641 lines
22 KiB
Python
641 lines
22 KiB
Python
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from math import *
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# -----------------------------------------------------------------------------
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# Set of helper functions
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# -----------------------------------------------------------------------------
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def normalize(vect, tolerance=0.00001):
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mag2 = sum(n * n for n in vect)
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if abs(mag2 - 1.0) > tolerance:
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mag = sqrt(mag2)
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vect = tuple(n / mag for n in vect)
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return vect
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def q_mult(q1, q2):
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w1, x1, y1, z1 = q1
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w2, x2, y2, z2 = q2
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w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2
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x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2
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y = w1 * y2 + y1 * w2 + z1 * x2 - x1 * z2
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z = w1 * z2 + z1 * w2 + x1 * y2 - y1 * x2
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return w, x, y, z
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def q_conjugate(q):
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w, x, y, z = q
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return (w, -x, -y, -z)
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def qv_mult(q1, v1):
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q2 = (0.0,) + v1
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return q_mult(q_mult(q1, q2), q_conjugate(q1))[1:]
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def axisangle_to_q(v, theta):
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v = normalize(v)
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x, y, z = v
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theta /= 2
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w = cos(theta)
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x = x * sin(theta)
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y = y * sin(theta)
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z = z * sin(theta)
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return w, x, y, z
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def vectProduct(axisA, axisB):
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xa, ya, za = axisA
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xb, yb, zb = axisB
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normalVect = (ya * zb - za * yb, za * xb - xa * zb, xa * yb - ya * xb)
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normalVect = normalize(normalVect)
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return normalVect
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def dotProduct(vecA, vecB):
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return (vecA[0] * vecB[0]) + (vecA[1] * vecB[1]) + (vecA[2] * vecB[2])
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def rotate(axis, angle, center, point):
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angleInRad = 3.141592654 * angle / 180.0
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rotation = axisangle_to_q(axis, angleInRad)
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tPoint = tuple((point[i] - center[i]) for i in range(3))
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rtPoint = qv_mult(rotation, tPoint)
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rPoint = tuple((rtPoint[i] + center[i]) for i in range(3))
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return rPoint
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# -----------------------------------------------------------------------------
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# Spherical Camera
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# -----------------------------------------------------------------------------
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class SphericalCamera(object):
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def __init__(
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self, dataHandler, focalPoint, position, phiAxis, phiAngles, thetaAngles
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):
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self.dataHandler = dataHandler
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self.cameraSettings = []
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self.thetaBind = {
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"mouse": {
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"drag": {"modifier": 0, "coordinate": 1, "step": 30, "orientation": 1}
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}
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}
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self.phiBind = {
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"mouse": {
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"drag": {"modifier": 0, "coordinate": 0, "step": 30, "orientation": 1}
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}
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}
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# Convert to serializable type
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fp = tuple(i for i in focalPoint)
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# Register arguments to the data handler
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if len(phiAngles) > 1 and phiAngles[-1] + phiAngles[1] == 360:
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self.dataHandler.registerArgument(
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priority=0,
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name="phi",
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values=phiAngles,
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ui="slider",
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loop="modulo",
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bind=self.phiBind,
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)
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else:
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self.dataHandler.registerArgument(
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priority=0, name="phi", values=phiAngles, ui="slider", bind=self.phiBind
