Python Vector.xyz方法代码示例

# 需要导入模块: from mathutils import Vector [as 别名]
# 或者: from mathutils.Vector import xyz [as 别名]
 def draw(self, scene=bpy.context.scene, maxdensity=None, matrix_world=None):
     """ draws the reflection plane in the scene """
     base = self.rnor * self.roff
     #rme = bpy.data.meshes.new('rNormal')
     #normalverts = [base, base + self.rnor]
     #normaledge = [[0, 1]]
     #rme.from_pydata(normalverts,normaledge,[])
     #ob_normal = bpy.data.objects.new("rNormal", rme)
     #scene.objects.link(ob_normal)
     n = Vector() # self rotation in (phi,theta,0)
     n.xyz = (-self.co.x,
         -self.co.y,
         0)
     mesh = bpy.ops.mesh.primitive_plane_add(
             radius=2,
             location = base,
             rotation=n.zyx)
     obj = bpy.context.active_object
     obj.hide = True
     if matrix_world:
         obj.matrix_world = matrix_world * obj.matrix_world
     if maxdensity:
         material = bpy.data.materials.new('color')
         material.diffuse_color = (self.weight/maxdensity,
                 1 - self.weight/maxdensity,
                 1 - self.weight/maxdensity)
         mesh = obj.data
         mesh.materials.append(material)

# 需要导入模块: from mathutils import Vector [as 别名]
# 或者: from mathutils.Vector import xyz [as 别名]
def calculate_tangent_space(vertex, uv_layer):
	vertex_tangent = Vector((0.0, 0.0, 0.0, 0.0))
	vertex_bitangent = Vector((0.0, 0.0, 0.0, 0.0))

	# Accumulate faceted tangents
	for i in range(len(vertex.link_faces)):
		face = vertex.link_faces[i]

		position0 = face.loops[0].vert.co
		position1 = face.loops[1].vert.co
		position2 = face.loops[2].vert.co

		uv0 = face.loops[0][uv_layer].uv
		uv1 = face.loops[1][uv_layer].uv
		uv2 = face.loops[2][uv_layer].uv

		position_edge1 = position1 - position0
		position_edge2 = position2 - position0
		uv_edge1 = uv1 - uv0
		uv_edge2 = uv2 - uv0

		inverseDet = uv_edge1.x * uv_edge2.y - uv_edge1.y * uv_edge2.x
		if inverseDet != 0.0:
			inverseDet = 1.0 / inverseDet

		vertex_tangent.xyz += (position_edge1 * uv_edge2.y - position_edge2 * uv_edge1.y) * inverseDet
		vertex_bitangent.xyz += (position_edge2 * uv_edge1.x - position_edge1 * uv_edge2.x) * inverseDet
	
	# Gram-Schmidt orthogonalize
	n = vertex.normal
	t = vertex_tangent.xyz.copy()
	b = vertex_bitangent.xyz.copy()
	n_dot_t = n.dot(t)

	vertex_tangent.xyz = (t - n * n_dot_t).normalized()
	vertex_bitangent.xyz = (b - n * n_dot_t).normalized()

	handedness = -1.0 if (n.cross(t).dot(b) < 0.0) else 1.0
	vertex_tangent.w = handedness
	vertex_bitangent.w = handedness

	return (vertex_tangent, vertex_bitangent)

# 需要导入模块: from mathutils import Vector [as 别名]
# 或者: from mathutils.Vector import xyz [as 别名]
def scan_advanced(scanner_object, max_distance = 10.0, evd_file=None, add_blender_mesh = False, 
                  add_noisy_blender_mesh = False, tof_res_x = 176, tof_res_y = 144, 
                  lens_angle_w=43.6, lens_angle_h=34.6, flength = 10.0,  evd_last_scan=True, 
                  noise_mu=0.0, noise_sigma=0.004, timestamp = 0.0, backfolding=False,
                  world_transformation=Matrix()):

    inv_scan_x = scanner_object.inv_scan_x
    inv_scan_y = scanner_object.inv_scan_y
    inv_scan_z = scanner_object.inv_scan_z  

    start_time = time.time()


