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chore(metadata): update beads and sisyphus planning artifacts

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This commit is contained in:
crosstyan
2026-02-07 04:16:41 +00:00
parent ddb7054f96
commit cdc4f9eec4
28 changed files with 633 additions and 220 deletions
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py_workspace/ogl_viewer/viewer.py
+183 -112
View File
@@ -34,7 +34,7 @@ void main() {
}
"""
POINTCLOUD_VERTEX_SHADER ="""
POINTCLOUD_VERTEX_SHADER = """
#version 330 core
layout(location = 0) in vec4 in_VertexRGBA;
uniform mat4 u_mvpMatrix;
@@ -184,7 +184,9 @@ try:
try:
if cudart is not None: # Check if cudart is still available
check_cudart_err(
cudart.cudaGraphicsUnmapResources(1, self._graphics_ressource, stream)
cudart.cudaGraphicsUnmapResources(
1, self._graphics_ressource, stream
)
)
self._cuda_buffer = None
except Exception:
@@ -193,7 +195,7 @@ try:
return self
class CudaOpenGLMappedArray(CudaOpenGLMappedBuffer):
def __init__(self, dtype, shape, gl_buffer, flags=0, strides=None, order='C'):
def __init__(self, dtype, shape, gl_buffer, flags=0, strides=None, order="C"):
super().__init__(gl_buffer, flags)
self._dtype = dtype
self._shape = shape
@@ -227,19 +229,27 @@ class Shader:
glAttachShader(self.program_id, vertex_id)
glAttachShader(self.program_id, fragment_id)
glBindAttribLocation( self.program_id, 0, "in_vertex")
glBindAttribLocation( self.program_id, 1, "in_texCoord")
glBindAttribLocation(self.program_id, 0, "in_vertex")
glBindAttribLocation(self.program_id, 1, "in_texCoord")
glLinkProgram(self.program_id)
if glGetProgramiv(self.program_id, GL_LINK_STATUS) != GL_TRUE:
info = glGetProgramInfoLog(self.program_id)
if (self.program_id is not None) and (self.program_id > 0) and glIsProgram(self.program_id):
if (
(self.program_id is not None)
and (self.program_id > 0)
and glIsProgram(self.program_id)
):
glDeleteProgram(self.program_id)
if (vertex_id is not None) and (vertex_id > 0) and glIsShader(vertex_id):
glDeleteShader(vertex_id)
if (fragment_id is not None) and (fragment_id > 0) and glIsShader(fragment_id):
if (
(fragment_id is not None)
and (fragment_id > 0)
and glIsShader(fragment_id)
):
glDeleteShader(fragment_id)
raise RuntimeError('Error linking program: %s' % (info))
raise RuntimeError("Error linking program: %s" % (info))
if (vertex_id is not None) and (vertex_id > 0) and glIsShader(vertex_id):
glDeleteShader(vertex_id)
if (fragment_id is not None) and (fragment_id > 0) and glIsShader(fragment_id):
@@ -257,9 +267,13 @@ class Shader:
glCompileShader(shader_id)
if glGetShaderiv(shader_id, GL_COMPILE_STATUS) != GL_TRUE:
info = glGetShaderInfoLog(shader_id)
if (shader_id is not None) and (shader_id > 0) and glIsShader(shader_id):
if (
(shader_id is not None)
and (shader_id > 0)
and glIsShader(shader_id)
):
glDeleteShader(shader_id)
raise RuntimeError('Shader compilation failed: %s' % (info))
raise RuntimeError("Shader compilation failed: %s" % (info))
return shader_id
except:
if (shader_id is not None) and (shader_id > 0) and glIsShader(shader_id):
@@ -269,8 +283,9 @@ class Shader:
def get_program_id(self):
return self.program_id
class Simple3DObject:
def __init__(self, _is_static, pts_size = 3, clr_size = 3):
def __init__(self, _is_static, pts_size=3, clr_size=3):
self.is_init = False
self.drawing_type = GL_TRIANGLES
self.is_static = _is_static
@@ -285,7 +300,7 @@ class Simple3DObject:
for pt in _pts:
self.vertices.append(pt)
def add_clr(self, _clrs): # _clr [r,g,b]
def add_clr(self, _clrs): # _clr [r,g,b]
for clr in _clrs:
self.colors.append(clr)
