pyrfuniverse.utils package
pyrfuniverse.utils.depth_processor module
pyrfuniverse.utils.rfuniverse_utility module
- pyrfuniverse.utils.rfuniverse_utility.EncodeIDAsColor(instance_id: int)
Encode the object id to a color.
- Parameters:
instance_id – Int, the id of the object.
- Returns:
The encoded color in [r, g, b, 255] format.
- Return type:
List
- pyrfuniverse.utils.rfuniverse_utility.UnityEularToQuaternion(eular: list) list
Transform euler angle to quaternion in Unity.
- Parameters:
eular – List of length 3, representing euler angle in [x, y, z]
degree. (order and measured in)
- Returns:
The transformed quaternion in [x, y, z, w] format.
- Return type:
List
- pyrfuniverse.utils.rfuniverse_utility.UnityQuaternionToEular(quaternion: list) list
Transform quaternion to euler angle in Unity.
- Parameters:
quaternion – List of length 4, representing quaternion in [x, y, z, w]
order.
- Returns:
The transformed euler angle in [x, y, z] order and measured in degree.
- Return type:
List
- pyrfuniverse.utils.rfuniverse_utility.GetMatrix(quat=[0, 0, 0, 1]) ndarray
Transform the position and quaternion into a transformation matrix.
- Parameters:
quat – List of length 4, representing the [x, y, z, w] quaternion.
- Returns:
the transformation matrix.
- Return type:
numpy.ndarray
pyrfuniverse.utils.coordinate_system_converter module
- class pyrfuniverse.utils.coordinate_system_converter.CoordinateSystemConverter(cs1_direction=['right', 'up', 'forward'], cs2_direction=['right', 'up', 'forward'])
Bases:
object
Coordinate System Converter class.
- Parameters:
cs1_direction – list, The visual direction corresponding to the xyz axis, can be: [“left”/”right”/”up”/”down”/”forward”/”back”/ “l”/”r”/”u”/”d”/”f”/”b”/ “-left”/”-right”/”-up”/”-down”/”-forward”/”-back”/ “-l”/”-r”/”-u”/”-d”/”-f”/”-b”]
cs2_direction – list, The visual direction corresponding to the xyz axis, can be: [“left”/”right”/”up”/”down”/”forward”/”back”/ “l”/”r”/”u”/”d”/”f”/”b”/ “-left”/”-right”/”-up”/”-down”/”-forward”/”-back”/ “-l”/”-r”/”-u”/”-d”/”-f”/”-b”]
- cs1_pos_to_cs2_pos(pos: list) list
Convert position form Coordinate System 1 to Coordinate System 2.
- Parameters:
pos – List of length 3, position of Coordinate System 1.
- Returns:
List of length 3, position of Coordinate System 2.
- Return type:
list
- cs2_pos_to_cs1_pos(pos: list) list
Convert position form Coordinate System 2 to Coordinate System 1.
- Parameters:
pos – List of length 3, position of Coordinate System 2.
- Returns:
List of length 3, position of Coordinate System 1.
- Return type:
list
- cs1_quat_to_cs2_quat(quat: list) list
Convert quaternion form Coordinate System 1 to Coordinate System 2.
- Parameters:
quat – List of length 3, quaternion of Coordinate System 1.
- Returns:
List of length 3, quaternion of Coordinate System 2.
- Return type:
list
- cs2_quat_to_cs1_quat(quat: list) list
Convert quaternion form Coordinate System 2 to Coordinate System 1.
- Parameters:
quat – List of length 4, quaternion[x,y,z,w] of Coordinate System 2.
- Returns:
List of length 4, quaternion[x,y,z,w] of Coordinate System 1.
- Return type:
list
- cs1_scale_to_cs2_scale(scale: list) list
Convert scale form Coordinate System 1 to Coordinate System 2.
- Parameters:
scale – List of length 3, scale of Coordinate System 1.
- Returns:
List of length 3, scale of Coordinate System 2.
- Return type:
list
- cs2_scale_to_cs1_scale(scale: list) list
Convert scale form Coordinate System 2 to Coordinate System 1.
- Parameters:
scale – List of length 3, scale of Coordinate System 2.
- Returns:
List of length 3, scale of Coordinate System 1.
- Return type:
list
- cs1_matrix_to_cs2_matrix(matrix) ndarray
Convert rotation matrix form Coordinate System 1 to Coordinate System 2.
- Parameters:
matrix – list or np.ndarray shape[3,3], rotation matrix of Coordinate System 1.
- Returns:
shape[3,3], rotation matrix of Coordinate System 2.
- Return type:
np.ndarray
- cs2_matrix_to_cs1_matrix(matrix) ndarray
Convert rotation matrix form Coordinate System 2 to Coordinate System 1.
- Parameters:
matrix – list or np.ndarray shape[3,3], rotation matrix of Coordinate System 2.
- Returns:
shape[3,3], rotation matrix of Coordinate System 1.
- Return type:
np.ndarray