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[camera] cleaning (removes cameraTranslation) #55

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[camera] cleaning (removes cameraTranslation) #55

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4 changes: 1 addition & 3 deletions emio/parameters.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,4 @@
massDensity = 1.220e-6
# Parameters of the legs, for beam and cosserat models
width = 10
thickness = 5
# Camera parameters
cameraTranslation = [147, 5] # [xz, y] in mm
thickness = 5
19 changes: 2 additions & 17 deletions emio/parts/camera.py
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Original file line number Diff line number Diff line change
Expand Up @@ -8,14 +8,7 @@
"""

import Sofa

from math import pi, cos

from splib3.loaders import getLoadingLocation
from splib3.numerics import Quat, to_degrees

from emio.utils import RGBAColor
import emio.parameters as params


class Camera(Sofa.Prefab):
Expand Down Expand Up @@ -53,16 +46,9 @@ def __init__(self, *args, **kwargs):
self.addObject('RequiredPlugin', pluginName=['Sofa.Component.IO.Mesh' # Needed to use components [MeshSTLLoader]
,'Sofa.GL.Component.Rendering3D']) # Needed to use components [OglModel]

q = Quat()
q.rotateFromQuat(Quat.createFromAxisAngle([0., 1., 0.], -pi / 4.))
q.rotateFromQuat(Quat.createFromAxisAngle([0., 0., 1.], pi / 4. if self.extended.value else 3 * pi / 4.))
q.rotateFromQuat(Quat.createFromAxisAngle([1., 0., 0.], pi / 2.))
t = cos(pi / 4.) * params.cameraTranslation[0]
torealtranslation = [-t, -params.cameraTranslation[1] if self.extended.value else params.cameraTranslation[1], -t]

self.addObject("MeshSTLLoader",
filename=getLoadingLocation("../../data/meshes/camera.stl", __file__),
translation=torealtranslation,
translation=[-103.94, 5, -103.94],
rotation=[45, 45, 0] if self.extended.value else [-45, 45, 0])
self.addObject("OglModel", src=self.MeshSTLLoader.linkpath,
color=[0.4, 0.4, 0.4, 1.])
Expand All @@ -74,6 +60,5 @@ def createScene(rootnode):
rootnode.addChild(Camera())

box = rootnode.addChild("Box")
box.addObject("MeshSTLLoader",
filename=getLoadingLocation("../../data/meshes/base-compact.stl", __file__))
box.addObject("MeshSTLLoader", filename=getLoadingLocation("../../data/meshes/base-compact.stl", __file__))
box.addObject("OglModel", src=box.MeshSTLLoader.linkpath, color=[1, 1, 1, 1])
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