perspective_data['a_color'] = np.reshape(np.array(ori_pano), (pano_height*pano_width, 3))
tri = np.zeros((pano_height*pano_width*2, 3), dtype=np.uint32)
tri_idx = 0
for y in range(0, pano_height-1):
for x in range(pano_width-1):
cur = y*pano_width + x
tri[tri_idx] = [cur, cur+1, cur+pano_width]
tri[tri_idx+pano_height*pano_width] = [cur + pano_width, cur + 1, cur + pano_width + 1]
tri_idx += 1
for y in range(0, pano_height-1):
cur = y * pano_width + pano_width - 1
tri[tri_idx] = [cur, cur-pano_width+1, cur+pano_width]
tri[tri_idx+pano_height*pano_width] = [cur+pano_width, cur-pano_width+1, cur+1]
tri_idx += 1
# TODO: top and bottom
programPerspective = glumpy_setting.ProgramPlane(data=perspective_data, name='perspective',
face=tri)
else:
programSV3DRegion = glumpy_setting.ProgramSV3DRegion(
data=data, name='programSV3DRegion', point_size=1,
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion(
data=dataGnd, name='programSV3DRegionGnd', point_size=1,
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
programSV3DTopology = glumpy_setting.ProgramSV3DTopology(
data=sv3DRegion.topologyData, name='programSV3DTopology',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
if imageSynthesis:
programSV3DNearest = glumpy_setting.ProgramSV3DTopology(
data=dataNearest, name='programSV3DNearest',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d,
point_size=20, alpha=0.6)
img_x = int(lng / 360.0 * 512.0)
img_y = int(-(lat - 90) / 180.0 * 256.0)
syn_pano[img_y, img_x, :] = point['a_color']
index_pano[img_y, img_x] = True
yo_xyz.append([img_x, img_y, 0])
yo_color.append(point['a_color'])
yo_len += 1
show_pano = np.concatenate((ori_pano, syn_pano), axis=1)
#scipy.misc.imsave('yo.png', syn_pano)
scipy.misc.imshow(show_pano)
data = np.zeros((yo_len),
dtype=[('a_position', np.float32, 3),
('a_color', np.float32, 3)])
data['a_color'] = np.array(yo_color)
data['a_position'] = np.array(yo_xyz)
pca = PCA(n_components=2)
data_transfer = pca.fit_transform(data['a_position'])
tri = np.array(triangle.delaunay(data_transfer), dtype=np.uint32)
programImage = glumpy_setting.ProgramPlane(data=data,
name='test',
face=tri)
data['a_position'][:, 0] = data['a_position'][:, 0] / 256.0 - 1.0
data['a_position'][:, 1] = data['a_position'][:, 1] / 128.0 - 1.0
gpyViewWindow = glumpy_setting.GpyViewWindow(data, tri)
gpyViewWindow.run()
index += 1
if index > 0:
break
#break
gpyWindow = glumpy_setting.GpyWindow()
programSV3DRegion = glumpy_setting.ProgramSV3DRegion(
data=data, name=None, point_size=1, anchor_matrix=anchor_matrix_whole)
programSV3DRegion.apply_anchor()
#gpyWindow.add_program(programSV3DRegion)
data = programSV3DRegion.data
tri = np.array(triangle.delaunay(data['a_position'][:, 0:2]), dtype=np.uint32)
programGround = glumpy_setting.ProgramPlane(data=data,
name=str(index),
face=tri)
gpyWindow.add_program(programGround)
"""
ALL PLY EXPORT IN HERE
"""
data = programSV3DRegion.data
data['a_color'] *= 255
data['a_color'].astype(int)
xyzzz = np.zeros(len(data),
dtype=[('x', 'f4'), ('y', 'f4'), ('z', 'f4'), ('red', 'u1'),
('green', 'u1'), ('blue', 'u1')])
xyzzz['x'] = data['a_position'][:, 0]
xyzzz['y'] = data['a_position'][:, 1]
"""
For Visualize
"""
if needVisual:
gpyWindow = glumpy_setting.GpyWindowVR(window_height=256, window_width=512)
if createSFM:
gpyWindow.add_program(programSFM3DRegion)
gpyWindow.add_program(programTrajectory)
if createSV:
if addPlane:
for j in range(0, pano_length):
sv3D = sv3DRegion.sv3D_Time[j]