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)
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if thetaAngles[0] < 0 and thetaAngles[0] >= -90:
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idx = 0
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for theta in thetaAngles:
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if theta < 0:
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idx += 1
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self.dataHandler.registerArgument(
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priority=0,
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name="theta",
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values=[(x + 90) for x in thetaAngles],
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ui="slider",
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default=idx,
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bind=self.thetaBind,
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)
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else:
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self.dataHandler.registerArgument(
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priority=0,
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name="theta",
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values=thetaAngles,
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ui="slider",
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bind=self.thetaBind,
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)
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# Compute all camera settings
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for theta in thetaAngles:
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for phi in phiAngles:
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phiPos = rotate(phiAxis, -phi, fp, position)
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thetaAxis = vectProduct(
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phiAxis, tuple(fp[i] - phiPos[i] for i in range(3))
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)
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thetaPhiPos = rotate(thetaAxis, theta, fp, phiPos)
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viewUp = rotate(thetaAxis, theta, (0, 0, 0), phiAxis)
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self.cameraSettings.append(
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{
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"theta": theta,
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"thetaIdx": thetaAngles.index(theta),
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"phi": phi,
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"phiIdx": phiAngles.index(phi),
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"focalPoint": fp,
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"position": thetaPhiPos,
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"viewUp": viewUp,
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}
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)
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self.dataHandler.updateBasePattern()
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def updatePriority(self, priorityList):
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keyList = ["theta", "phi"]
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for idx in range(min(len(priorityList), len(keyList))):
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self.dataHandler.updatePriority(keyList[idx], priorityList[idx])
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def __iter__(self):
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for cameraData in self.cameraSettings:
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self.dataHandler.setArguments(
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phi=cameraData["phiIdx"], theta=cameraData["thetaIdx"]
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)
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yield cameraData
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# -----------------------------------------------------------------------------
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# Cylindrical Camera
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# -----------------------------------------------------------------------------
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class CylindricalCamera(object):
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def __init__(
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self,
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dataHandler,
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focalPoint,
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position,
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rotationAxis,
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phiAngles,
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translationValues,
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):
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self.dataHandler = dataHandler
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self.cameraSettings = []
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# Register arguments to the data handler
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self.dataHandler.registerArgument(
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priority=0, name="phi", values=phiAngles, ui="slider", loop="modulo"
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)
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self.dataHandler.registerArgument(
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priority=0, name="n_pos", values=translationValues, ui="slider"
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)
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# Compute all camera settings
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for translation in translationValues:
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for phi in phiAngles:
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phiPos = rotate(rotationAxis, phi, focalPoint, position)
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newfocalPoint = tuple(
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focalPoint[i] + (translation * rotationAxis[i]) for i in range(3)
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)
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transPhiPoint = tuple(
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phiPos[i] + (translation * rotationAxis[i]) for i in range(3)
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)
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self.cameraSettings.append(
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{