@@ -315,15 +330,30 @@ class Simple3DObject:
if len(self.vertices):
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0])
glBufferData(GL_ARRAY_BUFFER, len(self.vertices) * self.vertices.itemsize, (GLfloat * len(self.vertices))(*self.vertices), type_draw)
glBufferData(
GL_ARRAY_BUFFER,
len(self.vertices) * self.vertices.itemsize,
(GLfloat * len(self.vertices))(*self.vertices),
type_draw,
)
if len(self.colors):
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[1])
glBufferData(GL_ARRAY_BUFFER, len(self.colors) * self.colors.itemsize, (GLfloat * len(self.colors))(*self.colors), type_draw)
glBufferData(
GL_ARRAY_BUFFER,
len(self.colors) * self.colors.itemsize,
(GLfloat * len(self.colors))(*self.colors),
type_draw,
)
if len(self.indices):
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[2])
glBufferData(GL_ELEMENT_ARRAY_BUFFER,len(self.indices) * self.indices.itemsize,(GLuint * len(self.indices))(*self.indices), type_draw)
glBufferData(
GL_ELEMENT_ARRAY_BUFFER,
len(self.indices) * self.indices.itemsize,
(GLuint * len(self.indices))(*self.indices),
type_draw,
)
self.elementbufferSize = len(self.indices)
@@ -341,33 +371,52 @@ class Simple3DObject:
# Initialize vertex buffer (for XYZRGBA data)
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0])
glBufferData(GL_ARRAY_BUFFER, self.elementbufferSize * self.pt_type * self.vertices.itemsize, None, type_draw)
glBufferData(
GL_ARRAY_BUFFER,
self.elementbufferSize * self.pt_type * self.vertices.itemsize,
None,
type_draw,
)
# Try to set up GPU acceleration if available
if self.use_gpu:
try:
flags = cudart.cudaGraphicsRegisterFlags.cudaGraphicsRegisterFlagsWriteDiscard
flags = (
cudart.cudaGraphicsRegisterFlags.cudaGraphicsRegisterFlagsWriteDiscard
)
self.cuda_mapped_buffer = CudaOpenGLMappedArray(
dtype=np.float32,
shape=(self.elementbufferSize, self.pt_type),
gl_buffer=self.vboID[0],
flags=flags
dtype=np.float32,
shape=(self.elementbufferSize, self.pt_type),
gl_buffer=self.vboID[0],
flags=flags,
)
except Exception as e:
print(f"Failed to initialize GPU acceleration, falling back to CPU: {e}")
print(
f"Failed to initialize GPU acceleration, falling back to CPU: {e}"
)
self.use_gpu = False
self.cuda_mapped_buffer = None
# Initialize color buffer (not used for point clouds with XYZRGBA)
if self.clr_type:
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[1])
glBufferData(GL_ARRAY_BUFFER, self.elementbufferSize * self.clr_type * self.colors.itemsize, None, type_draw)
glBufferData(
GL_ARRAY_BUFFER,
self.elementbufferSize * self.clr_type * self.colors.itemsize,
None,
type_draw,
)
for i in range (0, self.elementbufferSize):
for i in range(0, self.elementbufferSize):
self.indices.append(i)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[2])
glBufferData(GL_ELEMENT_ARRAY_BUFFER,len(self.indices) * self.indices.itemsize,(GLuint * len(self.indices))(*self.indices), type_draw)
glBufferData(
GL_ELEMENT_ARRAY_BUFFER,
len(self.indices) * self.indices.itemsize,
(GLuint * len(self.indices))(*self.indices),
type_draw,
)
def setPoints(self, pc):
"""Update point cloud data from sl.Mat"""
@@ -375,7 +424,11 @@ class Simple3DObject:
return
try:
if self.use_gpu and self.cuda_mapped_buffer and pc.get_memory_type() in (sl.MEM.GPU, sl.MEM.BOTH):
if (
self.use_gpu
and self.cuda_mapped_buffer
and pc.get_memory_type() in (sl.MEM.GPU, sl.MEM.BOTH)
):
self.setPointsGPU(pc)
else:
self.setPointsCPU(pc)
@@ -423,7 +476,9 @@ class Simple3DObject:
# Get CPU pointer and upload to GPU buffer
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0])
data_ptr = pc.get_pointer(sl.MEM.CPU)
buffer_size = self.elementbufferSize * self.pt_type * 4 # 4 bytes per float32
