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)
else:
gpyWindow = glumpy_setting.GpyWindow()
if addPlane:
for j in range(0, pano_length):
sv3D = sv3DRegion.sv3D_Time[j]
for i in range(0, len(sv3D.gnd_plane)):
programGround = glumpy_setting.ProgramPlane(data=sv3D.gnd_plane[i]['data'], name='test',
face=sv3D.gnd_plane[i]['tri'])
gpyWindow.add_program(programGround)
if createSFM:
gpyWindow.add_program(programSFM3DRegion)
gpyWindow.add_program(programTrajectory)
index = 0
for sv3D_id, sv3D in sorted(sv3DRegion.sv3D_Dict.items()):
sv3D.apply_global_adjustment()
sv3D.apply_local_adjustment()
if index == 0:
data = sv3D.ptCLoudData
else:
data = np.concatenate((data, sv3D.ptCLoudData), axis=0)
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
"""
