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Fixing various in ZoomedScene

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This commit is contained in:
Grant Sanderson
2018-05-10 19:20:18 -07:00
parent 7ee85faadd
commit 8703e2336c
3 changed files with 15 additions and 11 deletions
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14
camera/camera.py
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@ -312,8 +312,7 @@ class Camera(object):
# points = self.adjust_out_of_range_points(points)
if len(points) == 0:
continue
aligned_points = self.align_points_to_camera(points)
coords = self.points_to_pixel_coords(aligned_points)
coords = self.points_to_pixel_coords(points)
coord_strings = coords.flatten().astype(str)
# Start new path string with M
coord_strings[0] = "M" + coord_strings[0]
@ -353,7 +352,6 @@ class Camera(object):
def display_point_cloud(self, points, rgbas, thickness):
if len(points) == 0:
return
points = self.align_points_to_camera(points)
pixel_coords = self.points_to_pixel_coords(points)
pixel_coords = self.thickened_coordinates(
pixel_coords, thickness
@ -441,10 +439,6 @@ class Camera(object):
Image.alpha_composite(self.get_image(), image)
)
def align_points_to_camera(self, points):
# This is where projection should live
return points - self.space_center
def adjust_out_of_range_points(self, points):
if not np.any(points > self.max_allowable_norm):
return points
@ -461,6 +455,8 @@ class Camera(object):
return points
def points_to_pixel_coords(self, points):
shifted_points = points - self.space_center
result = np.zeros((len(points), 2))
ph, pw = self.pixel_shape
sh, sw = self.frame_shape
@ -471,8 +467,8 @@ class Camera(object):
# Flip on y-axis as you go
height_mult *= -1
result[:, 0] = points[:, 0] * width_mult + width_add
result[:, 1] = points[:, 1] * height_mult + height_add
result[:, 0] = shifted_points[:, 0] * width_mult + width_add
result[:, 1] = shifted_points[:, 1] * height_mult + height_add
return result.astype('int')
def on_screen_pixels(self, pixel_coords):