for i in range(0, len(sv3D.all_plane)):
programGround = glumpy_setting.ProgramPlane(
data=sv3D.all_plane[i]['data'],
name='test',
face=sv3D.all_plane[i]['tri'])
gpyWindow.add_program(programGround)
else:
gpyWindow.add_program(programSV3DRegion)
gpyWindow.add_program(programSV3DTopology)
if imageSynthesis:
gpyWindow.add_program(programSV3DNearest)
if needGround:
gpyWindow.add_program(programSV3DRegionGnd)
programAxis = glumpy_setting.ProgramAxis(line_length=5)
gpyWindow.add_program(programAxis)
gpyWindow.run()
for ppx in range(0, pp_width * pp_dense):
x, y, z = (ppx/pp_dense) - (0.5 * pp_width), pp_depth, (ppy/pp_dense) - (0.5 * pp_height)
lng, lat = base_process.pos_2_deg(x, y, z)
lng = (lng + randomDeg) % 360
img_x = int(lng / 360.0 * 512.0)
img_y = int(-(lat - 90) / 180.0 * 256.0)
# plane_pano[ppy, ppx, :] = ori_pano[img_y, img_x, :]
plane_data[pp_index]['a_position'] = [x, y, z]
plane_data[pp_index]['a_color'] = ori_pano[img_y, img_x, :]
pp_index += 1
pca = PCA(n_components=2)
data_transfer = pca.fit_transform(plane_data['a_position'])
tri = np.array(triangle.delaunay(data_transfer), dtype=np.uint32)
programImage = glumpy_setting.ProgramPlane(data=plane_data, name='test',
face=tri)
#show_pano = np.concatenate((ori_pano, syn_pano), axis=1)
#scipy.misc.imsave('yo.png', syn_pano)
#scipy.misc.imshow(plane_pano)
if needVisual:
programSV3DRegion = glumpy_setting.ProgramSV3DRegion(
data=data, name='programSV3DRegion',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion(
data=dataGnd, name='programSV3DRegionGnd',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
programSV3DTopology = glumpy_setting.ProgramSV3DTopology(
data=sv3DRegion.topologyData, name='programSV3DTopology',
color = np.zeros((size, 3), dtype=np.float32)
for y in range(0, ny):
for x in range(0, nx):
index = x + y * ny
pos = plane[index]
color[index] = [1, 0, 0]
data = np.zeros((nx * ny),
dtype=[('a_position', np.float32, 3),
('a_color', np.float32, 3)])
data['a_position'] = plane
data['a_color'] = color
#I = np.array([0, 1, 2, 0, 2, 3], dtype=np.uint32)
tri = np.array(triangle.delaunay(data['a_position'][:, 0:2]), dtype=np.uint32)
programGround = glumpy_setting.ProgramPlane(data=data, name='test', face=tri)
"""
For Visualize
"""
if needVisual:
gpyWindow = glumpy_setting.GpyWindow()
gpyWindow.add_program(programGround)
if createSV:
gpyWindow.add_program(programSV3DRegion)
gpyWindow.add_program(programSV3DTopology)
if needGround:
gpyWindow.add_program(programSV3DRegionGnd)
programAxis = glumpy_setting.ProgramAxis(line_length=5)
programSV3D = glumpy_setting.ProgramSV3D(data=sv3D.ptCLoudData,
name=str(index),
point_size=1)
programSV3D.u_model = np.eye(4, dtype=np.float32)
##reset
#yo = np.where(sv3D.ptCLoudData['a_position'][:, :, 2] < 1)
match = sv3D.ptCLoudData[sv3D.ptCLoudData['a_position'][:, :, 2] < -1]
match['a_position'][:, 2] = -2
#match = sv3D.ptCLoudData['a_color'][sv3D.ptCLoudData['a_position'][:, :, 2] < 1]
#gpyWindow.add_program(programSV3D)
index += 1
break
#programAxis = glumpy_setting.ProgramAxis(line_length=5)
#gpyWindow.add_program(programAxis)
#match_data = np.zeros(len(match), dtype=[('a_position', np.float32, 3), ('a_color', np.float32, 3)])
#match_data['a_position'] = match
#match_data['a_color'] = [1,0,0]
tri = np.array(triangle.delaunay(match['a_position'][:, 0:2]), dtype=np.uint32)
tri = tri.view(gloo.IndexBuffer)
matchProgram = glumpy_setting.ProgramPlane(data=match,
name=str(index),
face=tri)
gpyWindow.add_program(matchProgram)
gpyWindow.run()
