lukicdarkoo · September 2, 2021 07:02 · Sep 2, 2021 · Sep 2, 2021 · Sep 2, 2021 · Sep 1, 2021
diff --git a/convert.py b/convert.py
@@ -7,7 +7,7 @@
 #   sudo apt install xclip
 #
 # GNOME SHORTCUT
-# In GNOME, you can set to run this script as a keyboard shortcut command.
+# In GNOME, you can run the script as a keyboard shortcut.
 # Go to `Settings > Keyboard Shortcuts > +`
 
 import clipboard
@@ -38,6 +38,8 @@ def vector_to_string_array(vector, decimals, zero_one_decimals=None):
             new_str.append('0')
         elif abs(value - 1) < 1 / (10**zero_one_decimals):
             new_str.append('1')
+        elif abs(value + 1) < 1 / (10**zero_one_decimals):
+            new_str.append('-1')
         else:
             new_str.append(str(round(value, decimals)))
     return new_str

diff --git a/convert.py b/convert.py
@@ -21,7 +21,7 @@
 TRANSLATE_VECTOR = [-2, 0, 0]
 
 ROTATION = [np.pi/2, -np.pi/2, 0]   # RUB
-ROTATION = [np.pi/2, np.pi/2, 0]    # RUB with x-inverted
+# ROTATION = [np.pi/2, np.pi/2, 0]    # RUB with x-inverted
 # ROTATION = [np.pi/2, 0, 0]
 if GEOMETRY:
     ROTATION = [-np.pi/2, 0, 0]     # Plane for sure

diff --git a/convert.py b/convert.py
@@ -1,6 +1,11 @@
 # Converts rotation and translation VRML fields.
 # It takes the clipboard content, applies transforms, and pastes the transformed VRML to the clipboard.
 #
+# Dependencies:
+#
+#   pip3 install clipboard numpy transforms3d
+#   sudo apt install xclip
+#
 # GNOME SHORTCUT
 # In GNOME, you can set to run this script as a keyboard shortcut command.
 # Go to `Settings > Keyboard Shortcuts > +`
@@ -16,9 +21,10 @@
 TRANSLATE_VECTOR = [-2, 0, 0]
 
 ROTATION = [np.pi/2, -np.pi/2, 0]   # RUB
-# ROTATION = [0, 0, np.pi]
+ROTATION = [np.pi/2, np.pi/2, 0]    # RUB with x-inverted
+# ROTATION = [np.pi/2, 0, 0]
 if GEOMETRY:
-    ROTATION = [np.pi/2, 0, 0]
+    ROTATION = [-np.pi/2, 0, 0]     # Plane for sure
 ROTATION_MATRIX = transforms3d.euler.euler2mat(ROTATION[0], ROTATION[1], ROTATION[2], 'rxyz')
 
 

diff --git a/convert.py b/convert.py
@@ -11,23 +11,16 @@
 import re
 
 
-# ROTATION = [0.577351, -0.577351, 0.577351, 2.09439]
-# ROTATION = [0.577351, -0.577351, -0.577351, -2.09439]
-ROTATION = [-0.5773516025189619, 0.5773476025217157, 0.5773516025189619, -2.094405307179586]    # From RUB to FLU
-ROTATION = [0, -0.707, 0.707, 3.140466]  # Plane, from RUB to FLU
-# ROTATION = [1, 0, 0, -np.pi/2]  # Plane, from RUB to FLU
-
-# ROTATION = [0, 1, 0, -np.pi/2]  # Cylinder after conversion from RUB
-
-ROTATION_MATRIX = transforms3d.axangles.axangle2mat(ROTATION[:3], ROTATION[3])
-
-
-ROTATION = [-np.pi/2, np.pi, 0]
+GEOMETRY = False
+TRANSLATE_ONLY = False
+TRANSLATE_VECTOR = [-2, 0, 0]
+
+ROTATION = [np.pi/2, -np.pi/2, 0]   # RUB
+# ROTATION = [0, 0, np.pi]
+if GEOMETRY:
+    ROTATION = [np.pi/2, 0, 0]
 ROTATION_MATRIX = transforms3d.euler.euler2mat(ROTATION[0], ROTATION[1], ROTATION[2], 'rxyz')
 