buffer_size = (
self.elementbufferSize * self.pt_type * 4
) # 4 bytes per float32
glBufferSubData(GL_ARRAY_BUFFER, 0, buffer_size, ctypes.c_void_p(data_ptr))
glBindBuffer(GL_ARRAY_BUFFER, 0)
@@ -432,9 +487,9 @@ class Simple3DObject:
raise
def clear(self):
self.vertices = array.array('f')
self.colors = array.array('f')
self.indices = array.array('I')
self.vertices = array.array("f")
self.colors = array.array("f")
self.indices = array.array("I")
self.elementbufferSize = 0
def set_drawing_type(self, _type):
@@ -444,55 +499,57 @@ class Simple3DObject:
if self.elementbufferSize:
glEnableVertexAttribArray(0)
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[0])
glVertexAttribPointer(0,self.pt_type,GL_FLOAT,GL_FALSE,0,None)
glVertexAttribPointer(0, self.pt_type, GL_FLOAT, GL_FALSE, 0, None)
if(self.clr_type):
if self.clr_type:
glEnableVertexAttribArray(1)
glBindBuffer(GL_ARRAY_BUFFER, self.vboID[1])
glVertexAttribPointer(1,self.clr_type,GL_FLOAT,GL_FALSE,0,None)
glVertexAttribPointer(1, self.clr_type, GL_FLOAT, GL_FALSE, 0, None)
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, self.vboID[2])
glDrawElements(self.drawing_type, self.elementbufferSize, GL_UNSIGNED_INT, None)
glDrawElements(
self.drawing_type, self.elementbufferSize, GL_UNSIGNED_INT, None
)
glDisableVertexAttribArray(0)
if self.clr_type:
glDisableVertexAttribArray(1)
def __del__(self):
"""Cleanup GPU resources"""
if hasattr(self, 'cuda_mapped_buffer') and self.cuda_mapped_buffer:
if hasattr(self, "cuda_mapped_buffer") and self.cuda_mapped_buffer:
try:
self.cuda_mapped_buffer.unregister()
except:
pass
class GLViewer:
def __init__(self):
self.available = False
self.mutex = Lock()
self.camera = CameraGL()
self.wheelPosition = 0.
self.wheelPosition = 0.0
self.mouse_button = [False, False]
self.mouseCurrentPosition = [0., 0.]
self.previousMouseMotion = [0., 0.]
self.mouseMotion = [0., 0.]
self.mouseCurrentPosition = [0.0, 0.0]
self.previousMouseMotion = [0.0, 0.0]
self.mouseMotion = [0.0, 0.0]
self.zedModel = Simple3DObject(True)
self.point_cloud = Simple3DObject(False, 4)
self.save_data = False
def init(self, _argc, _argv, res): # _params = sl.CameraParameters
def init(self, _argc, _argv, res): # _params = sl.CameraParameters
glutInit(_argc, _argv)
wnd_w = int(glutGet(GLUT_SCREEN_WIDTH)*0.9)
wnd_h = int(glutGet(GLUT_SCREEN_HEIGHT) *0.9)
wnd_w = int(glutGet(GLUT_SCREEN_WIDTH) * 0.9)
wnd_h = int(glutGet(GLUT_SCREEN_HEIGHT) * 0.9)
glutInitWindowSize(wnd_w, wnd_h)
glutInitWindowPosition(int(wnd_w*0.05), int(wnd_h*0.05))
glutInitWindowPosition(int(wnd_w * 0.05), int(wnd_h * 0.05))
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGBA | GLUT_DEPTH)
glutCreateWindow(b"ZED Depth Sensing")
glViewport(0, 0, wnd_w, wnd_h)
glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE,
GLUT_ACTION_CONTINUE_EXECUTION)
glutSetOption(GLUT_ACTION_ON_WINDOW_CLOSE, GLUT_ACTION_CONTINUE_EXECUTION)
glEnable(GL_DEPTH_TEST)
@@ -504,17 +561,21 @@ class GLViewer:
# Compile and create the shader for 3D objects
self.shader_image = Shader(VERTEX_SHADER, FRAGMENT_SHADER)
self.shader_image_MVP = glGetUniformLocation(self.shader_image.get_program_id(), "u_mvpMatrix")
self.shader_image_MVP = glGetUniformLocation(
self.shader_image.get_program_id(), "u_mvpMatrix"
)
self.shader_pc = Shader(POINTCLOUD_VERTEX_SHADER, POINTCLOUD_FRAGMENT_SHADER)
self.shader_pc_MVP = glGetUniformLocation(self.shader_pc.get_program_id(), "u_mvpMatrix")
self.shader_pc_MVP = glGetUniformLocation(
self.shader_pc.get_program_id(), "u_mvpMatrix"
)
self.bckgrnd_clr = np.array([223/255., 230/255., 233/255.])
