def test3():
terrain = "terrains/griffith.stl"
fig = plt.figure(figsize=(16, 8))
specs = {"xmax":30, "ymax":20, "focalx":15, "focaly":10, "focalz":2} # units of pixel except for focalz ....
########## First figure axis ##########
ax1 = fig.add_subplot(1, 2, 1, projection='3d')
your_mesh = mesh.Mesh.from_file(terrain)
ax1.add_collection3d(mplot3d.art3d.Poly3DCollection(your_mesh.vectors))
scale = your_mesh.points.flatten(-1)
ax1.auto_scale_xyz(scale, scale, scale)
orientation1=(0,0,0)
snap1 = camera.snap(20, 20, 20, *orientation1, **specs)
orientation2=(0,0,0)
snap2 = camera.snap(30, 20, 20, *orientation2, **specs)
plot_camera(ax1, snap1, True)
plot_camera(ax1, snap2, True)
set_bounds(ax1)
########## Second figure axis ##########
ax2 = fig.add_subplot(1, 2, 2, projection='3d')
set_axes_equal(ax1,ax2)
proj1 = projection.pointcloud(snap1)
pointcloud1 = proj1.project_to_mesh(terrain, convert=True)
proj2 = projection.pointcloud(snap2)
pointcloud2 = proj2.project_to_mesh(terrain, convert=True)
ax2.scatter(*pointcloud1)
ax2.scatter(*pointcloud2)
plt.show()
def test2():
# fig = plt.figure(figsize=plt.figaspect(0.5))
fig = plt.figure(figsize=(16, 8))
specs = {"xmax":30, "ymax":20, "focalx":15, "focaly":10, "focalz":2} # units of pixel except for focalz ....
# # First figure axis
ax1 = fig.add_subplot(1, 2, 1, projection='3d')
ground = world.ground(100,100)
plot_world(ax1, ground)
# cube = world.cube(0,0,10)
# plot_surfs(ax1, *cube)
orientation2=(0,30,0)
snap1 = camera.snap(0, 0, 30, *orientation2, **specs)
plot_camera(ax1, snap1, True)
set_bounds(ax1)
# # Second figure axis
ax2 = fig.add_subplot(1, 2, 2, projection='3d')
set_axes_equal(ax1,ax2)
pointcloud = projection.pointcloud(snap1, ground)
ground_cloud = projection.points_to_pointcloud(pointcloud.project_to_ground())
ax2.scatter(*ground_cloud)
plt.show()
def test1():
# fig = plt.figure(figsize=plt.figaspect(0.5))
fig = plt.figure(figsize=(16, 8))
specs = {"xmax":30, "ymax":20, "focalx":15, "focaly":10, "focalz":2} # units of pixel except for focalz ....
# First figure axis
ax1 = fig.add_subplot(1, 2, 1, projection='3d')
ground = world.ground(100,100)
surf1 = plot_world(ax1, ground)
# plane1 = world.xz_plane(20,20,0,-10,0)
# plane2 = world.xz_plane(20,20,0,10, 0)
# plane3 = world.yz_plane(20,20,-10,0,0)
# plane4 = world.yz_plane(20,20,10,0,0)
# plane5 = world.xy_plane(20,20,0,0,20)
# plot_surfs(ax1, plane1, plane2, plane3, plane4, plane5)
cube = world.cube(0,0,10)
plot_surfs(ax1, *cube)
box = world.box((-50,-50,20),(-50,50,20),(-40,50,20),(-40,-50,20))
plot_surfs(ax1, *box)
orientation2=(0,30,0)
snap1 = camera.snap(0, 0, 30, *orientation2, **specs)
plot_camera(ax1, snap1, True)
set_bounds(ax1)
def add_camera(self, x, y, z, rotx, roty, rotz, time):
orientation = (rotx, roty, rotz)
snap = camera.snap(x, y, z, *orientation, **self.specs)
self.cameras.append(snap)
self.times.append(time)
proj = projection.pointcloud(snap)
self.projections.append(proj)
def add_camera(self, x, y, z, rotx, roty, rotz): orientation = (rotx,roty,rotz) snap = camera.snap(x, y, z, *orientation, **self.specs) self.cameras.append(snap) proj = projection.pointcloud(snap) self.projections.append(proj) if self.filename: pointcloud = proj.project_to_mesh(self.terrain, camera_pov=False, convert=False) pointsmessage = exporter.xyz_array_to_pointcloud2(pointcloud) exporter.make_bag_file(self.filename, pointsmessage)
def render():
fig = plt.figure(figsize=plt.figaspect(0.5))
# First Camera
# ax1 = fig.gca(projection='3d')
ax1 = fig.add_subplot(1, 2, 1, projection='3d')
surf1 = world.surface(300, 300)
snap1 = camera.snap(100, 100, 50, (0, 30, 0), 20, 30, 30)
world1 = plot_world(surf1, ax1)
plot_camera(snap1, ax1)
set_axes_equal(ax1)
fig.colorbar(world1, shrink=0.5, aspect=5)
# Visualize point cloud in different figure axis
ax2 = fig.add_subplot(1, 2, 2, projection='3d')
surf2 = world.surface(300, 300)
snap2 = camera.snap(100, 100, 50, (0, 30, 0), 20, 30, 30)
world2 = plot_world(surf2, ax2)
plot_camera(snap2, ax2, plotrays=False)
set_axes_equal(ax2)
fig.colorbar(world2, shrink=0.5, aspect=5)
plt.show()
def render():
# fig = plt.figure(figsize=plt.figaspect(0.5))
fig = plt.figure(figsize=(16, 8))
specs = {
"xmax": 30,
"ymax": 20,
"focalx": 15,
"focaly": 10,
"focalz": 2
} # units of pixel except for focalz ....
