-
Notifications
You must be signed in to change notification settings - Fork 0
/
visualization.py
201 lines (179 loc) · 6.92 KB
/
visualization.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
import pygame
import quaternion
import numpy as np
from operator import itemgetter
class Node:
"""A node is an edge of the cuboid"""
def __init__(self, coords, color):
self.x = coords[0]
self.y = coords[1]
self.z = coords[2]
self.color = color
class Face:
"""A face of the cuboid is defined using the indices of four nodes"""
def __init__(self, nodeIdxs, color):
self.nodeIdxs = nodeIdxs
self.color = color
class Cuboid:
"""The cuboid"""
def __init__(self, quaternion):
self.nodes = []
self.faces = []
self.q = quaternion
def set_nodes(self, nodes):
self.nodes = nodes
def set_faces(self, faces):
self.faces = faces
def set_quaternion(self, q):
self.q = q
def rotate_quaternion(self, w, dt):
self.q = dt/2 * self.q * np.quaternion(0, w[0], w[1], w[2]) + self.q
def rotate_point(self, point):
return quaternion.rotate_vectors(self.q, point)
def convert_to_computer_frame(self, point):
computerFrameChangeMatrix = np.array([[-1, 0, 0], [0, 0, -1], [0, -1, 0]])
return np.matmul(computerFrameChangeMatrix, point)
def get_euler_attitude(self):
def _rad2deg(rad):
return rad / np.pi * 180
m = quaternion.as_rotation_matrix(self.q)
test = -m[2, 0]
if test > 0.99999:
yaw = 0
pitch = np.pi / 2
roll = np.arctan2(m[0, 1], m[0, 2])
elif test < -0.99999:
yaw = 0
pitch = -np.pi / 2
roll = np.arctan2(-m[0, 1], -m[0, 2])
else:
yaw = np.arctan2(m[1, 0], m[0, 0])
pitch = np.arcsin(-m[2, 0])
roll = np.arctan2(m[2, 1], m[2, 2])
yaw = _rad2deg(yaw)
pitch = _rad2deg(pitch)
roll = _rad2deg(roll)
return yaw, pitch, roll
class PygameViewer:
"""Displays 3D objects on a Pygame screen"""
def __init__(self, width, height, quaternion, loopRate):
self.width = width
self.height = height
self.cuboid = self.initialize_cuboid(quaternion)
self.loopRate = loopRate
self.screen = pygame.display.set_mode((width, height))
pygame.display.set_caption('Sensor fusion for inertial sensors')
self.background = (10,10,50)
self.clock = pygame.time.Clock()
pygame.font.init()
self.font = pygame.font.SysFont('Comic Sans MS', 20)
def initialize_cuboid(self, quaternion):
"""Initialize cuboid with nodes and faces"""
# The cuboid with initial quaternion
cuboid = Cuboid(quaternion)
# Define nodes
nodes = []
nodes.append(Node([-1.5, -1, -0.1], [255, 255, 255]))
nodes.append(Node([-1.5, -1, 0.1], [255, 255, 255]))
nodes.append(Node([-1.5, 1, -0.1], [255, 255, 255]))
nodes.append(Node([-1.5, 1, 0.1], [255, 255, 255]))
nodes.append(Node([1.5, -1, -0.1], [255, 255, 255]))
nodes.append(Node([1.5, -1, 0.1], [255, 255, 255]))
nodes.append(Node([1.5, 1, -0.1], [255, 255, 255]))
nodes.append(Node([1.5, 1, 0.1], [255, 255, 255]))
cuboid.set_nodes(nodes)
# Define faces
faces = []
faces.append(Face([0, 2, 6, 4], [255, 0, 255]))
faces.append(Face([0, 1, 3, 2], [255, 0, 0]))
faces.append(Face([1, 3, 7, 5], [0, 255, 0]))
faces.append(Face([4, 5, 7, 6], [0, 0, 255]))
faces.append(Face([2, 3, 7, 6], [0, 255, 255]))
faces.append(Face([0, 1, 5, 4], [255, 255, 0]))
cuboid.set_faces(faces)
return cuboid
def set_quaternion(self, q):
self.cuboid.set_quaternion(q)
def update(self):
"""Update the screen"""
for event in pygame.event.get():
if event.type == pygame.QUIT:
return False
self.clock.tick(self.loopRate)
self.display()
pygame.display.flip()
return True
def display(self):
"""Draw the cuboid on the screen."""