self.bckgrnd_clr = np.array([223 / 255.0, 230 / 255.0, 233 / 255.0])
# Create the camera model
Z_ = -0.15
Y_ = Z_ * math.tan(95. * M_PI / 180. / 2.)
X_ = Y_ * 16./9.
Y_ = Z_ * math.tan(95.0 * M_PI / 180.0 / 2.0)
X_ = Y_ * 16.0 / 9.0
A = np.array([0, 0, 0])
B = np.array([X_, Y_, Z_])
@@ -522,7 +583,7 @@ class GLViewer:
D = np.array([-X_, -Y_, Z_])
E = np.array([X_, -Y_, Z_])
lime_clr = np.array([217 / 255, 255/255, 66/255])
lime_clr = np.array([217 / 255, 255 / 255, 66 / 255])
self.zedModel.add_line(A, B, lime_clr)
self.zedModel.add_line(A, C, lime_clr)
@@ -578,39 +639,40 @@ class GLViewer:
def keyPressedCallback(self, key, x, y):
if ord(key) == 27:
self.close_func()
if (ord(key) == 83 or ord(key) == 115):
if ord(key) == 83 or ord(key) == 115:
self.save_data = True
def on_mouse(self,*args,**kwargs):
(key,Up,x,y) = args
if key==0:
self.mouse_button[0] = (Up == 0)
elif key==2 :
self.mouse_button[1] = (Up == 0)
elif(key == 3):
def on_mouse(self, *args, **kwargs):
key, Up, x, y = args
if key == 0:
self.mouse_button[0] = Up == 0
elif key == 2:
self.mouse_button[1] = Up == 0
elif key == 3:
self.wheelPosition = self.wheelPosition + 1
elif(key == 4):
elif key == 4:
self.wheelPosition = self.wheelPosition - 1
self.mouseCurrentPosition = [x, y]
self.previousMouseMotion = [x, y]
def on_mousemove(self,*args,**kwargs):
(x,y) = args
def on_mousemove(self, *args, **kwargs):
x, y = args
self.mouseMotion[0] = x - self.previousMouseMotion[0]
self.mouseMotion[1] = y - self.previousMouseMotion[1]
self.previousMouseMotion = [x, y]
glutPostRedisplay()
def on_resize(self,Width,Height):
def on_resize(self, Width, Height):
glViewport(0, 0, Width, Height)
self.camera.setProjection(Height / Width)
def draw_callback(self):
if self.available:
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)
glClearColor(self.bckgrnd_clr[0], self.bckgrnd_clr[1], self.bckgrnd_clr[2], 1.)
glClearColor(
self.bckgrnd_clr[0], self.bckgrnd_clr[1], self.bckgrnd_clr[2], 1.0
)
self.mutex.acquire()
self.update()
@@ -621,21 +683,21 @@ class GLViewer:
glutPostRedisplay()
def update(self):
if(self.mouse_button[0]):
if self.mouse_button[0]:
r = sl.Rotation()
vert=self.camera.vertical_
vert = self.camera.vertical_
tmp = vert.get()
vert.init_vector(tmp[0] * 1.,tmp[1] * 1., tmp[2] * 1.)
