👍️ [Update] pythonのメイン処理部分を移動/webui_mainloop.pyをビルドできるように修正

src-python/models/overlay/overlay_utils.py

@@ -0,0 +1,87 @@
+import numpy as np
+
+def toHomogeneous(matrix):
+    homogeneous_matrix = np.vstack([matrix, [0, 0, 0, 1]])
+    return homogeneous_matrix
+
+# 移動行列を生成する関数
+def calcTranslationMatrix(translation):
+    tx, ty, tz = translation
+    return np.array([
+        [1, 0, 0, tx],
+        [0, 1, 0, ty],
+        [0, 0, 1, tz],
+        [0, 0, 0, 1]
+    ])
+
+# X軸周りの回転行列を生成する関数
+def calcRotationMatrixX(angle):
+    c = np.cos(np.pi/180*angle)
+    s = np.sin(np.pi/180*angle)
+    return np.array([
+        [1, 0, 0, 0],
+        [0, c, -s, 0],
+        [0, s, c, 0],
+        [0, 0, 0, 1]
+    ])
+
+# Y軸周りの回転行列を生成する関数
+def calcRotationMatrixY(angle):
+    c = np.cos(np.pi/180*angle)
+    s = np.sin(np.pi/180*angle)
+    return np.array([
+        [c, 0, s, 0],
+        [0, 1, 0, 0],
+        [-s, 0, c, 0],
+        [0, 0, 0, 1]
+    ])
+
+# Z軸周りの回転行列を生成する関数
+def calcRotationMatrixZ(angle):
+    c = np.cos(np.pi/180*angle)
+    s = np.sin(np.pi/180*angle)
+    return np.array([
+        [c, -s, 0, 0],
+        [s, c, 0, 0],
+        [0, 0, 1, 0],
+        [0, 0, 0, 1]
+    ])
+
+# 3x4行列の座標を基準として回転や移動を行う関数
+def transform_matrix(base_matrix, translation, rotation):
+    homogeneous_base_matrix = toHomogeneous(base_matrix)
+    translation_matrix = calcTranslationMatrix(translation)
+    rotation_matrix_x = calcRotationMatrixX(rotation[0])
+    rotation_matrix_y = calcRotationMatrixY(rotation[1])
+    rotation_matrix_z = calcRotationMatrixZ(rotation[2])
+    rotation_matrix = np.dot(rotation_matrix_z, np.dot(rotation_matrix_y, rotation_matrix_x))
+    transformation_matrix = translation_matrix.copy()
+    transformation_matrix[:3, :3] = rotation_matrix[:3, :3]
+    result_matrix = np.dot(homogeneous_base_matrix, transformation_matrix)
+    return result_matrix[:3, :]
+
+def euler_to_rotation_matrix(angles):
+    phi = angles[0] * np.pi / 180
+    theta = angles[1] * np.pi / 180
+    psi = angles[2]* np.pi / 180
+    R_x = np.array([[1, 0, 0],
+                    [0, np.cos(phi), -np.sin(phi)],
+                    [0, np.sin(phi), np.cos(phi)]])
+    R_y = np.array([[np.cos(theta), 0, np.sin(theta)],
+                    [0, 1, 0],
+                    [-np.sin(theta), 0, np.cos(theta)]])
+    R_z = np.array([[np.cos(psi), -np.sin(psi), 0],
+                    [np.sin(psi), np.cos(psi), 0],
+                    [0, 0, 1]])
+    return np.dot(R_z, np.dot(R_y, R_x))
+
+if __name__ == "__main__":
+    base_matrix = np.array([
+        [1, 0, 0, 1],
+        [0, 1, 0, 1],
+        [0, 0, 1, 1]
+    ])
+    translation = [1, 2, 3]
+    rotation = [0, 0, 90]
+    result_matrix = transform_matrix(base_matrix, translation, rotation)
+    print(result_matrix)