self.screen.fill(self.background)
# Display the current attitude
yaw, pitch, roll = self.cuboid.get_euler_attitude()
self.message_display("Yaw: %.1f" % yaw,
self.screen.get_width()*0.75,
self.screen.get_height()*0,
(220, 20, 60)) # Crimson
self.message_display("Pitch: %.1f" % pitch,
self.screen.get_width()*0.75,
self.screen.get_height()*0.05,
(0, 255, 255)) # Cyan
self.message_display("Roll: %.1f" % roll,
self.screen.get_width()*0.75,
self.screen.get_height()*0.1,
(65, 105, 225)) # Royal Blue
# Transform nodes to perspective view
dist = 5
pvNodes = []
pvDepth = []
for node in self.cuboid.nodes:
point = [node.x, node.y, node.z]
newCoord = self.cuboid.rotate_point(point)
comFrameCoord = self.cuboid.convert_to_computer_frame(newCoord)
pvNodes.append(self.project_othorgraphic(comFrameCoord[0], comFrameCoord[1], comFrameCoord[2],
self.screen.get_width(), self.screen.get_height(), 70, pvDepth))
#pvDepth.append(node.z)
# Calculate the average Z values of each face.
avg_z = []
for face in self.cuboid.faces:
n = pvDepth
z = (n[face.nodeIdxs[0]] + n[face.nodeIdxs[1]] +
n[face.nodeIdxs[2]] + n[face.nodeIdxs[3]]) / 4.0
avg_z.append(z)
# Draw the faces using the Painter's algorithm:
for idx, val in sorted(enumerate(avg_z), key=itemgetter(1)):
face = self.cuboid.faces[idx]
pointList = [pvNodes[face.nodeIdxs[0]],
pvNodes[face.nodeIdxs[1]],
pvNodes[face.nodeIdxs[2]],
pvNodes[face.nodeIdxs[3]]]
pygame.draw.polygon(self.screen, face.color, pointList)
def project_one_point_perspective(self, x, y, z, win_width, win_height, P, S, scaling_constant, pvDepth):
"""One vanishing point perspective view algorithm"""
# In Pygame, the y axis is downward pointing.
# In order to make y point upwards, a rotation around x axis by 180 degrees is needed.
# This will result in y' = -y and z' = -z
xPrime = x
yPrime = -y
zPrime = -z
xProjected = xPrime * (S / (zPrime + P)) * scaling_constant + win_width / 2
yProjected = yPrime * (S / (zPrime + P)) * scaling_constant + win_height / 2
pvDepth.append(1 / (zPrime + P))
return (round(xProjected), round(yProjected))
def project_othorgraphic(self, x, y, z, win_width, win_height, scaling_constant, pvDepth):
"""Normal Projection"""
# In Pygame, the y axis is downward pointing.
# In order to make y point upwards, a rotation around x axis by 180 degrees is needed.
# This will result in y' = -y and z' = -z
xPrime = x
yPrime = -y
xProjected = xPrime * scaling_constant + win_width / 2
yProjected = yPrime * scaling_constant + win_height / 2
# Note that there is no negative sign here because our rotation to computer frame
# assumes that the computer frame is x-right, y-up, z-out
# so this z-coordinate below is already in the outward direction
pvDepth.append(z)
return (round(xProjected), round(yProjected))
def message_display(self, text, x, y, color):
textSurface = self.font.render(text, True, color, self.background)
textRect = textSurface.get_rect()
textRect.topleft = (x, y)
self.screen.blit(textSurface, textRect)