    #10.0mm is currently the distance between the focal point and the sensor
    sensor_width = 2 * math.tan(deg2rad(lens_angle_w/2.0)) * 10.0
    sensor_height = 2 * math.tan(deg2rad(lens_angle_h/2.0)) * 10.0

    if tof_res_x == 0 or tof_res_y == 0:
        raise ValueError("Resolution must be > 0")

    pixel_width = sensor_width / float(tof_res_x)
    pixel_height = sensor_height / float(tof_res_y)


    bpy.context.scene.render.resolution_percentage

    width = bpy.context.scene.render.resolution_x
    height = bpy.context.scene.render.resolution_y
    cx = float(tof_res_x) /2.0
    cy = float(tof_res_y) /2.0 




    evd_buffer = []
    rays = []
    ray_info = []

    ray = Vector([0.0,0.0,0.0])
    for x in range(tof_res_x):
        for y in range(tof_res_y):
            """Calculate a vector that originates at the principal point
               and points to the pixel in the sensor. This vector is then
               scaled to the maximum scanning distance 
            """ 
            physical_x = float(x-cx) * pixel_width
            physical_y = float(y-cy) * pixel_height
            physical_z = -float(flength)
            ray.xyz = [physical_x, physical_y, physical_z]
            ray.normalize()
            final_ray = max_distance*ray
            rays.extend([final_ray[0],final_ray[1],final_ray[2]])


            """ pitch and yaw are added for completeness, normally they are
                not provided by a ToF Camera but can be derived 
                from the pixel position and the camera parameters.
            """
            yaw = math.atan(physical_x/flength)
            pitch = math.atan(physical_y/flength)

            ray_info.append([yaw, pitch, timestamp])
            

    returns = blensor.scan_interface.scan_rays(rays, max_distance, inv_scan_x = inv_scan_x, inv_scan_y = inv_scan_y, inv_scan_z = inv_scan_z)

    verts = []
    verts_noise = []
    evd_storage = evd.evd_file(evd_file, tof_res_x, tof_res_y, max_distance)

    reusable_vector = Vector([0.0,0.0,0.0,0.0])
    for i in range(len(returns)):
        idx = returns[i][-1]
        distance_noise =  random.gauss(noise_mu, noise_sigma)
        #If everything works substitute the previous line with this
        #distance_noise =  pixel_noise[returns[idx][-1]] + random.gauss(noise_mu, noise_sigma) 

        reusable_vector.xyzw = [returns[i][1],returns[i][2],returns[i][3],1.0]
        vt = (world_transformation * reusable_vector).xyz
        v = [returns[i][1],returns[i][2],returns[i][3]]
        verts.append ( vt )
        vector_length = math.sqrt(v[0]**2+v[1]**2+v[2]**2)
        norm_vector = [v[0]/vector_length, v[1]/vector_length, v[2]/vector_length]


        vector_length_noise = vector_length+distance_noise
        if backfolding:
           #Distances > max_distance/2..max_distance are mapped to 0..max_distance/2
           if vector_length_noise >= max_distance/2.0:
               vector_length_noise = vector_length_noise - max_distance/2.0

        reusable_vector.xyzw = [norm_vector[0]*vector_length_noise, norm_vector[1]*vector_length_noise, norm_vector[2]*vector_length_noise,1.0]
        v_noise = (world_transformation * reusable_vector).xyz
        verts_noise.append( v_noise )

        evd_storage.addEntry(timestamp = ray_info[idx][2], yaw =(ray_info[idx][0]+math.pi)%(2*math.pi), pitch=ray_info[idx][1], distance=vector_length, distance_noise=vector_length_noise, x=vt[0], y=vt[1], z=vt[2], x_noise=v_noise[0], y_noise=v_noise[1], z_noise=v_noise[2], object_id=returns[i][4], color=returns[i][5], idx=returns[i][-1])

    if evd_file:
        evd_storage.appendEvdFile()

#.........这里部分代码省略.........

