Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revision | |||
doc:pycram:reasoning [2021/03/12 09:09] – [Visible] jdech | doc:pycram:reasoning [2021/03/12 09:10] (current) – [Occluding] jdech | ||
---|---|---|---|
Line 50: | Line 50: | ||
This reasoning query is similar to visible in the way that the scene needs to be rendered multiple times. First, the object is rendered alone. This time, the pixels are not counted but, instead, the position of pixel that belong to the given object are saved as tuples in a list. The second time, the whole scene is rendered and the previously saved positions of the pixels belonging to the object are checked. If the object is still visible in this pixel nothing happens, but if another object is visible this object is occluding the given object and will be saved in a list and then returned. | This reasoning query is similar to visible in the way that the scene needs to be rendered multiple times. First, the object is rendered alone. This time, the pixels are not counted but, instead, the position of pixel that belong to the given object are saved as tuples in a list. The second time, the whole scene is rendered and the previously saved positions of the pixels belonging to the object are checked. If the object is still visible in this pixel nothing happens, but if another object is visible this object is occluding the given object and will be saved in a list and then returned. | ||
+ | |||
+ | To ensure the TF positions stay valid while the objects are moved for the rendering. This reasoning query will be executed in it's own BulletWorld, | ||
To use the reasoning query, the user needs to specify the object and a position of the camera, as well as the front facing axis of the camera frame. This is normally the z axis, that's why this axis is the standard for this function. This call is very similar to the one above: | To use the reasoning query, the user needs to specify the object and a position of the camera, as well as the front facing axis of the camera frame. This is normally the z axis, that's why this axis is the standard for this function. This call is very similar to the one above: |