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Refactor CameraFrame to use scipy.spatial.transform.Rotation
This commit is contained in:
Grant Sanderson
parent
e19f35585d
commit
625460467f
1 changed files with 27 additions and 73 deletions
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@ -1,38 +1,30 @@
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import moderngl
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import math
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from colour import Color
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import OpenGL.GL as gl
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from PIL import Image
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import numpy as np
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import itertools as it
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from scipy.spatial.transform import Rotation
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from manimlib.constants import *
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from manimlib.mobject.mobject import Mobject
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from manimlib.mobject.mobject import Point
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from manimlib.utils.config_ops import digest_config
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from manimlib.utils.simple_functions import fdiv
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from manimlib.utils.simple_functions import clip
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from manimlib.utils.space_ops import angle_of_vector
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from manimlib.utils.space_ops import rotation_matrix_transpose_from_quaternion
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from manimlib.utils.space_ops import rotation_matrix_transpose
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from manimlib.utils.space_ops import quaternion_from_angle_axis
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from manimlib.utils.space_ops import quaternion_mult
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class CameraFrame(Mobject):
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CONFIG = {
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"frame_shape": (FRAME_WIDTH, FRAME_HEIGHT),
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"center_point": ORIGIN,
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# Theta, phi, gamma
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"euler_angles": [0, 0, 0],
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"focal_distance": 2,
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}
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def init_data(self):
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super().init_data()
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self.data["euler_angles"] = np.array(self.euler_angles, dtype=float)
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self.refresh_rotation_matrix()
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def init_uniforms(self):
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super().init_uniforms()
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# As a quaternion
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self.uniforms["orientation"] = Rotation.identity().as_quat()
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def init_points(self):
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self.set_points([ORIGIN, LEFT, RIGHT, DOWN, UP])
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@ -40,52 +32,37 @@ class CameraFrame(Mobject):
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self.set_height(self.frame_shape[1], stretch=True)
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self.move_to(self.center_point)
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def set_orientation(self, rotation):
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self.uniforms["orientation"][:] = rotation.as_quat()
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return self
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def get_orientation(self):
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return Rotation.from_quat(self.uniforms["orientation"])
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def to_default_state(self):
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self.center()
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self.set_height(FRAME_HEIGHT)
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self.set_width(FRAME_WIDTH)
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self.set_euler_angles(0, 0, 0)
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self.set_orientation(Rotation.identity())
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return self
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def get_euler_angles(self):
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return self.data["euler_angles"]
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return self.get_orientation().as_euler("xzy")
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def get_inverse_camera_rotation_matrix(self):
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return self.inverse_camera_rotation_matrix
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def refresh_rotation_matrix(self):
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# Rotate based on camera orientation
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theta, phi, gamma = self.get_euler_angles()
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quat = quaternion_mult(
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quaternion_from_angle_axis(theta, OUT, axis_normalized=True),
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quaternion_from_angle_axis(phi, RIGHT, axis_normalized=True),
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quaternion_from_angle_axis(gamma, OUT, axis_normalized=True),
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)
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self.inverse_camera_rotation_matrix = rotation_matrix_transpose_from_quaternion(quat)
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return self.get_orientation().as_matrix().T
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def rotate(self, angle, axis=OUT, **kwargs):
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curr_rot_T = self.get_inverse_camera_rotation_matrix()
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added_rot_T = rotation_matrix_transpose(angle, axis)
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new_rot_T = np.dot(curr_rot_T, added_rot_T)
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Fz = new_rot_T[2]
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phi = np.arccos(clip(Fz[2], -1, 1))
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theta = angle_of_vector(Fz[:2]) + PI / 2
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partial_rot_T = np.dot(
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rotation_matrix_transpose(phi, RIGHT),
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rotation_matrix_transpose(theta, OUT),
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)
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gamma = angle_of_vector(np.dot(partial_rot_T, new_rot_T.T)[:, 0])
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self.set_euler_angles(theta, phi, gamma)
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rot = Rotation.from_rotvec(angle * axis)
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self.set_orientation(rot * self.get_orientation())
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return self
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def set_euler_angles(self, theta=None, phi=None, gamma=None, units=RADIANS):
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if theta is not None:
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self.data["euler_angles"][0] = theta * units
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if phi is not None:
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self.data["euler_angles"][1] = phi * units
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if gamma is not None:
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self.data["euler_angles"][2] = gamma * units
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self.refresh_rotation_matrix()
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eulers = self.get_euler_angles() # phi, theta, gamma
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for i, var in enumerate([phi, theta, gamma]):
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if var is not None:
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eulers[i] = var * units
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self.set_orientation(Rotation.from_euler('xzy', eulers))
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return self
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def reorient(self, theta_degrees=None, phi_degrees=None, gamma_degrees=None):
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@ -106,31 +83,17 @@ class CameraFrame(Mobject):
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return self.set_euler_angles(gamma=gamma)
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def increment_theta(self, dtheta):
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self.data["euler_angles"][0] += dtheta
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self.refresh_rotation_matrix()
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self.rotate(dtheta, OUT)
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return self
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def increment_phi(self, dphi):
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phi = self.data["euler_angles"][1]
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new_phi = clip(phi + dphi, 0, PI)
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self.data["euler_angles"][1] = new_phi
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self.refresh_rotation_matrix()
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self.rotate(dphi, self.get_inverse_camera_rotation_matrix()[0])
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return self
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def increment_gamma(self, dgamma):
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self.data["euler_angles"][2] += dgamma
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self.refresh_rotation_matrix()
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self.rotate(dgamma, self.get_inverse_camera_rotation_matrix()[2])
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return self
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def get_theta(self):
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return self.data["euler_angles"][0]
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def get_phi(self):
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return self.data["euler_angles"][1]
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def get_gamma(self):
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return self.data["euler_angles"][2]
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def get_shape(self):
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return (self.get_width(), self.get_height())
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@ -150,18 +113,9 @@ class CameraFrame(Mobject):
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return self.focal_distance * self.get_height()
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def get_implied_camera_location(self):
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theta, phi, gamma = self.get_euler_angles()
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to_camera = self.get_inverse_camera_rotation_matrix()[2]
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dist = self.get_focal_distance()
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x, y, z = self.get_center()
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return (
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x + dist * math.sin(theta) * math.sin(phi),
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y - dist * math.cos(theta) * math.sin(phi),
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z + dist * math.cos(phi)
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)
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def interpolate(self, *args, **kwargs):
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super().interpolate(*args, **kwargs)
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self.refresh_rotation_matrix()
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return self.get_center() + dist * to_camera
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class Camera(object):
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