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"n_pos": translation,
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"n_posIdx": translationValues.index(translation),
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"phi": phi,
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"phiIdx": phiAngles.index(phi),
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"focalPoint": newfocalPoint,
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"position": transPhiPoint,
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"viewUp": rotationAxis,
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}
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)
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self.dataHandler.updateBasePattern()
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def updatePriority(self, priorityList):
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keyList = ["n_pos", "phi"]
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for idx in range(min(len(priorityList), len(keyList))):
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self.dataHandler.updatePriority(keyList[idx], priorityList[idx])
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def __iter__(self):
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for cameraData in self.cameraSettings:
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self.dataHandler.setArguments(
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phi=cameraData["phiIdx"], n_pos=cameraData["n_posIdx"]
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)
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yield cameraData
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# -----------------------------------------------------------------------------
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# MultiView Cube Camera
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# -----------------------------------------------------------------------------
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class CubeCamera(object):
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# positions = [ { position: [x,y,z], args: { i: 1, j: 0, k: 7 } }, ... ]
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def __init__(self, dataHandler, viewForward, viewUp, positions):
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self.dataHandler = dataHandler
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self.cameraSettings = []
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self.viewForward = viewForward
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self.viewUp = viewUp
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self.rightDirection = vectProduct(viewForward, viewUp)
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self.positions = positions
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# Register arguments to the data handler
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self.dataHandler.registerArgument(
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priority=0, name="orientation", values=["f", "b", "r", "l", "u", "d"]
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)
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# Register arguments to id position
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self.args = {}
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for pos in positions:
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for key in pos["args"]:
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if key not in self.args:
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self.args[key] = {}
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self.args[key][pos["args"][key]] = True
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for key in self.args:
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self.args[key] = sorted(self.args[key], key=lambda k: int(k))
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self.keyList = self.args.keys()
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for key in self.args:
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self.dataHandler.registerArgument(
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priority=1, name=key, values=self.args[key]
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)
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self.dataHandler.updateBasePattern()
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def updatePriority(self, priorityList):
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keyList = ["orientation"]
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for idx in range(min(len(priorityList), len(keyList))):
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self.dataHandler.updatePriority(keyList[idx], priorityList[idx])
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def __iter__(self):
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for pos in self.positions:
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cameraData = {
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"position": pos["position"],
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}
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print("=" * 80)
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for key in pos["args"]:
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idx = self.args[key].index(pos["args"][key])
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self.dataHandler.setArguments(**{key: idx})
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print(key, idx)
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print("position", cameraData["position"])
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# front
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cameraData["focalPoint"] = [
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(cameraData["position"][i] + self.viewForward[i]) for i in range(3)
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]
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cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
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cameraData["orientation"] = "front"
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self.dataHandler.setArguments(orientation=0)
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yield cameraData
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# back
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cameraData["focalPoint"] = [
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(cameraData["position"][i] - self.viewForward[i]) for i in range(3)
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]
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cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
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cameraData["orientation"] = "back"
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self.dataHandler.setArguments(orientation=1)
