def test_viz_show_painted_clouds(self):
cloud, _, _ = cv.viz.readCloud(self.find_file("viz/dragon.ply"))
viz = cv.viz_Viz3d("show_painted_clouds")
viz.setBackgroundMeshLab()
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
pose1 = cv.viz_Affine3d((0.0, -np.pi / 2, 0.0), (-1.5, 0.0, 0.0))
pose2 = cv.viz_Affine3d((0.0, np.pi / 2, 0.0), (1.5, 0.0, 0.0))
viz.showWidget("cloud1", cv.viz_WPaintedCloud(cloud), pose1)
viz.showWidget(
"cloud2",
cv.viz_WPaintedCloud(cloud, (0.0, -0.75, -1.0), (0.0, 0.75, 0.0)),
pose2)
viz.showWidget(
"cloud3",
cv.viz_WPaintedCloud(cloud, (0.0, 0.0, -1.0), (0.0, 0.0, 1.0),
cv.viz_Color().blue(),
cv.viz_Color().red()))
viz.showWidget(
"arrow",
cv.viz_WArrow((0.0, 1.0, -1.0), (0.0, 1.0, 1.0), 0.009,
cv.viz_Color()))
viz.showWidget(
"text2d",
cv.viz_WText("Painted clouds", (20, 20), 20,
cv.viz_Color(0, 255, 0)))
viz.spinOnce(500, True)
def test_viz_show_cloud_collection(self):
cloud, _, _ = cv.viz.readCloud(self.find_file("viz/dragon.ply"))
ccol = cv.viz_WCloudCollection()
pose = cv.viz_Affine3d()
pose1 = cv.viz_Affine3d().translate((0, 0, 0)).rotate(
(np.pi / 2, 0, 0))
ccol.addCloud(
cloud,
cv.viz_Color().white(),
cv.viz_Affine3d().translate((0, 0, 0)).rotate((np.pi / 2, 0, 0)))
ccol.addCloud(cloud,
cv.viz_Color().blue(),
cv.viz_Affine3d().translate((1, 0, 0)))
ccol.addCloud(cloud,
cv.viz_Color().red(),
cv.viz_Affine3d().translate((2, 0, 0)))
ccol.finalize()
viz = cv.viz_Viz3d("show_cloud_collection")
viz.setBackgroundColor(cv.viz_Color().mlab())
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("ccol", ccol)
viz.showWidget(
"text2d",
cv.viz_WText("Cloud collection", (20, 20), 20,
cv.viz_Color(0, 255, 0)))
viz.spinOnce(500, True)
def test_viz_show_simple_widgets(self):
viz = cv.viz_Viz3d("show_simple_widgets")
viz.setBackgroundMeshLab()
viz.showWidget("coos", cv.viz_WCoordinateSystem())
viz.showWidget("cube", cv.viz_WCube())
viz.showWidget(
"cub0",
cv.viz_WCube((-1.0, -1, -1), (-0.5, -0.5, -0.5), False,
cv.viz_Color().indigo()))
viz.showWidget(
"arro",
cv.viz_WArrow((-0.5, -0.5, -0.5), (0.5, 0.5, 0.5), 0.009,
cv.viz_Color().raspberry()))
viz.showWidget("cir1",
cv.viz_WCircle(0.5, 0.01, cv.viz_Color.bluberry()))
viz.showWidget(
"cir2",
cv.viz_WCircle(0.5, (0.5, 0.0, 0.0), (1.0, 0.0, 0.0), 0.01,
cv.viz_Color().apricot()))
viz.showWidget(
"cyl0",
cv.viz_WCylinder((-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), 0.125, 30,
cv.viz_Color().brown()))
viz.showWidget("con0",
cv.viz_WCone(0.25, 0.125, 6,
cv.viz_Color().azure()))
viz.showWidget(
"con1",
cv.viz_WCone(0.125, (0.5, -0.5, 0.5), (0.5, -1.0, 0.5), 6,
cv.viz_Color().turquoise()))
text2d = cv.viz_WText("Different simple widgets", (20, 20), 20,
cv.viz_Color().green())
viz.showWidget("text2d", text2d)
text3d = cv.viz_WText3D("Simple 3D text", (0.5, 0.5, 0.5), 0.125,
False,
cv.viz_Color().green())
viz.showWidget("text3d", text3d)
viz.showWidget("plane1", cv.viz_WPlane((0.25, 0.75)))
viz.showWidget(
"plane2",
cv.viz_WPlane((0.5, -0.5, -0.5), (0.0, 1.0, 1.0), (1.0, 1.0, 0.0),
(1.0, 0.5),
cv.viz_Color().gold()))
viz.showWidget(
"grid1", cv.viz_WGrid((7, 7), (0.75, 0.75),
cv.viz_Color().gray()),
cv.viz_Affine3d().translate((0.0, 0.0, -1.0)))
viz.spinOnce(500, True)
text2d.setText("Different simple widgets (updated)")
text3d.setText("Updated text 3D")
viz.spinOnce(500, True)
def test_viz_show_mesh(self):
mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply"))
viz = cv.viz_Viz3d("show_mesh")
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("mesh", cv.viz_WMesh(mesh),
cv.viz_Affine3d().rotate((0, 0.8, 0)))
viz.showWidget(
"text2d",
cv.viz_WText("Just mesh", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_cloud_shaded_by_normals(self):
mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply"))
mesh.normals = cv.viz.computeNormals(mesh)
pose = cv.viz_Affine3d().rotate((0, 0.8, 0))
cloud = cv.viz_WCloud(mesh.cloud, cv.viz_Color().white(), mesh.normals)
cloud.setRenderingProperty(cv.viz.SHADING, cv.viz.SHADING_GOURAUD)
viz = cv.viz_Viz3d("show_cloud_shaded_by_normals")
viz.showWidget("cloud", cloud, pose)
viz.showWidget(
"text2d",
cv.viz_WText("Cloud shaded by normals", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def tutorial3(camera_pov, filename):
myWindow = cv.viz_Viz3d("Coordinate Frame")
myWindow.showWidget("axe", cv.viz_WCoordinateSystem())
cam_origin = (3.0, 3.0, 3.0)
cam_focal_point = (3.0, 3.0, 2.0)
cam_y_dir = (-1.0, 0.0, 0.0)
camera_pose = cv.viz.makeCameraPose(cam_origin, cam_focal_point, cam_y_dir)
transform = cv.viz.makeTransformToGlobal(
(0.0, -1.0, 0.0), (-1.0, 0.0, 0.0), (0.0, 0.0, -1.0), cam_origin)
dragon_cloud, _, _ = cv.viz.readCloud(filename)
cloud_widget = cv.viz_WCloud(dragon_cloud, cv.viz_Color().green())
cloud_pose = cv.viz_Affine3d()
cloud_pose = cv.viz_Affine3d().rotate((0, np.pi / 2, 0)).translate(
(0, 0, 3))
cloud_pose_global = transform.product(cloud_pose)
myWindow.showWidget("CPW_FRUSTUM",
cv.viz_WCameraPosition((0.889484, 0.523599)),
camera_pose)
if not camera_pov:
myWindow.showWidget("CPW", cv.viz_WCameraPosition(0.5), camera_pose)
myWindow.showWidget("dragon", cloud_widget, cloud_pose_global)
if camera_pov:
myWindow.setViewerPose(camera_pose)
def test_viz_show_mesh_random_colors(self):
mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply"))
mesh.colors = np.random.randint(0,
255,
size=mesh.colors.shape,
dtype=np.uint8)
viz = cv.viz_Viz3d("show_mesh")
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("mesh", cv.viz_WMesh(mesh),
cv.viz_Affine3d().rotate((0, 0.8, 0)))
viz.setRenderingProperty("mesh", cv.viz.SHADING, cv.viz.SHADING_PHONG)
viz.showWidget(
"text2d",
cv.viz_WText("Random color mesh", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_sampled_normals(self):
mesh = cv.viz.readMesh(self.find_file("viz/dragon.ply"))
mesh.normals = cv.viz.computeNormals(mesh)
pose = cv.viz_Affine3d().rotate((0, 0.8, 0))
viz = cv.viz_Viz3d("show_sampled_normals")
viz.showWidget("mesh", cv.viz_WMesh(mesh), pose)
viz.showWidget(
"normals",
cv.viz_WCloudNormals(mesh.cloud, mesh.normals, 30, 0.1,
cv.viz_Color().green()), pose)
viz.setRenderingProperty("normals", cv.viz.LINE_WIDTH, 2.0)
viz.showWidget(
"text2d",
cv.viz_WText("Cloud or mesh normals", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_cloud_bluberry(self):
dragon_cloud, _, _ = cv.viz.readCloud(self.find_file("viz/dragon.ply"))
pose = cv.viz_Affine3d()
pose = pose.rotate((0, 0.8, 0))
viz = cv.viz_Viz3d("show_cloud_bluberry")
viz.setBackgroundColor(cv.viz_Color().black())
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("dragon",
cv.viz_WCloud(dragon_cloud,
cv.viz_Color().bluberry()), pose)
viz.showWidget(
"text2d",
cv.viz_WText("Bluberry cloud", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_image_3d(self):
lena = cv.imread(self.find_file("viz/lena.png"))
lena_gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY)
viz = cv.viz_Viz3d("show_image_3d")
viz.setBackgroundMeshLab()
viz.showWidget("coos", cv.viz_WCoordinateSystem())
viz.showWidget("cube", cv.viz_WCube())
viz.showWidget(
"arr0",
cv.viz_WArrow((0.5, 0.0, 0.0), (1.5, 0.0, 0.0), 0.009,
cv.viz_Color().raspberry()))
x = cv.viz_WImage3D(lena, (1.0, 1.0))
viz.showWidget("img0", x,
cv.viz_Affine3d((0.0, np.pi / 2, 0.0), (.5, 0.0, 0.0)))
viz.showWidget(
"arr1",
cv.viz_WArrow((-0.5, -0.5, 0.0), (0.2, 0.2, 0.0), 0.009,
cv.viz_Color().raspberry()))
viz.showWidget(
"img1",
