void GizmoType::Draw()
{
std::for_each(operations[currentOperations].begin(), operations[currentOperations].end(), [&](GizmoOperation::Ptr op){
// Configure material
// Set Colour
material->diffuse = op->colour;
// Set Transformation Properties
if (material->Enable(ExtractTransform(op)))
{
// Draw if the last draw was ok
// OR if the last draw of this mesh was not ok, but the material has been refreshed, so we can try again.
if (mesh->DrawOk() || (!mesh->DrawOk() && material->HasRefreshed()))
{
mesh->Draw();
}
}
material->Disable();
op->MarkRendered();
//TODO: Draw Spheres using instancing
});
// Done.
}
object GetCameraImage(int width, int height, object extrinsic, object oKK)
{
vector<float> vKK = ExtractArray<float>(oKK);
if( vKK.size() != 4 ) {
throw openrave_exception("KK needs to be of size 4");
}
SensorBase::CameraIntrinsics KK(vKK[0],vKK[1],vKK[2],vKK[3]);
vector<uint8_t> memory;
if( !_pviewer->GetCameraImage(memory, width,height,RaveTransform<float>(ExtractTransform(extrinsic)), KK) ) {
throw openrave_exception("failed to get camera image");
}
std::vector<npy_intp> dims(3); dims[0] = height; dims[1] = width; dims[2] = 3;
return toPyArray(memory,dims);
}
void SetCamera(object transform, float focalDistance) {
_pviewer->SetCamera(ExtractTransform(transform),focalDistance);
}
void SetCamera(object transform) {
_pviewer->SetCamera(ExtractTransform(transform));
}