# 需要导入模块: from mathutils import Vector [as 别名]
# 或者: from mathutils.Vector import xyz [as 别名]
def scan_advanced(scanner_object, evd_file=None, 
                  evd_last_scan=True, 
                  timestamp = 0.0,
                  world_transformation=Matrix()):


    # threshold for comparing projector and camera rays
    thresh = 0.01

    inv_scan_x = scanner_object.inv_scan_x
    inv_scan_y = scanner_object.inv_scan_y
    inv_scan_z = scanner_object.inv_scan_z 

    x_multiplier = -1.0 if inv_scan_x else 1.0
    y_multiplier = -1.0 if inv_scan_y else 1.0
    z_multiplier = -1.0 if inv_scan_z else 1.0

    start_time = time.time()

    max_distance = scanner_object.kinect_max_dist
    min_distance = scanner_object.kinect_min_dist
    add_blender_mesh = scanner_object.add_scan_mesh
    add_noisy_blender_mesh = scanner_object.add_noise_scan_mesh
    noise_mu = scanner_object.kinect_noise_mu
    noise_sigma = scanner_object.kinect_noise_sigma                
    noise_scale = scanner_object.kinect_noise_scale
    noise_smooth = scanner_object.kinect_noise_smooth                
    res_x = scanner_object.kinect_xres 
    res_y = scanner_object.kinect_yres
    flength = scanner_object.kinect_flength
    WINDOW_INLIER_DISTANCE = scanner_object.kinect_inlier_distance


    if res_x < 1 or res_y < 1:
        raise ValueError("Resolution must be > 0")

    pixel_width = 0.0078
    pixel_height = 0.0078

    cx = float(res_x) /2.0
    cy = float(res_y) /2.0 

    evd_buffer = []

    rays = [0.0]*res_y*res_x*6
    ray_info = [[0.0,0.0,0.0]]*res_y*res_x

    baseline = Vector([0.075,0.0,0.0]) #Kinect has a baseline of 7.5 centimeters


    
    rayidx=0
    ray = Vector([0.0,0.0,0.0])
    """Calculate the rays from the projector"""
    for y in range(res_y):
        for x in range(res_x):
            """Calculate a vector that originates at the principal point
               and points to the pixel in the sensor. This vector is then
               scaled to the maximum scanning distance 
            """ 

            physical_x = float(x-cx) * pixel_width
            physical_y = float(y-cy) * pixel_height
            physical_z = -float(flength)

            #ray = Vector([physical_x, physical_y, physical_z])
            ray.xyz=[physical_x, physical_y, physical_z]
            ray.normalize()
            final_ray = max_distance*ray
            rays[rayidx*6] = final_ray[0]
            rays[rayidx*6+1] = final_ray[1]
            rays[rayidx*6+2] = final_ray[2]
            rays[rayidx*6+3] = baseline.x
            rays[rayidx*6+4] = baseline.y
            rays[rayidx*6+5] = baseline.z

            """ pitch and yaw are added for completeness, normally they are
                not provided by a ToF Camera but can be derived 
                from the pixel position and the camera parameters.
            """
            yaw = math.atan(physical_x/flength)
            pitch = math.atan(physical_y/flength)
            ray_info[rayidx][0] = yaw
            ray_info[rayidx][1] = pitch
            ray_info[rayidx][2] = timestamp

            rayidx += 1

    """ Max distance is increased because the kinect is limited by 4m
        _normal distance_ to the imaging plane, We don't need shading in the
        first pass. 
        #TODO: the shading requirements might change when transmission
        is implemented (the rays might pass through glass)
    """
    returns = blensor.scan_interface.scan_rays(rays, 2.0*max_distance, True,True,True,True)

    camera_rays = []
    projector_ray_index = -1 * numpy.ones(len(returns), dtype=numpy.uint32)

    kinect_image = numpy.zeros((res_x*res_y,16))
#.........这里部分代码省略.........

# 需要导入模块: from mathutils import Vector [as 别名]
# 或者: from mathutils.Vector import xyz [as 别名]
def scan_advanced(scanner_object, rotation_speed = 10.0, simulation_fps=24, angle_resolution = 0.1728, max_distance = 120, evd_file=None,noise_mu=0.0, noise_sigma=0.03, start_angle = 0.0, end_angle = 360.0, evd_last_scan=True, add_blender_mesh = False, add_noisy_blender_mesh = False, frame_time = (1.0 / 24.0), simulation_time = 0.0, world_transformation=Matrix()):
    start_time = time.time()

    current_time = simulation_time
    delta_rot = angle_resolution*math.pi/180

    evd_storage = evd.evd_file(evd_file)