-ROTATION_MATRIX = transforms3d.axangles.axangle2mat(
-        [-0.5773516025189619, 0.5773476025217157, 0.5773516025189619], -2.094405307179586)
-
 
 def vector_to_string_array(vector, decimals, zero_one_decimals=None):
     if zero_one_decimals is None:
@@ -46,6 +39,8 @@ def vector_to_string_array(vector, decimals, zero_one_decimals=None):
 
 def convert_translation(translation):
     translation = [float(value) for value in translation]
+    if TRANSLATE_ONLY:
+        return (np.array(translation) + TRANSLATE_VECTOR).flatten()
     return (ROTATION_MATRIX @ np.array(translation)).flatten()
 
 
@@ -59,7 +54,10 @@ def convert_mesh(geometry_points):
 def convert_orientation(rotation_angle_axis):
     rotation_angle_axis = [float(value) for value in rotation_angle_axis]
     orientation = transforms3d.axangles.axangle2mat(rotation_angle_axis[:3], rotation_angle_axis[3])
-    new_rotation = ROTATION_MATRIX @ orientation
+    if GEOMETRY:
+        new_rotation = orientation @ ROTATION_MATRIX
+    else:
+        new_rotation = ROTATION_MATRIX @ orientation
     new_rotation_axis, new_rotation_angle = transforms3d.axangles.mat2axangle(new_rotation)
     return ' '.join(vector_to_string_array(list(new_rotation_axis) + list([new_rotation_angle]), 6))
 

diff --git a/convert.py b/convert.py
@@ -8,53 +8,87 @@
 import clipboard
 import numpy as np
 import transforms3d
+import re
 
 
-EPSILON = 1e-4
+# ROTATION = [0.577351, -0.577351, 0.577351, 2.09439]
+# ROTATION = [0.577351, -0.577351, -0.577351, -2.09439]
+ROTATION = [-0.5773516025189619, 0.5773476025217157, 0.5773516025189619, -2.094405307179586]    # From RUB to FLU
+ROTATION = [0, -0.707, 0.707, 3.140466]  # Plane, from RUB to FLU
+# ROTATION = [1, 0, 0, -np.pi/2]  # Plane, from RUB to FLU
+
+# ROTATION = [0, 1, 0, -np.pi/2]  # Cylinder after conversion from RUB
 
-ROTATION = [1, 0, 0, np.pi/2]
 ROTATION_MATRIX = transforms3d.axangles.axangle2mat(ROTATION[:3], ROTATION[3])
 
 
-def main():
-    text = clipboard.paste()
+ROTATION = [-np.pi/2, np.pi, 0]
+ROTATION_MATRIX = transforms3d.euler.euler2mat(ROTATION[0], ROTATION[1], ROTATION[2], 'rxyz')
+
+ROTATION_MATRIX = transforms3d.axangles.axangle2mat(
+        [-0.5773516025189619, 0.5773476025217157, 0.5773516025189619], -2.094405307179586)
 