########## First figure axis ##########
ax1 = fig.add_subplot(1, 2, 1, projection='3d')
ground = world.ground(100, 100)
plot_world(ax1, ground)
# cube = world.cube(0,0,10)
# plot_surfs(ax1, *cube)
box = world.box((50, -50, 20), (50, 50, 20), (30, 50, 20), (30, -50, 20))
plot_surfs(ax1, *box)
orientation2 = (0, -20, 0)
snap1 = camera.snap(20, 0, 50, *orientation2, **specs)
plot_camera(ax1, snap1, True)
set_bounds(ax1)
########## Second figure axis ##########
ax2 = fig.add_subplot(1, 2, 2, projection='3d')
set_axes_equal(ax1, ax2)
# pointcloud = projection.pointcloud(snap1)
# ground_cloud = projection.points_to_pointcloud(pointcloud.project_to_ground())
# ax2.scatter(*ground_cloud)
# pointcloud = projection.pointcloud(snap1)
# box_cloud = projection.points_to_pointcloud(pointcloud.penetrate_plane(*box, camera_pov=False))
# ax2.scatter(*box_cloud)
proj2 = projection.pointcloud(snap1)
pointcloud2 = proj2.project_to_plane(*box, ground, camera_pov=False)
box_cloud = projection.points_to_pointcloud(pointcloud2)
ax2.scatter(*box_cloud)
plt.show()
database=cred['connection']['database'],
#port=cred['connection']['port']
)
mycursor = mydb.cursor()
def writeImagePath(image_path, timeStr):
sql = "INSERT INTO images (path,datetime) VALUES (%s,%s)"
val = (image_path, timeStr)
mycursor.execute(sql, val)
mydb.commit()
while True:
now = time.localtime()
timeStr = str(now[1]) + '/' + str(now[2]) + '/' + str(
now[0]) + ' - ' + str(now[3]) + ':' + str(now[4])
timestamp = str(now[0]) + str(now[1]).zfill(2) + str(
now[2]).zfill(2) + str(now[3]).zfill(2) + str(now[4]).zfill(2)
datestamp = str(now[0]) + '-' + str(now[1]).zfill(2) + '-' + str(
now[2]).zfill(2)
dateTime = str(now[0]) + '-' + str(now[1]).zfill(2) + '-' + str(
now[2]).zfill(2) + ' ' + str(now[3]).zfill(2) + ':' + str(
now[4]).zfill(2) + ':' + str(now[5]).zfill(2)
image_path = os.path.join("..", "dash", "static", "dash", "images",
datestamp, timestamp + '.jpg')
camera.snap(image_path, timeStr)
writeImagePath(image_path, dateTime)
time.sleep(300)
plot_camera(ax1, snap, True)
set_bounds(ax1)
########## Second figure axis ##########
ax2 = fig.add_subplot(1, 2, 2, projection='3d')
set_axes_equal(ax1,ax2)
for pointcloud in pointclouds:
ax2.scatter(*pointcloud)
plt.show()
if __name__== "__main__":
terrain = "terrains/griffith.stl"
specs = {"xmax":30, "ymax":20, "focalx":15, "focaly":10, "focalz":2} # units of pixel except for focalz ....
orientation1=(0,0,0)
snap1 = camera.snap(20, 20, 20, *orientation1, **specs)
orientation2=(0,0,0)
snap2 = camera.snap(30, 20, 20, *orientation2, **specs)
proj1 = projection.pointcloud(snap1)
pointcloud1 = proj1.project_to_mesh(terrain, convert=True)
proj2 = projection.pointcloud(snap2)
pointcloud2 = proj2.project_to_mesh(terrain, convert=True)
render(terrain, [snap1, snap2], [pointcloud1, pointcloud2])
#!/usr/bin/env python
import camera
import sys
if len(sys.argv) > 1:
camera.snap(str(sys.argv[1]))
else:
camera.snap('')