GUI for finger v1

2026-06-18 22:18:19 +08:00
parent f19f092b64
commit 3fd9b839a9
42 changed files with 2326 additions and 1186 deletions
@@ -0,0 +1,110 @@
+"""Open3D camera helpers for finger mesh examples."""
+
+from __future__ import annotations
+
+from pathlib import Path
+
+import numpy as np
+
+DEFAULT_FINGER_VIZ_POSE = "assets/finger/visualization/world_to_cam.npy"
+
+_CAMERA_X_ROT_90 = np.array(
+    [
+        [1.0, 0.0, 0.0],
+        [0.0, 0.0, -1.0],
+        [0.0, -1.0, 0.0],
+    ],
+    dtype=np.float64,
+)
+
+_CAMERA_Z_ROT_180 = np.array(
+    [
+        [1.0, 0.0, 0.0],
+        [0.0, 1.0, -1],
+        [0.0, 0.0, -1],
+    ],
+    dtype=np.float64,
+)
+
+
+def resolve_viz_pose_path(path: str | Path | None = None) -> Path:
+    """Resolve world_to_cam.npy from cwd or packaged asset layout."""
+    raw = Path(path or DEFAULT_FINGER_VIZ_POSE).expanduser()
+    if raw.is_file():
+        return raw.resolve()
+
+    here = Path(__file__).resolve()
+    candidates = [
+        Path.cwd() / raw,
+        here.parents[2] / raw,
+    ]
+    for candidate in candidates:
+        if candidate.is_file():
+            return candidate.resolve()
+
+    checked = ", ".join(str(p) for p in candidates)
+    raise FileNotFoundError(f"Visualization pose file not found: {raw}. Checked: {checked}")
+
+
+def camera_look_at_from_world_to_cam(
+    world_to_cam: np.ndarray,
+    *,
+    lookat: np.ndarray,
+    distance_scale: float = 2.5,
+) -> tuple[np.ndarray, np.ndarray, np.ndarray]:
+    """Derive Open3D look_at(center, eye, up) from a Blender world_to_cam matrix."""
+    world_to_cam = np.asarray(world_to_cam, dtype=np.float64)
+    cam_to_world = np.linalg.inv(world_to_cam)
+    rotation = cam_to_world[:3, :3] @ _CAMERA_X_ROT_90 @ _CAMERA_Z_ROT_180
+
+    front = rotation @ np.array([0.0, 0.0, -1.0])
+    up = rotation @ np.array([0.0, 1.0, 0.0])
+    front_norm = np.linalg.norm(front)
+    up_norm = np.linalg.norm(up)
+    if front_norm > 0:
+        front = front / front_norm
+    if up_norm > 0:
+        up = up / up_norm
+
+    lookat = np.asarray(lookat, dtype=np.float64).reshape(3)
+    extent = float(np.linalg.norm(lookat - cam_to_world[:3, 3]))
+    if extent < 1e-6:
+        extent = 1.0
+    eye = lookat - front * (extent * distance_scale)
+    return lookat, eye, up
+
+
+def apply_view_from_world_to_cam(vis, world_to_cam: np.ndarray, *, lookat: np.ndarray) -> None:
+    """Apply Blender-exported world_to_cam as the Open3D default view."""
+    world_to_cam = np.asarray(world_to_cam, dtype=np.float64)
+    cam_to_world = np.linalg.inv(world_to_cam)
+    rotation = cam_to_world[:3, :3] @ _CAMERA_X_ROT_90 @ _CAMERA_Z_ROT_180
+
+    front = rotation @ np.array([0.0, 0.0, -1.0])
+    up = rotation @ np.array([0.0, 1.0, 0.0])
+    front_norm = np.linalg.norm(front)
+    up_norm = np.linalg.norm(up)
+    if front_norm > 0:
+        front = front / front_norm
+    if up_norm > 0:
+        up = up / up_norm
+
+    view_control = vis.get_view_control()
+    view_control.set_lookat(lookat.astype(np.float64))
+    view_control.set_front(front.astype(np.float64))
+    view_control.set_up(up.astype(np.float64))
+    vis.update_renderer()
+
+
+def apply_mesh_lighting(vis) -> None:
+    """Enable shaded lighting so the tactile mesh reads as a 3D surface."""
+    import open3d as o3d
+
+    render_option = vis.get_render_option()
+    if hasattr(render_option, "light_on"):
+        render_option.light_on = True
+    if hasattr(render_option, "mesh_color_option"):
+        render_option.mesh_color_option = o3d.visualization.MeshColorOption.Color
+    if hasattr(render_option, "mesh_shade_option"):
+        render_option.mesh_shade_option = o3d.visualization.MeshShadeOption.Color
+    vis.update_renderer()