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yield cameraData
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# right
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self.dataHandler.setArguments(orientation=2)
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cameraData["focalPoint"] = [
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(cameraData["position"][i] + self.rightDirection[i]) for i in range(3)
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]
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cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
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cameraData["orientation"] = "right"
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yield cameraData
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# left
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self.dataHandler.setArguments(orientation=3)
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cameraData["focalPoint"] = [
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(cameraData["position"][i] - self.rightDirection[i]) for i in range(3)
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]
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cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
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cameraData["orientation"] = "left"
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yield cameraData
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# up
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self.dataHandler.setArguments(orientation=4)
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cameraData["focalPoint"] = [
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(cameraData["position"][i] + self.viewUp[i]) for i in range(3)
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]
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cameraData["viewUp"] = [(-self.viewForward[i]) for i in range(3)]
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cameraData["orientation"] = "up"
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yield cameraData
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# doww
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self.dataHandler.setArguments(orientation=5)
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cameraData["focalPoint"] = [
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(cameraData["position"][i] - self.viewUp[i]) for i in range(3)
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]
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cameraData["viewUp"] = [self.viewForward[i] for i in range(3)]
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cameraData["orientation"] = "down"
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yield cameraData
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# -----------------------------------------------------------------------------
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# MultiView Cube Camera
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# -----------------------------------------------------------------------------
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class StereoCubeCamera(object):
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# positions = [ { position: [x,y,z], args: { i: 1, j: 0, k: 7 } }, ... ]
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def __init__(self, dataHandler, viewForward, viewUp, positions, eyeSpacing):
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self.dataHandler = dataHandler
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self.cameraSettings = []
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self.viewForward = viewForward
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self.viewUp = viewUp
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self.rightDirection = vectProduct(viewForward, viewUp)
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self.positions = positions
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self.eyeSpacing = eyeSpacing
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# Register arguments to the data handler
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self.dataHandler.registerArgument(
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priority=0, name="orientation", values=["f", "b", "r", "l", "u", "d"]
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)
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self.dataHandler.registerArgument(
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priority=0, name="eye", values=["left", "right"]
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)
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# Register arguments to id position
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self.args = {}
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for pos in positions:
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for key in pos["args"]:
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if key not in self.args:
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self.args[key] = {}
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self.args[key][pos["args"][key]] = True
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for key in self.args:
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self.args[key] = sorted(self.args[key], key=lambda k: int(k))
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self.keyList = self.args.keys()
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for key in self.args:
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self.dataHandler.registerArgument(
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priority=1, name=key, values=self.args[key]
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)
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|
|
|
||
|
|
self.dataHandler.updateBasePattern()
|
||
|
|
|
||
|
|
def updatePriority(self, priorityList):
|
||
|
|
keyList = ["orientation"]
|
||
|
|
for idx in range(min(len(priorityList), len(keyList))):
|
||
|
|
self.dataHandler.updatePriority(keyList[idx], priorityList[idx])
|
||
|
|
|
||
|
|
def __iter__(self):
|
||
|
|
for pos in self.positions:
|
||
|
|
cameraData = {}
|
||
|
|
|
||
|
|
for key in pos["args"]:
|
||
|
|
idx = self.args[key].index(pos["args"][key])
|
||
|
|
self.dataHandler.setArguments(**{key: idx})
|
||
|
|
|
||
|
|
# front
|
||
|
|
cameraData["orientation"] = "front"
|
||
|
|
self.dataHandler.setArguments(orientation=0)
|
||
|
|
deltaVect = [
|
||
|
|
(v * float(self.eyeSpacing) * 0.5) for v in self.rightDirection
|
||
|
|
]
|
||
|
|
## Left-Eye
|
||
|
|
self.dataHandler.setArguments(eye=0)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] - deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] + self.viewForward[i] - deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