vert.init_vector(tmp[0] * 1.0, tmp[1] * 1.0, tmp[2] * 1.0)
r.init_angle_translation(self.mouseMotion[0] * 0.02, vert)
self.camera.rotate(r)
r.init_angle_translation(self.mouseMotion[1] * 0.02, self.camera.right_)
self.camera.rotate(r)
if(self.mouse_button[1]):
if self.mouse_button[1]:
t = sl.Translation()
tmp = self.camera.right_.get()
scale = self.mouseMotion[0] *-0.05
scale = self.mouseMotion[0] * -0.05
t.init_vector(tmp[0] * scale, tmp[1] * scale, tmp[2] * scale)
self.camera.translate(t)
@@ -644,7 +706,7 @@ class GLViewer:
t.init_vector(tmp[0] * scale, tmp[1] * scale, tmp[2] * scale)
self.camera.translate(t)
if (self.wheelPosition != 0):
if self.wheelPosition != 0:
t = sl.Translation()
tmp = self.camera.forward_.get()
scale = self.wheelPosition * -0.065
@@ -653,34 +715,39 @@ class GLViewer:
self.camera.update()
self.mouseMotion = [0., 0.]
self.mouseMotion = [0.0, 0.0]
self.wheelPosition = 0
def draw(self):
vpMatrix = self.camera.getViewProjectionMatrix()
glUseProgram(self.shader_image.get_program_id())
glUniformMatrix4fv(self.shader_image_MVP, 1, GL_TRUE, (GLfloat * len(vpMatrix))(*vpMatrix))
glUniformMatrix4fv(
self.shader_image_MVP, 1, GL_TRUE, (GLfloat * len(vpMatrix))(*vpMatrix)
)
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL)
self.zedModel.draw()
glUseProgram(0)
glUseProgram(self.shader_pc.get_program_id())
glUniformMatrix4fv(self.shader_pc_MVP, 1, GL_TRUE, (GLfloat * len(vpMatrix))(*vpMatrix))
glPointSize(1.)
glUniformMatrix4fv(
self.shader_pc_MVP, 1, GL_TRUE, (GLfloat * len(vpMatrix))(*vpMatrix)
)
glPointSize(1.0)
self.point_cloud.draw()
glUseProgram(0)
class CameraGL:
def __init__(self):
self.ORIGINAL_FORWARD = sl.Translation()
self.ORIGINAL_FORWARD.init_vector(0,0,1)
self.ORIGINAL_FORWARD.init_vector(0, 0, 1)
self.ORIGINAL_UP = sl.Translation()
self.ORIGINAL_UP.init_vector(0,1,0)
self.ORIGINAL_UP.init_vector(0, 1, 0)
self.ORIGINAL_RIGHT = sl.Translation()
self.ORIGINAL_RIGHT.init_vector(1,0,0)
self.ORIGINAL_RIGHT.init_vector(1, 0, 0)
self.znear = 0.5
self.zfar = 100.
self.horizontalFOV = 70.
self.zfar = 100.0
self.horizontalFOV = 70.0
self.orientation_ = sl.Orientation()
self.position_ = sl.Translation()
self.forward_ = sl.Translation()
@@ -689,58 +756,62 @@ class CameraGL:
self.vertical_ = sl.Translation()
self.vpMatrix_ = sl.Matrix4f()
self.offset_ = sl.Translation()
self.offset_.init_vector(0,0,5)
self.offset_.init_vector(0, 0, 5)
self.projection_ = sl.Matrix4f()
self.projection_.set_identity()
self.setProjection(1.78)
self.position_.init_vector(0., 0., 0.)
self.position_.init_vector(0.0, 0.0, 0.0)
tmp = sl.Translation()
tmp.init_vector(0, 0, -.1)
tmp.init_vector(0, 0, -0.1)
tmp2 = sl.Translation()
tmp2.init_vector(0, 1, 0)
self.setDirection(tmp, tmp2)
self.setDirection(tmp, tmp2)
def update(self):
def update(self):
dot_ = sl.Translation.dot_translation(self.vertical_, self.up_)
if(dot_ < 0.):
if dot_ < 0.0:
tmp = self.vertical_.get()
self.vertical_.init_vector(tmp[0] * -1.,tmp[1] * -1., tmp[2] * -1.)
