def _init_light()

in tacto/renderer.py [0:0]

• 46 lines of code
• 6 McCabe index (conditional complexity)

    def _init_light(self):
        """
        Set up light
        """

        # Load light from config file
        light = self.conf.sensor.lights

        origin = np.array(light.origin)

        xyz = []
        if light.polar:
            # Apply polar coordinates
            thetas = light.xrtheta.thetas
            rs = light.xrtheta.rs
            xs = light.xrtheta.xs
            for i in range(len(thetas)):
                theta = np.pi / 180 * thetas[i]
                xyz.append([xs[i], rs[i] * np.cos(theta), rs[i] * np.sin(theta)])
        else:
            # Apply cartesian coordinates
            xyz = np.array(light.xyz.coords)

        colors = np.array(light.colors)
        intensities = light.intensities

        # Save light nodes
        self.light_nodes = []
        self.light_poses0 = []

        for i in range(len(colors)):

            if not self.spot_light_enabled:
                # create pyrender.PointLight
                color = colors[i]
                light_pose_0 = euler2matrix(
                    angles=[0, 0, 0], translation=xyz[i] + origin
                )

                light = pyrender.PointLight(color=color, intensity=intensities[i])

            elif self.spot_light_enabled:
                # create pyrender.SpotLight
                color = colors[i]

                theta = np.pi / 180 * (thetas[i] - 90)
                tuning_angle = -np.pi / 16
                light_pose_0 = euler2matrix(
                    xyz="yzx",
                    angles=[0, tuning_angle, theta],
                    translation=xyz[i] + origin,
                )

                light = pyrender.SpotLight(
                    color=color,
                    intensity=intensities[i],
                    innerConeAngle=0,
                    outerConeAngle=np.pi / 3,
                )

            light_node = pyrender.Node(light=light, matrix=light_pose_0)

            self.scene.add_node(light_node)
            self.light_nodes.append(light_node)
            self.light_poses0.append(light_pose_0)
            self.current_light_nodes.append(light_node)

            # Add extra light node into scene_depth
            light_node_depth = pyrender.Node(light=light, matrix=light_pose_0)
            self.scene_depth.add_node(light_node_depth)