-    lines = text.split('\n')
-    lines_out = []
-    for index, line in enumerate(lines):
-        args = line.strip().split(' ')
-        identation = ' ' * (len(line) - len(line.lstrip()))
-
-        if args[0] == 'rotation':
-            rotation_raw = [float(x) for x in args[1:]]
-            rotation_matrix = transforms3d.axangles.axangle2mat(rotation_raw[:3], rotation_raw[3])
-            rotated_matrix = ROTATION_MATRIX @ rotation_matrix
-            axis, angle = transforms3d.axangles.mat2axangle(rotated_matrix)
-
-            for i in range(3):
-                if abs(axis[i]) < EPSILON:
-                    axis[i] = int(0)
-            if abs(angle) < EPSILON:
-                angle = int(0)
-
-            lines_out.append(f'{identation}rotation {axis[0]} {axis[1]} {axis[2]} {angle}')
-
-        elif args[0] == 'translation':
-            translation = np.array([float(x) for x in args[1:]])
-            tranlsation_rotated = ROTATION_MATRIX @ translation
-
-            for i in range(3):
-                if abs(tranlsation_rotated[i]) < EPSILON:
-                    tranlsation_rotated[i] = int(0)
-
-            lines_out.append(
-                f'{identation}translation {tranlsation_rotated[0]} {tranlsation_rotated[1]} {tranlsation_rotated[2]}')
-            if 'rotation' not in lines[index + 1]:
-                lines_out.append(f'{identation}rotation {ROTATION[0]} {ROTATION[1]} {ROTATION[2]} {ROTATION[3]}')
+
+def vector_to_string_array(vector, decimals, zero_one_decimals=None):
+    if zero_one_decimals is None:
+        # Zero and one are special cases and typically it is fine to be more agressive when rounding
+        zero_one_decimals = int(0.7 * decimals)
+    new_str = []
+    for value in vector:
+        if abs(value) < 1 / (10**zero_one_decimals):
+            new_str.append('0')
+        elif abs(value - 1) < 1 / (10**zero_one_decimals):
+            new_str.append('1')
         else:
-            lines_out.append(line)
+            new_str.append(str(round(value, decimals)))
+    return new_str
+
+
+def convert_translation(translation):
+    translation = [float(value) for value in translation]
+    return (ROTATION_MATRIX @ np.array(translation)).flatten()
+
 
-    clipboard.copy('\n'.join(lines_out))
+def convert_mesh(geometry_points):
+    for i in range(0, len(geometry_points), 3):
+        new_point = convert_translation(geometry_points[i:i+3])
+        geometry_points[i:i+3] = vector_to_string_array(new_point, 7)
+    return ' '.join(geometry_points)
+
+
+def convert_orientation(rotation_angle_axis):
+    rotation_angle_axis = [float(value) for value in rotation_angle_axis]
+    orientation = transforms3d.axangles.axangle2mat(rotation_angle_axis[:3], rotation_angle_axis[3])
+    new_rotation = ROTATION_MATRIX @ orientation
+    new_rotation_axis, new_rotation_angle = transforms3d.axangles.mat2axangle(new_rotation)
+    return ' '.join(vector_to_string_array(list(new_rotation_axis) + list([new_rotation_angle]), 6))
+
+
+def is_number(string):
+    try:
+        float(string)
+        return True
+    except ValueError:
+        return False
+
+
+def main():
+    text = clipboard.paste()
+    vector = [x for x in re.compile('\n|,| ').split(text) if is_number(x)]
+    out = 'ERROR'
+
+    if len(vector) == 0:
+        new_rotation_axis, new_rotation_angle = transforms3d.axangles.mat2axangle(ROTATION_MATRIX)
+        out = ' '.join(vector_to_string_array(list(new_rotation_axis) + list([new_rotation_angle]), 6))
+    elif len(vector) == 3:
+        out = convert_translation(vector)
+        out = ' '.join(vector_to_string_array(out, 4))
+    elif len(vector) == 4:
+        out = convert_orientation(vector)
+    else:
+        out = convert_mesh(vector)
+
+    clipboard.copy(out)
 
 
 if __name__ == '__main__':

diff --git a/convert.py b/convert.py
@@ -10,6 +10,8 @@
 import transforms3d
 
 
+EPSILON = 1e-4
+
 ROTATION = [1, 0, 0, np.pi/2]
 ROTATION_MATRIX = transforms3d.axangles.axangle2mat(ROTATION[:3], ROTATION[3])
 
