef'
self.view.camera = TurntableCamera(fov=60.0,
elevation=30.0,
azimuth=280.0)
# add a colored 3D axis for orientation
axis = scene.visuals.XYZAxis(parent=self.view.scene)
self.cfs = []
self.spheres = []
self.crumbs = []
self.markers = scene.visuals.Markers(parent=self.view.scene)
self.markers.transform = transforms.STTransform()
self.obstacles = []
def view_patch_vispy(r,
attrib=[],
opacity=1,
fig=0,
show=1,
colorbar=1,
clim=[0],
outfile=0,
azimuth=0,
elevation=-90,
colormap='jet'):
meshdata = vispy.geometry.MeshData(vertices=r.vertices,
faces=r.faces,
vertex_colors=r.vColor)
canvas = scene.SceneCanvas(keys='interactive', size=(800, 600), show=True)
mesh = scene.visuals.Mesh(meshdata=meshdata, shading='smooth')
view = canvas.central_widget.add_view()
view.add(mesh)
view.bgcolor = '#efefef'
view.camera = TurntableCamera(azimuth=azimuth, elevation=elevation)
color = Color("#3f51b5")
# mesh.set_gl_state('translucent', depth_test=True, cull_face=True)
axis = scene.visuals.XYZAxis(parent=view.scene)
if __name__ == '__main__' and sys.flags.interactive == 0:
canvas.app.run()
def test_rotate_turntable(self):
"""Test function rotate_turntable."""
cam = TurntableCamera()
xyz = [20, 40, 10]
cs = (800, 600)
cam_state = dict(elevation=180., azimuth=90)
# Default views :
for k in FIXED_CAM.keys():
rotate_turntable(fixed=k)
rotate_turntable(fixed=k, camera=cam, xyz=xyz)
rotate_turntable(fixed=k, camera=cam, xyz=xyz, csize=cs,
camera_state=cam_state)
def _vispy_init(self):
self._points = {}
self._xyrects = {}
self._polygons = {}
self._canvas = vispy.scene.SceneCanvas(keys='interactive',
show=True,
title="vispy template")
self._view = self._canvas.central_widget.add_view()
self._view.camera = TurntableCamera(
parent=self._view.scene
) # NoAccelerationFlyCamera(speed_scaler=0.5)
self._debug_axis = vispy.scene.visuals.XYZAxis(parent=self._view.scene)
def _dist_to_trans(self, distance):
"""
Converts mouse x, y movement into x, y, z translations.
Parameters
----------
distance : numeric
Distance traveled by the mouse.
"""
translate = np.asarray(TurntableCamera._dist_to_trans(self, distance))
translate *= self.__translate_speed
return translate
def _dist_to_trans(self, distance):
"""
Converts mouse x, y movement into x, y, z translations.
Parameters
----------
distance : numeric
Distance traveled by the mouse.
"""
translate = np.asarray(TurntableCamera._dist_to_trans(self, distance))
translate *= self._translate_speed
return translate
def __init__(self):
self.canvas = scene.SceneCanvas(keys='interactive', size=(1024, 768), show=True, config=dict(samples=4), resizable=True)
# Set up a viewbox to display the cube with interactive arcball
self.view = self.canvas.central_widget.add_view()
self.view.bgcolor = '#efefef'
self.view.camera = TurntableCamera(fov=60.0, elevation=30.0, azimuth=280.0)
# add a colored 3D axis for orientation
axis = scene.visuals.XYZAxis(parent=self.view.scene)
self.cfs = []
self.color_cache = []
ground = scene.visuals.Plane(6.0, 6.0, direction="+z",
color=(0.3, 0.3, 0.3, 1.0), parent=self.view.scene)
def run(self, cam=True, center=None):
if cam:
self.view.camera = TurntableCamera(fov=70, center=center)
self.canvas.show()
#self.view.camera.set_range()
vispy.app.run()
label='depth',
cmap=colormap,
orientation='left')
colorbar.clim = ('%.2f' % depth_norm.vmin, '%.2f' % depth_norm.vmax)
vb1.add(colorbar)
t = scene.visuals.Text('Depth map from OpenGL', parent=vb1, color='k')
t.font_size = 5
t.pos = (100, 20)
#
depth_diff = dimg_depths - depths
depth_diff_norm = norm.Normalize(vmin=depth_diff.min(), vmax=depth_diff.max())
# -------- vb2 : mesh with dimg_depth
vb2.camera = TurntableCamera(fov=45)
# The default depth_value of 100000 causes small artifacts. Use something
# smaller since our mesh uses meter units (so it has at most a height of ~2)
vb2.camera.depth_value = 10
vb2.camera.center = (0, 0, 0.7)
vb2.bgcolor = '#efefef'
mesh = scene.visuals.Mesh(meshdata=meshdata, shading='smooth', color='w')
# Need to enable cull_face
# https://github.com/vispy/vispy/issues/896#issuecomment-152083382
#mesh.set_gl_state('translucent', depth_test=True, cull_face=False)
vb2.add(mesh)
points = scene.visuals.Markers()
points.set_data(verts,
edge_color=None,