## Right-Eye
|
||
|
|
self.dataHandler.setArguments(eye=1)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] + deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] + self.viewForward[i] + deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
# back
|
||
|
|
cameraData["orientation"] = "back"
|
||
|
|
self.dataHandler.setArguments(orientation=1)
|
||
|
|
deltaVect = [
|
||
|
|
-(v * float(self.eyeSpacing) * 0.5) for v in self.rightDirection
|
||
|
|
]
|
||
|
|
## Left-Eye
|
||
|
|
self.dataHandler.setArguments(eye=0)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] - deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] - self.viewForward[i] - deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
## Right-Eye
|
||
|
|
self.dataHandler.setArguments(eye=1)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] + deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] - self.viewForward[i] + deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
# right
|
||
|
|
self.dataHandler.setArguments(orientation=2)
|
||
|
|
cameraData["orientation"] = "right"
|
||
|
|
deltaVect = [-(v * float(self.eyeSpacing) * 0.5) for v in self.viewForward]
|
||
|
|
## Left-Eye
|
||
|
|
self.dataHandler.setArguments(eye=0)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] - deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] + self.rightDirection[i] - deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
## Right-Eye
|
||
|
|
self.dataHandler.setArguments(eye=1)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] + deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] + self.rightDirection[i] + deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
# left
|
||
|
|
self.dataHandler.setArguments(orientation=3)
|
||
|
|
cameraData["orientation"] = "left"
|
||
|
|
deltaVect = [(v * float(self.eyeSpacing) * 0.5) for v in self.viewForward]
|
||
|
|
## Left-Eye
|
||
|
|
self.dataHandler.setArguments(eye=0)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] - deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] - self.rightDirection[i] - deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
## Right-Eye
|
||
|
|
self.dataHandler.setArguments(eye=1)
|
||
|
|
cameraData["viewUp"] = [self.viewUp[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] + deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] - self.rightDirection[i] + deltaVect[i])
|
||
|
|
for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
# up
|
||
|
|
self.dataHandler.setArguments(orientation=4)
|
||
|
|
cameraData["orientation"] = "up"
|
||
|
|
deltaVect = [
|
||
|
|
(v * float(self.eyeSpacing) * 0.5) for v in self.rightDirection
|
||
|
|
]
|
||
|
|
## Left-Eye
|
||
|
|
self.dataHandler.setArguments(eye=0)
|
||
|
|
cameraData["viewUp"] = [(-self.viewForward[i]) for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] - deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] + self.viewUp[i] - deltaVect[i]) for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
## Right-Eye
|
||
|
|
self.dataHandler.setArguments(eye=1)
|
||
|
|
cameraData["viewUp"] = [(-self.viewForward[i]) for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] + deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] + self.viewUp[i] + deltaVect[i]) for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
# doww
|
||
|
|
self.dataHandler.setArguments(orientation=5)
|
||
|
|
cameraData["orientation"] = "down"
|
||
|
|
deltaVect = [
|
||
|
|
(v * float(self.eyeSpacing) * 0.5) for v in self.rightDirection
|
||
|
|
]
|
||
|
|
## Left-Eye
|
||
|
|
self.dataHandler.setArguments(eye=0)
|
||
|
|
cameraData["viewUp"] = [self.viewForward[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] - deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] - self.viewUp[i] - deltaVect[i]) for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
## Right-Eye
|
||
|
|
self.dataHandler.setArguments(eye=1)
|
||
|
|
cameraData["viewUp"] = [self.viewForward[i] for i in range(3)]
|
||
|
|
cameraData["position"] = [
|
||
|
|
(pos["position"][idx] + deltaVect[idx]) for idx in range(3)
|
||
|
|
]
|
||
|
|
cameraData["focalPoint"] = [
|
||
|
|
(pos["position"][i] - self.viewUp[i] + deltaVect[i]) for i in range(3)
|
||
|
|
]
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
|
||
|
|
# -----------------------------------------------------------------------------
|
||
|
|
# MultiView Camera
|
||
|
|
# -----------------------------------------------------------------------------
|
||
|
|
|
||
|
|
|
||
|
|
class MultiViewCamera(object):
|
||
|
|
def __init__(self, dataHandler):
|
||
|
|
self.dataHandler = dataHandler
|
||
|
|
self.cameraSettings = []
|
||
|
|
self.positionNames = []
|
||
|
|
|
||
|
|
def registerViewPoint(self, name, focalPoint, position, viewUp):
|
||
|
|
self.cameraSettings.append(
|
||
|
|
{
|
||
|
|
"name": name,
|
||
|
|
"nameIdx": len(self.positionNames),
|
||
|
|
"focalPoint": focalPoint,
|
||
|
|
"position": position,
|
||
|
|
"viewUp": viewUp,
|
||
|
|
}
|
||
|
|
)
|
||
|
|
self.positionNames.append(name)
|
||
|
|
self.dataHandler.registerArgument(
|
||
|
|
priority=0, name="multiView", values=self.positionNames
|
||
|
|
)
|
||
|
|
self.dataHandler.updateBasePattern()
|
||
|
|
|
||
|
|
def updatePriority(self, priorityList):
|
||
|
|
keyList = ["multiView"]
|
||
|
|
for idx in range(min(len(priorityList), len(keyList))):
|
||
|
|
self.dataHandler.updatePriority(keyList[idx], priorityList[idx])
|
||
|
|
|
||
|
|
def __iter__(self):
|
||
|
|
for cameraData in self.cameraSettings:
|
||
|
|
self.dataHandler.setArguments(multiView=cameraData["nameIdx"])
|
||
|
|
yield cameraData
|
||
|
|
|
||
|
|
|
||
|
|
# -----------------------------------------------------------------------------
|
||
|
|
# Helper methods
|
||
|
|
# -----------------------------------------------------------------------------
|
||
|
|
|
||
|
|
|
||
|
|
def update_camera(renderer, cameraData):
|
||
|
|
camera = renderer.GetActiveCamera()
|
||
|
|
camera.SetPosition(cameraData["position"])
|
||
|
|
camera.SetFocalPoint(cameraData["focalPoint"])
|
||
|
|
camera.SetViewUp(cameraData["viewUp"])
|
||
|
|
|
||
|
|
|
||
|
|
def create_spherical_camera(renderer, dataHandler, phiValues, thetaValues):
|
||
|
|
camera = renderer.GetActiveCamera()
|
||
|
|
return SphericalCamera(
|
||
|
|
dataHandler,
|
||
|
|
camera.GetFocalPoint(),
|
||
|
|
camera.GetPosition(),
|
||
|
|
camera.GetViewUp(),
|
||
|
|
phiValues,
|
||
|
|
thetaValues,
|
||
|
|
)
|
||
|
|
|
||
|
|
|
||
|
|
def create_cylindrical_camera(renderer, dataHandler, phiValues, translationValues):
|
||
|
|
camera = renderer.GetActiveCamera()
|
||
|
|
return CylindricalCamera(
|
||
|
|
dataHandler,
|
||
|
|
camera.GetFocalPoint(),
|
||
|
|
camera.GetPosition(),
|
||
|
|
camera.GetViewUp(),
|
||
|
|
phiValues,
|
||
|
|
translationValues,
|
||
|
|
)
|