changed renderer

navipy/sensors/renderer.py

@@ -285,24 +285,56 @@ class BlenderRender():
         """assign the position and the orientation of the camera.
 
         :param posorient: is a 1x6 vector containing:
-             x,y,z, angle_1, angle_2, angle_3,
+             *in case of euler angeles the index should be
+              ['location']['x']
+              ['location']['y']
+              ['location']['z']
+              [convention][alpha_0]
+              [convention][alpha_1]
+              [convention][alpha_2]
+             **where convention can be:
+               sxyz, sxzy, syxz, syzx, szyx, szxy
+             *in case of quaternions the index should be
+              ['location']['x']
+              ['location']['y']
+              ['location']['z']
+              [convention]['q_0']
+              [convention]['q_1']
+              [convention]['q_2']
+              [convention]['q_3']
+             **where convention can be:
+               quaternion
              here the angles are euler rotation around the axis
              specified by scene.camera.rotation_mode
-        :type posorient: 1x6 double array
+        :type posorient: pandas Series with multi-index
         """
-        print(posorient)
-        if (isinstance(posorient, np.ndarray) or
-                isinstance(posorient, list)):
-
-            if len(posorient) != 6:
-                raise Exception('posorient should be a 1x6 double array')
-            self.camera.location = posorient[:3]
-            self.camera.rotation_euler = posorient[3:]
-        elif isinstance(posorient, pd.Series):
+        if isinstance(posorient, pd.Series):
+            # set roation mode
+            index = posorient.index
+            convention = index.get_level_values(0)[-1]
+            if convention == 'sxyz':
+                self.camera_rotation_mode = 'XYZ'
+            elif convention == 'syzx':
+                self.camera_rotation_mode = 'YZX'
+            elif convention == 'sxzy':
+                self.camera_rotation_mode = 'XZY'
+            elif convention == 'syxz':
+                self.camera_rotation_mode = 'YXZ'
+            elif convention == 'szxy':
+                self.camera_rotation_mode = 'ZXY'
+            elif convention == 'szyx':
+                    self.camera_rotation_mode = 'ZYX'
             self.camera.location = \
-                posorient.loc[['x', 'y', 'z']].values
-            self.camera.rotation_euler = \
-                posorient.loc[['alpha_0', 'alpha_1', 'alpha_2']].values
+                posorient.loc[['location'], ['x', 'y', 'z']].values
+            if convention != 'quaternion':
+                self.camera.rotation_euler = \
+                    posorient.loc[[convention],
+                                  ['alpha_0', 'alpha_1', 'alpha_2']].values
+            else:
+                self.camera_rotation_mode = 'QUATERNION'
+                self.camera.rotation_quaternion = \
+                    posorient.loc[[convention],
+                                  ['q_0', 'q_1', 'q_2', 'q_3']].values
         else:
             raise TypeError(
                 'posorient must be of type array, list, or pandas Series')