@@ -30,9 +32,9 @@ def main():
             axis, angle = transforms3d.axangles.mat2axangle(rotated_matrix)
 
             for i in range(3):
-                if abs(axis[i]) < 0.0001:
+                if abs(axis[i]) < EPSILON:
                     axis[i] = int(0)
-            if abs(angle) < 0.0001:
+            if abs(angle) < EPSILON:
                 angle = int(0)
 
             lines_out.append(f'{identation}rotation {axis[0]} {axis[1]} {axis[2]} {angle}')
@@ -42,7 +44,7 @@ def main():
             tranlsation_rotated = ROTATION_MATRIX @ translation
 
             for i in range(3):
-                if abs(tranlsation_rotated[i]) < 0.0001:
+                if abs(tranlsation_rotated[i]) < EPSILON:
                     tranlsation_rotated[i] = int(0)
 
             lines_out.append(

diff --git a/convert.py b/convert.py
@@ -10,8 +10,6 @@
 import transforms3d
 
 
-# ROTATION = [0.577351, -0.577351, 0.577351, 2.09439]
-# ROTATION = [0.577351, -0.577351, -0.577351, -2.09439]
 ROTATION = [1, 0, 0, np.pi/2]
 ROTATION_MATRIX = transforms3d.axangles.axangle2mat(ROTATION[:3], ROTATION[3])
 

diff --git a/conver.py → convert.py b/conver.py → convert.py
diff --git a/conver.py b/conver.py
@@ -0,0 +1,61 @@
+# Converts rotation and translation VRML fields.
+# It takes the clipboard content, applies transforms, and pastes the transformed VRML to the clipboard.
+#
+# GNOME SHORTCUT
+# In GNOME, you can set to run this script as a keyboard shortcut command.
+# Go to `Settings > Keyboard Shortcuts > +`
+
+import clipboard
+import numpy as np
+import transforms3d
+
+
+# ROTATION = [0.577351, -0.577351, 0.577351, 2.09439]
+# ROTATION = [0.577351, -0.577351, -0.577351, -2.09439]
+ROTATION = [1, 0, 0, np.pi/2]
+ROTATION_MATRIX = transforms3d.axangles.axangle2mat(ROTATION[:3], ROTATION[3])
+
+
+def main():
+    text = clipboard.paste()
+
+    lines = text.split('\n')
+    lines_out = []
+    for index, line in enumerate(lines):
+        args = line.strip().split(' ')
+        identation = ' ' * (len(line) - len(line.lstrip()))
+
+        if args[0] == 'rotation':
+            rotation_raw = [float(x) for x in args[1:]]
+            rotation_matrix = transforms3d.axangles.axangle2mat(rotation_raw[:3], rotation_raw[3])
+            rotated_matrix = ROTATION_MATRIX @ rotation_matrix
+            axis, angle = transforms3d.axangles.mat2axangle(rotated_matrix)
+
+            for i in range(3):
+                if abs(axis[i]) < 0.0001:
+                    axis[i] = int(0)
+            if abs(angle) < 0.0001:
+                angle = int(0)
+
+            lines_out.append(f'{identation}rotation {axis[0]} {axis[1]} {axis[2]} {angle}')
+
+        elif args[0] == 'translation':
+            translation = np.array([float(x) for x in args[1:]])
+            tranlsation_rotated = ROTATION_MATRIX @ translation
+
+            for i in range(3):
+                if abs(tranlsation_rotated[i]) < 0.0001:
+                    tranlsation_rotated[i] = int(0)
+
+            lines_out.append(
+                f'{identation}translation {tranlsation_rotated[0]} {tranlsation_rotated[1]} {tranlsation_rotated[2]}')
+            if 'rotation' not in lines[index + 1]:
+                lines_out.append(f'{identation}rotation {ROTATION[0]} {ROTATION[1]} {ROTATION[2]} {ROTATION[3]}')
+        else:
+            lines_out.append(line)
+
+    clipboard.copy('\n'.join(lines_out))
+
+
+if __name__ == '__main__':
+    main()
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