    xaxis = Vector([1,0,0])
    yaxis = Vector([0,1,0])
    zaxis = Vector([0,0,1])

    rays = []
    ray_info = []

    steps_per_rotation = 360.0/angle_resolution
    time_per_step = (1.0 / rotation_speed) / steps_per_rotation
    angles = end_angle-start_angle
  
    lines = (end_angle-start_angle)/angle_resolution
    ray = Vector([0.0,0.0,0.0])
    for line in range(int(lines)):
        for laser_idx in range(len(laser_angles)):
            ray.xyz = [0,0,max_distance]
            rot_angle = 1e-6 + start_angle+float(line)*angle_resolution + 180.0
            timestamp = ( (rot_angle-180.0)/angle_resolution) * time_per_step 
            rot_angle = rot_angle%360.0
            ray_info.append([deg2rad(rot_angle), deg2rad(laser_angles[laser_idx]), timestamp])
            
            rotator = Euler( [deg2rad(-laser_angles[laser_idx]), deg2rad(rot_angle), 0.0] )
            ray.rotate( rotator )
            rays.extend([ray[0],ray[1],ray[2]])

    returns = blensor.scan_interface.scan_rays(rays, max_distance)
    verts = []
    verts_noise = []

#    for idx in range((len(rays)//3)):
    
    reusable_4dvector = Vector([0.0,0.0,0.0,0.0])
    
    for i in range(len(returns)):
        idx = returns[i][-1]
        reusable_4dvector.xyzw = (returns[i][1],returns[i][2],returns[i][3],1.0)
        vt = (world_transformation * reusable_4dvector).xyz
        v = [returns[i][1],returns[i][2],returns[i][3]]
        verts.append ( vt )

        distance_noise =  laser_noise[idx%len(laser_noise)] + random.gauss(noise_mu, noise_sigma) 
        vector_length = math.sqrt(v[0]**2+v[1]**2+v[2]**2)
        norm_vector = [v[0]/vector_length, v[1]/vector_length, v[2]/vector_length]
        vector_length_noise = vector_length+distance_noise
        reusable_4dvector.xyzw=[norm_vector[0]*vector_length_noise, norm_vector[1]*vector_length_noise, norm_vector[2]*vector_length_noise,1.0]
        v_noise = (world_transformation * reusable_4dvector).xyz
        verts_noise.append( v_noise )

        evd_storage.addEntry(timestamp = ray_info[idx][2], yaw =(ray_info[idx][0]+math.pi)%(2*math.pi), pitch=ray_info[idx][1], distance=vector_length, distance_noise=vector_length_noise, x=vt[0], y=vt[1], z=vt[2], x_noise=v_noise[0], y_noise=v_noise[1], z_noise=v_noise[2], object_id=returns[i][4], color=returns[i][5])


    current_angle = start_angle+float(float(int(lines))*angle_resolution)

    pre_write_time = time.time()
            
    if evd_file:
        evd_storage.appendEvdFile()

    if add_blender_mesh:
        mesh_utils.add_mesh_from_points_tf(verts, "Scan", world_transformation)

    if add_noisy_blender_mesh:
        mesh_utils.add_mesh_from_points_tf(verts_noise, "NoisyScan", world_transformation) 
        
    bpy.context.scene.update()

    end_time = time.time()
    scan_time = pre_write_time-start_time
    total_time = end_time-start_time
    print ("Elapsed time: %.3f (scan: %.3f)"%(total_time, scan_time))

    return True, current_angle, scan_time

# 需要导入模块: from mathutils import Vector [as 别名]
# 或者: from mathutils.Vector import xyz [as 别名]
def scan_advanced(scanner_object, simulation_fps=24, evd_file=None,noise_mu=0.0, evd_last_scan=True, add_blender_mesh = False, add_noisy_blender_mesh = False, simulation_time = 0.0,laser_mirror_distance=0.05, world_transformation=Matrix()):
    
    
    angle_resolution=scanner_object.generic_angle_resolution
    max_distance=scanner_object.generic_max_dist
    start_angle=scanner_object.generic_start_angle
    end_angle=scanner_object.generic_end_angle
    noise_mu = scanner_object.generic_noise_mu
    noise_sigma=scanner_object.generic_noise_sigma
    laser_angles = scanner_object.generic_laser_angles
    rotation_speed = scanner_object.generic_rotation_speed

    inv_scan_x = scanner_object.inv_scan_x
    inv_scan_y = scanner_object.inv_scan_y
    inv_scan_z = scanner_object.inv_scan_z    