self.vertical_.init_vector(tmp[0] * -1.0, tmp[1] * -1.0, tmp[2] * -1.0)
transformation = sl.Transform()
tmp_position = self.position_.get()
tmp = (self.offset_ * self.orientation_).get()
new_position = sl.Translation()
new_position.init_vector(tmp_position[0] + tmp[0], tmp_position[1] + tmp[1], tmp_position[2] + tmp[2])
new_position.init_vector(
tmp_position[0] + tmp[0], tmp_position[1] + tmp[1], tmp_position[2] + tmp[2]
)
transformation.init_orientation_translation(self.orientation_, new_position)
transformation.inverse()
self.vpMatrix_ = self.projection_ * transformation
def setProjection(self, im_ratio):
fov_x = self.horizontalFOV * 3.1416 / 180.
fov_y = self.horizontalFOV * im_ratio * 3.1416 / 180.
self.projection_[(0,0)] = 1. / math.tan(fov_x * .5)
self.projection_[(1,1)] = 1. / math.tan(fov_y * .5)
self.projection_[(2,2)] = -(self.zfar + self.znear) / (self.zfar - self.znear)
self.projection_[(3,2)] = -1.
self.projection_[(2,3)] = -(2. * self.zfar * self.znear) / (self.zfar - self.znear)
self.projection_[(3,3)] = 0.
def setProjection(self, im_ratio):
fov_x = self.horizontalFOV * 3.1416 / 180.0
fov_y = self.horizontalFOV * im_ratio * 3.1416 / 180.0
self.projection_[(0, 0)] = 1.0 / math.tan(fov_x * 0.5)
self.projection_[(1, 1)] = 1.0 / math.tan(fov_y * 0.5)
self.projection_[(2, 2)] = -(self.zfar + self.znear) / (self.zfar - self.znear)
self.projection_[(3, 2)] = -1.0
self.projection_[(2, 3)] = -(2.0 * self.zfar * self.znear) / (
self.zfar - self.znear
)
self.projection_[(3, 3)] = 0.0
def getViewProjectionMatrix(self):
tmp = self.vpMatrix_.m
vpMat = array.array('f')
vpMat = array.array("f")
for row in tmp:
for v in row:
vpMat.append(v)
return vpMat
def getViewProjectionMatrixRT(self, tr):
tmp = self.vpMatrix_
tmp.transpose()
tr.transpose()
tmp = (tr * tmp).m
vpMat = array.array('f')
tmp = (tr * tmp).m
vpMat = array.array("f")
for row in tmp:
for v in row:
vpMat.append(v)
@@ -749,15 +820,15 @@ class CameraGL:
def setDirection(self, dir, vert):
dir.normalize()
tmp = dir.get()
dir.init_vector(tmp[0] * -1.,tmp[1] * -1., tmp[2] * -1.)
dir.init_vector(tmp[0] * -1.0, tmp[1] * -1.0, tmp[2] * -1.0)
self.orientation_.init_translation(self.ORIGINAL_FORWARD, dir)
self.updateVectors()
self.vertical_ = vert
if(sl.Translation.dot_translation(self.vertical_, self.up_) < 0.):
if sl.Translation.dot_translation(self.vertical_, self.up_) < 0.0:
tmp = sl.Rotation()
tmp.init_angle_translation(3.14, self.ORIGINAL_FORWARD)
self.rotate(tmp)
def translate(self, t):
ref = self.position_.get()
tmp = t.get()
@@ -766,7 +837,7 @@ class CameraGL:
def setPosition(self, p):
self.position_ = p
def rotate(self, r):
def rotate(self, r):
tmp = sl.Orientation()
tmp.init_rotation(r)
self.orientation_ = tmp * self.orientation_
@@ -781,5 +852,5 @@ class CameraGL:
self.up_ = self.ORIGINAL_UP * self.orientation_
right = self.ORIGINAL_RIGHT
tmp = right.get()
right.init_vector(tmp[0] * -1.,tmp[1] * -1., tmp[2] * -1.)
right.init_vector(tmp[0] * -1.0, tmp[1] * -1.0, tmp[2] * -1.0)
self.right_ = right * self.orientation_