Z up config option

aitviewer/aitvconfig.yaml

@@ -36,6 +36,9 @@ backface_culling: True
 background_color: [1.0, 1.0, 1.0, 1.0]
 window_type: "pyqt5"
 
+# Viewer defaults to Y up, set to true for Z up.
+z_up: False
+
 # Server for remote connections.
 server_enabled: False
 server_port: 8417

aitviewer/renderables/plane.py

@@ -172,8 +172,8 @@ def __init__(
             v1 = np.array([1, 0, 0], dtype=np.float32)
             v2 = np.array([0, 0, 1], dtype=np.float32)
         elif plane == "xy":
-            v1 = np.array([1, 0, 0], dtype=np.float32)
-            v2 = np.array([0, 1, 0], dtype=np.float32)
+            v1 = np.array([0, 1, 0], dtype=np.float32)
+            v2 = np.array([1, 0, 0], dtype=np.float32)
         else:
             # plane == "yz"
             v1 = np.array([0, 1, 0], dtype=np.float32)

aitviewer/renderables/point_clouds.py

@@ -3,6 +3,7 @@
 import numpy as np
 from moderngl_window.opengl.vao import VAO
 
+from aitviewer.configuration import CONFIG as C
 from aitviewer.scene.node import Node
 from aitviewer.shaders import (
     get_fragmap_program,
@@ -54,7 +55,7 @@ def __init__(
 
         self.vao = VAO("points", mode=moderngl.POINTS)
 
-        if z_up:
+        if z_up and not C.z_up:
             self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
 
     @property

aitviewer/renderables/smpl.py

@@ -166,7 +166,7 @@ def __init__(
         else:
             global_oris = np.tile(np.eye(3), self.joints.shape[:-1])[np.newaxis]
 
-        if self._z_up:
+        if self._z_up and not C.z_up:
             self.rotation = np.matmul(np.array([[1, 0, 0], [0, 0, 1], [0, -1, 0]]), self.rotation)
 
         self.rbs = RigidBodies(self.joints, global_oris, length=0.1, gui_affine=False, name="Joint Angles")

aitviewer/scene/camera.py

@@ -712,6 +712,7 @@ def __init__(
         cols,
         rows,
         fov=45,
+        world_up=None,
         near=None,
         far=None,
         viewer=None,
@@ -723,7 +724,11 @@ def __init__(
             positions.shape[0] == 1 or targets.shape[0] == 1 or positions.shape[0] == targets.shape[0]
         ), f"position and target array shape mismatch: {positions.shape} and {targets.shape}"
 
-        self._world_up = np.array([0.0, 1.0, 0.0])
+        if world_up:
+            self._world_up = world_up
+        else:
+            self._world_up = np.array([0.0, 0.0, 1.0]) if C.z_up else np.array([0.0, 1.0, 0.0])
+
         self._targets = targets
         super(PinholeCamera, self).__init__(position=position, n_frames=targets.shape[0], viewer=viewer, **kwargs)
 
@@ -862,9 +867,9 @@ def __init__(self, fov=45, orthographic=None, znear=None, zfar=None):
         self.ortho_size = 1.0 if orthographic is None else orthographic
 
         # Default camera settings.
-        self._position = np.array([0.0, 0.0, 2.5])
+        self._position = np.array([0.0, 2.5, 0.0]) if C.z_up else np.array([0.0, 0.0, 2.5])
         self._target = np.array([0.0, 0.0, 0.0])
-        self._up = np.array([0.0, 1.0, 0.0])
+        self._up = np.array([0.0, 0.0, 1.0]) if C.z_up else np.array([0.0, 1.0, 0.0])
 
         self.ZOOM_FACTOR = 4
         self.ROT_FACTOR = 0.0025
@@ -904,7 +909,7 @@ def control_mode(self, mode):
         if mode not in self._control_modes:
             raise ValueError(f"Invalid camera mode: {mode}")
         if mode == "first_person" or mode == "turntable":
-            self.up = (0, 1, 0)
+            self.up = (0, 0, 1) if C.z_up else (0, 1, 0)
         self._control_mode = mode
 
     def copy(self):
@@ -1052,8 +1057,8 @@ def rotate_azimuth(self, angle):
         if np.abs(angle) < 1e-8:
             return
         cam_pose = np.linalg.inv(self.view_matrix)
-        y_axis = cam_pose[:3, 1]
-        rot = rotation_matrix(angle, y_axis, self.target)
+        up_axis = cam_pose[:3, 1]
+        rot = rotation_matrix(angle, up_axis, self.target)
         self.position = _transform_vector(rot, self.position)
 
     def _rotation_from_mouse_delta(self, mouse_dx: int, mouse_dy: int):

aitviewer/scene/scene.py

@@ -42,15 +42,15 @@ def __init__(self, **kwargs):
             Light.facing_origin(
                 light_color=(1.0, 1.0, 1.0),
                 name="Back Light",
-                position=(0.0, 10.0, -15.0),
+                position=(0.0, -15.0, 10.0) if C.z_up else (0.0, 10.0, -15.0),
                 shadow_enabled=False,
             )
         )
         self.lights.append(
             Light.facing_origin(
                 light_color=(1.0, 1.0, 1.0),
                 name="Front Light",
-                position=(0.0, 10.0, 15.0),
+                position=(0.0, 15.0, 10.0) if C.z_up else (0.0, 10.0, 15.0),
             )
         )
         self.add(*self.lights)
@@ -61,7 +61,9 @@ def __init__(self, **kwargs):
         self.origin = CoordinateSystem(name="Origin", length=0.1, gui_affine=False, gui_material=False)
         self.add(self.origin)
 
-        self.floor = ChessboardPlane(100.0, 200, (0.9, 0.9, 0.9, 1.0), (0.82, 0.82, 0.82, 1.0), name="Floor")
+        self.floor = ChessboardPlane(
+            100.0, 200, (0.9, 0.9, 0.9, 1.0), (0.82, 0.82, 0.82, 1.0), "xy" if C.z_up else "xz", name="Floor"
+        )
         self.floor.material.diffuse = 0.1
         self.add(self.floor)
 
@@ -233,8 +235,9 @@ def bounds_without_floor(self):
     def auto_set_floor(self):
         """Finds the minimum lower bound in the y coordinate from all the children bounds and uses that as the floor"""
         if self.floor is not None and len(self.nodes) > 0:
-            self.floor.position[1] = self.current_bounds[1, 0]
-            self.floor.update_transform()
+            axis = 2 if C.z_up else 1
+            self.floor.position[axis] = self.current_bounds[axis, 0]
+            self.floor.update_transform(parent_transform=self.model_matrix)
 
     def auto_set_camera_target(self):
         """Sets the camera target to the average of the center of all objects in the scene"""