klampt.vis.glviewport module¶
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class
klampt.vis.glviewport.
GLViewport
[source]¶ Bases:
object
A class describing an OpenGL camera view.
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x,y
upper left hand corner of the view in the OpenGL canvas, in screen pixels.
- Type
int
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w,h
width and height of the view, in screen pixels.
- Type
int
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screenDeviceScale
¶ if not 1, multiply screen pixel coordinates by this to get OpenGL pixel coordinates (usually Mac Retina displays)
- Type
float
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orthogonal
¶ if true, does an orthogonal projection. (Not supported yet.)
- Type
bool
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camera
¶ an orbit camera controlling the target, zoom, and orientation of the “trackball” (see
orbit
)
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fov
¶ the camera field of view in x direction, in degrees
- Type
float
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clippingplanes
¶ a pair containing the near and far clipping planes
- Type
pair of floats
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click_ray
(x, y)[source]¶ Returns a pair of 3-tuples indicating the ray source and direction in world coordinates for a screen-coordinate point (x,y)
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fit
(center, radius)[source]¶ Fits the viewport to an object filling a sphere of a certain center and radius
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get_transform
(convention='standard')[source]¶ Gets the pose of the camera, with T given in world coordinates.
If convention = ‘openGL’, the Z axis of T is the backward direction of the camera, with Y pointing up and X pointing to the right.
If convention = ‘standard’, the Z axis of T is the forward direction of the camera, with Y pointing down and X pointing to the right
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load_file
(fn)[source]¶ Loads from a viewport txt file. The file format is compatible with the RobotTest, RobotPose, and SimTest apps.
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project
(pt, clip=True)[source]¶ Given a point in world space, returns the (x,y,z) coordinates of the projected pixel. z is given in absolute coordinates, while x,y are given in pixel values.
If clip=True and the point is out of the viewing volume, then None is returned. Otherwise, if the point is exactly at the focal plane then the middle of the viewport is returned.
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save_file
(fn)[source]¶ Saves to a viewport txt file. The file format is compatible with the RobotTest, RobotPose, and SimTest apps.
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set_transform
(T, convention='standard')[source]¶ Sets the pose of the camera, with T given in world coordinates.
If convention = ‘openGL’, the Z axis of T is the backward direction of the camera, with Y pointing up and X pointing to the right.
If convention = ‘standard’, the Z axis of T is the forward direction of the camera, with Y pointing down and X pointing to the right
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