import numpy as np
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from .tools import read_ply
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def get_rotation_matrix(angle:str):
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"""generate a rotation matrix from the specific angel,
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the angle is the degree that coordinate system B rotated from coordinate A
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in direction from x to y with z is the axis.
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Args:
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angle (str): the angle, value in [-360,360]
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Returns:
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rotation_matrix (np.array): the rotation matrix
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"""
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if np.abs(float(angle))>360:
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raise ValueError(f"incorrect angle value: value in [-360,360] is excepted, but {angle} is offered.")
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angle_float = np.pi * float(angle) / 180
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rotation_matrix = np.array(
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[[np.cos(angle_float,), np.sin(angle_float), 0.],
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[-np.sin(angle_float), np.cos(angle_float), 0.],
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[0., 0., 1.]],
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dtype=np.float16
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)
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return rotation_matrix
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def compose_ply(muti_ply_with_angle: list):
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ply_nums = len(muti_ply_with_angle)
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composed_ply_List = []
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for ply_with_angle in muti_ply_with_angle:
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angle = ply_with_angle[0]
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ply = ply_with_angle[1]
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if isinstance(ply,str):
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ply = read_ply(ply)
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rotation_matrix = get_rotation_matrix(angle)
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rotated_ply = np.matmul(rotation_matrix,ply)
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composed_ply_List.append(rotated_ply)
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composed_ply_array = np.array(composed_ply_List).reshape(-1,3)
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return composed_ply_array
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if __name__ == "__main__":
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m = get_rotation_matrix('180')
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print(m)
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