    """Standard Error model is a Gaussian Distribution"""
    model = gaussian_error_model.GaussianErrorModel(noise_mu, noise_sigma)
    if scanner_object.generic_advanced_error_model:
      """Advanced error model is a list of distance,mu,sigma tuples"""
      model = advanced_error_model.AdvancedErrorModel(scanner_object.generic_advanced_error_model)


    start_time = time.time()

    current_time = simulation_time
    delta_rot = angle_resolution*math.pi/180

    evd_storage = evd.evd_file(evd_file)

    xaxis = Vector([1,0,0])
    yaxis = Vector([0,1,0])
    zaxis = Vector([0,0,1])

    rays = []
    ray_info = []

    angles = end_angle-start_angle
    steps_per_rotation = angles/angle_resolution
    time_per_step = (1.0/rotation_speed) / steps_per_rotation

    lines = (end_angle-start_angle)/angle_resolution

    laser_angles = angles_from_string(laser_angles)


    rays = []
    ray_info = []

    #Bad code???
    #steps_per_rotation = 360.0/angle_resolution
    #time_per_step = (1.0 / rotation_speed) / steps_per_rotation
    #angles = end_angle-start_angle
  
    lines = (end_angle-start_angle)/angle_resolution
    ray = Vector([0.0,0.0,0.0])
    for line in range(int(lines)):
        for laser_idx in range(len(laser_angles)):
            ray.xyz = [0,0,max_distance]
            rot_angle = 1e-6 + start_angle+float(line)*angle_resolution + 180.0
            timestamp = ( (rot_angle-180.0)/angle_resolution) * time_per_step 
            rot_angle = rot_angle%360.0
            ray_info.append([deg2rad(rot_angle), deg2rad(laser_angles[laser_idx]), timestamp])
            
            rotator = Euler( [deg2rad(-laser_angles[laser_idx]), deg2rad(rot_angle), 0.0] )
            ray.rotate( rotator )
            rays.extend([ray[0],ray[1],ray[2]])


    returns = blensor.scan_interface.scan_rays(rays, max_distance, inv_scan_x = inv_scan_x, inv_scan_y = inv_scan_y, inv_scan_z = inv_scan_z)

    verts = []
    verts_noise = []

    reusable_vector = Vector([0.0,0.0,0.0,0.0])
    if len(laser_angles) != len(laser_noise):
      randomize_distance_bias(len(laser_angles), noise_mu,noise_sigma)
      
    for i in range(len(returns)):
        idx = returns[i][-1]
        reusable_vector.xyzw = [returns[i][1],returns[i][2],returns[i][3],1.0]
        vt = (world_transformation * reusable_vector).xyz
        v = [returns[i][1],returns[i][2],returns[i][3]]
        verts.append ( vt )

        vector_length = math.sqrt(v[0]**2+v[1]**2+v[2]**2)
        distance_noise =  laser_noise[idx%len(laser_noise)] + model.drawErrorFromModel(vector_length) 
        norm_vector = [v[0]/vector_length, v[1]/vector_length, v[2]/vector_length]
        vector_length_noise = vector_length+distance_noise
        reusable_vector.xyzw = [norm_vector[0]*vector_length_noise, norm_vector[1]*vector_length_noise, norm_vector[2]*vector_length_noise,1.0]
        v_noise = (world_transformation * reusable_vector).xyz
        verts_noise.append( v_noise )

        evd_storage.addEntry(timestamp = ray_info[idx][2], yaw =(ray_info[idx][0]+math.pi)%(2*math.pi), pitch=ray_info[idx][1], distance=vector_length, distance_noise=vector_length_noise, x=vt[0], y=vt[1], z=vt[2], x_noise=v_noise[0], y_noise=v_noise[1], z_noise=v_noise[2], object_id=returns[i][4], color=returns[i][5])


    current_angle = start_angle+float(float(int(lines))*angle_resolution)
            
    if evd_file:
        evd_storage.appendEvdFile()
#.........这里部分代码省略.........