cv.viz_WImage3D(lena_gray, (1.0, 1.0), (-0.5, -0.5, 0.0),
(1.0, 1.0, 0.0), (0.0, 1.0, 0.0)))
viz.showWidget(
"arr3",
cv.viz_WArrow((-0.5, -0.5, -0.5), (0.5, 0.5, 0.5), 0.009,
cv.viz_Color().raspberry()))
viz.showWidget(
"text2d",
cv.viz_WText("Images in 3D", (20, 20), 20,
cv.viz_Color().green()))
i = 0
for num in range(50):
img = lena * (np.sin(i * 7.5 * np.pi / 180) * 0.5 + 0.5)
x.setImage(img.astype(np.uint8))
i = i + 1
viz.spinOnce(100, True)
viz.showWidget(
"text2d",
cv.viz_WText("Images in 3D (stopped)", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_cloud_masked(self):
dragon_cloud, _, _ = cv.viz.readCloud(self.find_file("viz/dragon.ply"))
qnan = np.NAN
for idx in range(dragon_cloud.shape[0]):
if idx % 15 != 0:
dragon_cloud[idx, :] = qnan
pose = cv.viz_Affine3d()
pose = pose.rotate((0, 0.8, 0))
viz = cv.viz_Viz3d("show_cloud_masked")
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("dragon", cv.viz_WCloud(dragon_cloud), pose)
viz.showWidget(
"text2d",
cv.viz_WText("Nan masked cloud", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_cloud_random_color(self):
dragon_cloud, _, _ = cv.viz.readCloud(self.find_file("viz/dragon.ply"))
colors = np.random.randint(0,
255,
size=(dragon_cloud.shape[0],
dragon_cloud.shape[1], 3),
dtype=np.uint8)
pose = cv.viz_Affine3d()
pose = pose.rotate((0, 0.8, 0))
viz = cv.viz_Viz3d("show_cloud_random_color")
viz.setBackgroundMeshLab()
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("dragon", cv.viz_WCloud(dragon_cloud, colors), pose)
viz.showWidget(
"text2d",
cv.viz_WText("Random color cloud", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
axe = cv.viz_WCoordinateSystem()
axis = cv.viz_WLine((-1.0,-1.0,-1.0), (1.0,1.0,1.0), cv.viz_Color().green())
axis.setRenderingProperty(cv.viz.LINE_WIDTH, 4.0);
my_window.showWidget("axe",axis)
plan = cv.viz_WPlane((-1.0,-1.0,-1.0), (1.0,.0,.0), (-.0,.0,-1.0))
#my_window.showWidget("plan", plan)
cube = cv.viz_WCube((0.5,0.5,0.0), (0.0,0.0,-0.5), True, cv.viz_Color().blue())
my_window.showWidget("Cube Widget",cube)
pi = np.arccos(-1)
print("First event loop is over")
my_window.spin()
print("Second event loop is over")
my_window.spinOnce(1, True)
translation_phase = 0.0
translation = 0.0
rot_mat = np.zeros(shape=(3, 3), dtype=np.float32)
rot_vec = np.zeros(shape=(1,3),dtype=np.float32)
while not my_window.wasStopped():
rot_vec[0, 0] += np.pi * 0.01
rot_vec[0, 1] += np.pi * 0.01
rot_vec[0, 2] += np.pi * 0.01
translation_phase += pi * 0.01
translation = np.sin(translation_phase)
pose = cv.viz_Affine3d(rot_vec, (translation, translation, translation))
my_window.setWidgetPose("Cube Widget",pose)
my_window.spinOnce(1, True);
print("Last event loop is over")
for idx in range(12,1889):
d = ligne[idx].split(' ')
pts3d[0,idx-12,:] = (float(d[0]), float(d[1]), float(d[2]))
pts3d = 5 * pts3d
return cv.viz_WCloud(pts3d)
myWindow = cv.viz_Viz3d("Coordinate Frame")
axe = cv.viz_WCoordinateSystem()
myWindow.showWidget("axe",axe)
cam_pos = (3.0, 3.0, 3.0)
cam_focal_point = (3.0,3.0,2.0)
cam_y_dir = (-1.0,0.0,0.0)
cam_pose = cv.viz.makeCameraPose(cam_pos, cam_focal_point, cam_y_dir)
print("OK")
transform = cv.viz.makeTransformToGlobal((0.0,-1.0,0.0), (-1.0,0.0,0.0), (0.0,0.0,-1.0), cam_pos)
pw_bunny = load_bunny()
cloud_pose = cv.viz_Affine3d()
cloud_pose = cloud_pose.translate((0, 0, 3))
cloud_pose_global = transform.product(cloud_pose)
cpw = cv.viz_WCameraPosition(0.5)
cpw_frustum = cv.viz_WCameraPosition(0.3)
myWindow.showWidget("CPW", cpw);
myWindow.showWidget("CPW_FRUSTUM", cpw_frustum)
myWindow.setViewerPose(cam_pose)
myWindow.showWidget("bunny", pw_bunny, cloud_pose_global)
#myWindow.setWidgetPosePy("bunny")
myWindow.spin();
print("Last event loop is over")