data = sv3D.ptCLoudData dataGnd = sv3D.ptCLoudDataGnd else: data = np.concatenate((data, sv3D.ptCLoudData), axis=0) dataGnd = np.concatenate((data, sv3D.ptCLoudDataGnd), axis=0) index += 1 programSV3DRegion = glumpy_setting.ProgramSV3DRegion( data=data, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw) programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion( data=dataGnd, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw) programSV3DTopology = glumpy_setting.ProgramSV3DTopology( data=sv3DRegion.topologyData, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw) if needMatchInfo3d: programSV3DRegion.apply_anchor_flip() programSV3DRegionGnd.apply_anchor_flip() programSV3DTopology.apply_anchor_flip() """ For Visualize """ if needVisual: gpyWindow = glumpy_setting.GpyWindow() if createSV: gpyWindow.add_program(programSV3DRegion)
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) """ For Visualize """ if needVisual: if needPerspective: gpyWindow = glumpy_setting.GpyWindow(window_height=int(perspective_height*2), window_width=int(perspective_width*2), degree=-sv3D.yaw) gpyWindow.add_program(programPerspective)
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'] show_pano = np.concatenate((ori_pano, syn_pano), axis=1) #scipy.misc.imsave('yo.png', syn_pano) #scipy.misc.imshow(show_pano) 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='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d) programSV3DTopology = glumpy_setting.ProgramSV3DTopology( data=sv3DRegion.topologyData, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d) data = np.zeros(pano_length+1, dtype=[('a_position', np.float32, 3), ('a_color', np.float32, 3)]) data['a_color'] = [0, 1, 0] data['a_color'][nearest_pano_idx] = [0, 0, 1] for i in range(0, pano_length): data['a_position'][i] = pano_ori_set[i] data['a_position'][-1] = randomPos data['a_color'][-1] = [1, 1, 0] programSV3DNearest = glumpy_setting.ProgramSV3DTopology( data=data, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d) """ For Visualize