def addBox(self, box, colour=None): if not Visualiser.VISUALISER_ON: return if isinstance(box, geo.Box): if colour == None: colour = visual.color.red org = geo.transform_point(box.origin, box.transform) ext = geo.transform_point(box.extent, box.transform) print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext)) size = np.abs(ext - org) pos = org + 0.5 * size print "Visualiser: box position=%s, size=%s" % (str(pos), str(size)) angle, direction, point = tf.rotation_from_matrix(box.transform) print "colour,", colour if colour == [0, 0, 0]: visual.box(pos=pos, size=size, opacity=0.3, material=visual.materials.plastic) else: visual.box(pos=pos, size=size, color=geo.norm(colour), opacity=0.5)
def addBox(self, box, colour=None, opacity=1., material=None): if not VISUAL_INSTALLED: return if isinstance(box, geo.Box): if colour == None: colour = visual.color.red if material is None: material = visual.materials.plastic org = geo.transform_point(box.origin, box.transform) ext = geo.transform_point(box.extent, box.transform) print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext)) size = np.abs(ext - org) pos = org + 0.5 * size print "Visualiser: box position=%s, size=%s" % (str(pos), str(size)) angle, direction, point = tf.rotation_from_matrix(box.transform) print "colour,", colour if np.allclose(np.array(colour), np.array([0, 0, 0])): visual.box(pos=pos, size=size, material=material, opacity=opacity) else: visual.box(pos=pos, size=size, color=colour, materials=material, opacity=opacity)
def addBox(self, box, colour=None): if not Visualiser.VISUALISER_ON: return if isinstance(box, geo.Box): if colour == None: colour = visual.color.red org = geo.transform_point(box.origin, box.transform) ext = geo.transform_point(box.extent, box.transform) print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext)) size = np.abs(ext - org) pos = org + 0.5*size print "Visualiser: box position=%s, size=%s" % (str(pos), str(size)) angle, direction, point = tf.rotation_from_matrix(box.transform) print "colour,", colour if colour == [0,0,0]: visual.box(pos=pos, size=size, opacity=0.3, material=visual.materials.plastic) else: visual.box(pos=pos, size=size, color=geo.norm(colour), opacity=0.5)
def addBox(self, box, colour=None, opacity=1., material=None): if not VISUAL_INSTALLED: return if isinstance(box, geo.Box): if colour == None: colour = visual.color.red if material is None: material = visual.materials.plastic org = geo.transform_point(box.origin, box.transform) ext = geo.transform_point(box.extent, box.transform) print "Visualiser: box origin=%s, extent=%s" % (str(org), str(ext)) size = np.abs(ext - org) pos = org + 0.5*size print "Visualiser: box position=%s, size=%s" % (str(pos), str(size)) angle, direction, point = tf.rotation_from_matrix(box.transform) print "colour,", colour if np.allclose(np.array(colour), np.array([0,0,0])): visual.box(pos=pos, size=size, material=material, opacity=opacity) else: visual.box(pos=pos, size=size, color=colour, materials=material, opacity=opacity)
def transform_direction(direction, transform): angle, axis, point = tf.rotation_from_matrix(transform) rotation_transform = tf.rotation_matrix(angle, axis) return np.array(np.dot(rotation_transform, np.matrix(np.concatenate((direction, [1.]))).transpose()).transpose()[0,0:3]).squeeze()