def to_viewport_point(self, point):
with self.lock:
if not isinstance(point, list) and not isinstance(point, tuple) \
and not isinstance(point, np.ndarray):
raise GenericRolloutException("point must be a type of list, tuple, or numpy.ndarray")
ray_origin = np.array(point)
points_in_viewports = []
for cam_pose, near_plane_info in zip(self.cam_poses, self.near_plane_infos):
cam_pos = cam_pose["position"]
cam_quaternion = cam_pose["orientation"]
near_width = near_plane_info["width"]
near_height = near_plane_info["height"]
near_center = near_plane_info["position"]
near_normal = near_plane_info["normal"]
near_offset = near_plane_info["offset"]
ray_dir = normalize(cam_pos - ray_origin)
point_on_plane = ray_plane_intersect(ray_origin=ray_origin,
ray_dir=ray_dir,
plane_normal=near_normal,
plane_offset=near_offset,
threshold=self.threshold)
if point_on_plane is None:
points_in_viewports.append((-1.0, -1.0))
else:
point_in_viewport = project_to_2d(point_on_plane=point_on_plane,
plane_center=near_center,
plane_width=near_width,
plane_height=near_height,
plane_quaternion=cam_quaternion)
points_in_viewports.append(point_in_viewport)
return points_in_viewports
def _calculate_frustum_planes(self, cam_pos, cam_quaternion):
cam_pos = np.array(cam_pos)
cam_quaternion = np.array(cam_quaternion)
cam_forward = Frustum.get_forward_vec(cam_quaternion)
cam_up = Frustum.get_up_vec(cam_quaternion)
cam_right = Frustum.get_right_vec(cam_quaternion)
near_center = cam_pos + cam_forward * self.near
far_center = cam_pos + cam_forward * self.far
near_width = 2.0 * math.tan(self.horizontal_fov * 0.5) * self.near
near_height = near_width * self.view_ratio
far_width = 2.0 * math.tan(self.horizontal_fov * 0.5) * self.far
far_height = far_width * self.view_ratio
far_top_left = far_center + cam_up * (far_height * 0.5) - cam_right * (far_width * 0.5)
far_top_right = far_center + cam_up * (far_height * 0.5) + cam_right * (far_width * 0.5)
far_bottom_left = far_center - cam_up * (far_height * 0.5) - cam_right * (far_width * 0.5)
far_bottom_right = far_center - cam_up * (far_height * 0.5) + cam_right * (far_width * 0.5)
near_top_left = near_center + cam_up * (near_height * 0.5) - cam_right * (near_width * 0.5)
near_top_right = near_center + cam_up * (near_height * 0.5) + cam_right * (near_width * 0.5)
near_bottom_left = near_center - cam_up * (near_height * 0.5) - cam_right * (near_width * 0.5)
near_bottom_right = near_center - cam_up * (near_height * 0.5) + cam_right * (near_width * 0.5)
planes = []
# near plane
if self.ccw:
p0, p1, p2 = near_bottom_right, near_bottom_left, near_top_left
else:
p0, p1, p2 = near_top_left, near_bottom_left, near_bottom_right
near_plane_normal = normalize(np.cross(p1 - p0, p2 - p1))
near_plane_offset = np.dot(near_plane_normal, p0)
planes.append((near_plane_normal, near_plane_offset))
# far plane
if self.ccw:
p0, p1, p2 = far_bottom_right, far_top_right, far_top_left
else:
p0, p1, p2 = far_top_left, far_top_right, far_bottom_right
far_plane_normal = normalize(np.cross(p1 - p0, p2 - p1))
far_plane_offset = np.dot(far_plane_normal, p0)
planes.append((far_plane_normal, far_plane_offset))
# left plane
if self.ccw:
p0, p1, p2 = near_bottom_left, far_bottom_left, far_top_left
else:
p0, p1, p2 = far_top_left, far_bottom_left, near_bottom_left
left_plane_normal = normalize(np.cross(p1 - p0, p2-p1))
left_plane_offset = np.dot(left_plane_normal, p0)
planes.append((left_plane_normal, left_plane_offset))
# right plane
if self.ccw:
p0, p1, p2 = near_top_right, far_top_right, far_bottom_right
else:
p0, p1, p2 = far_bottom_right, far_top_right, near_top_right
right_plane_normal = normalize(np.cross(p1 - p0, p2-p1))
right_plane_offset = np.dot(right_plane_normal, p0)
planes.append((right_plane_normal, right_plane_offset))
# top plane
if self.ccw:
p0, p1, p2 = near_top_left, far_top_left, far_top_right
else:
p0, p1, p2 = far_top_right, far_top_left, near_top_left
top_plane_normal = normalize(np.cross(p1 - p0, p2-p1))
top_plane_offset = np.dot(top_plane_normal, p0)
planes.append((top_plane_normal, top_plane_offset))
# bottom plane
if self.ccw:
p0, p1, p2 = near_bottom_right, far_bottom_right, far_bottom_left
else:
p0, p1, p2 = far_bottom_left, far_bottom_right, near_bottom_right
bottom_plane_normal = normalize(np.cross(p1 - p0, p2 - p1))
bottom_plane_offset = np.dot(bottom_plane_normal, p0)
planes.append((bottom_plane_normal, bottom_plane_offset))
cam_pose = {
"position": cam_pos,
"orientation": cam_quaternion
}
near_plane_info = {
"width": near_width,
"height": near_height,
"position": near_center,
"bounding_box": {
"bottom_left": near_bottom_left,
"top_left": near_top_left,
"top_right": near_top_right,
"bottom_right": near_bottom_right,
},
"normal": near_plane_normal,
"offset": near_plane_offset
}
return planes, cam_pose, near_plane_info