def __init__(self): self.start = 0 self.step = 5 self.end = self.step * 500 self.count = 0 self.ren = vtk.vtkRenderer() args = parse_args(sys.argv[1], sys.argv[2]) # Transforms self.imu_transforms = get_transforms(args) self.trans_wrt_imu = self.imu_transforms[ self.start:self.end:self.step, 0:3, 3] self.params = args['params'] self.lidar_params = self.params['lidar'] ml = MultiLane(sys.argv[3], sys.argv[4], 2, 2) ml.extendLanes() saveInterp(ml.interp, ml.rightLanes + ml.leftLanes) ml.filterLaneMarkings() print 'Adding filtered points' pts = ml.lanes.copy() raw_cloud = VtkPointCloud(pts[:, :3], pts[:, 4]) raw_actor = raw_cloud.get_vtk_cloud(zMin=0, zMax=100) self.ren.AddActor(raw_actor) try: npz = np.load('cluster.npz') print 'Loading clusters from file' ml.lanes = npz['data'] ml.times = npz['t'] except IOError: print 'Clustering points' ml.clusterLanes() ml.saveLanes('cluster.npz') ml.sampleLanes() print 'Adding clustered points' clusters = ml.lanes.copy() cluster_cloud = VtkPointCloud(clusters[:, :3], clusters[:, -2]) cluster_actor = cluster_cloud.get_vtk_cloud(zMin=0, zMax=4) cluster_actor.GetProperty().SetPointSize(10) self.ren.AddActor(cluster_actor) print 'Interpolating lanes' ml.interpolateLanes() interp_lanes = ml.interp_lanes.copy() interp_lanes_cloud = VtkPointCloud(interp_lanes[:, :3], interp_lanes[:, 3]) interp_lanes_actor = interp_lanes_cloud.get_vtk_cloud(zMin=0, zMax=4) self.ren.AddActor(interp_lanes_actor) # ml.fixMissingPoints() # saveClusters(ml.lanes, ml.times, -1, 5) print 'Adding car' self.car = load_ply('../mapping/viz/gtr.ply') self.ren.AddActor(self.car) self.car.GetProperty().LightingOff() print 'Rendering' self.ren.ResetCamera() self.win = vtk.vtkRenderWindow() self.ren.SetBackground(0, 0, 0) self.win.AddRenderer(self.ren) self.win.SetSize(800, 400) self.iren = vtk.vtkRenderWindowInteractor() self.iren .SetRenderWindow(self.win) mouseInteractor = vtk.vtkInteractorStyleTrackballCamera() self.iren.SetInteractorStyle(mouseInteractor) self.iren.Initialize() # Whether to write video self.record = False # Set up time self.iren.AddObserver('TimerEvent', self.update) self.timer = self.iren.CreateRepeatingTimer(100) # Add keypress event self.iren.AddObserver('KeyPressEvent', self.keyhandler) self.mode = 'ahead' self.iren.Start()
def __init__(self): self.start = 0 self.step = 5 self.end = self.step * 500 self.count = 0 self.ren = vtk.vtkRenderer() args = parse_args(sys.argv[1], sys.argv[2]) # Transforms self.imu_transforms = get_transforms(args) self.trans_wrt_imu = self.imu_transforms[self.start:self.end:self.step, 0:3, 3] self.params = args['params'] self.lidar_params = self.params['lidar'] ml = MultiLane(sys.argv[3], sys.argv[4], 2, 2) ml.extendLanes() saveInterp(ml.interp, ml.rightLanes + ml.leftLanes) ml.filterLaneMarkings() print 'Adding filtered points' pts = ml.lanes.copy() raw_cloud = VtkPointCloud(pts[:, :3], pts[:, 4]) raw_actor = raw_cloud.get_vtk_cloud(zMin=0, zMax=100) self.ren.AddActor(raw_actor) try: npz = np.load('cluster.npz') print 'Loading clusters from file' ml.lanes = npz['data'] ml.times = npz['t'] except IOError: print 'Clustering points' ml.clusterLanes() ml.saveLanes('cluster.npz') ml.sampleLanes() print 'Adding clustered points' clusters = ml.lanes.copy() cluster_cloud = VtkPointCloud(clusters[:, :3], clusters[:, -2]) cluster_actor = cluster_cloud.get_vtk_cloud(zMin=0, zMax=4) cluster_actor.GetProperty().SetPointSize(10) self.ren.AddActor(cluster_actor) print 'Interpolating lanes' ml.interpolateLanes() interp_lanes = ml.interp_lanes.copy() interp_lanes_cloud = VtkPointCloud(interp_lanes[:, :3], interp_lanes[:, 3]) interp_lanes_actor = interp_lanes_cloud.get_vtk_cloud(zMin=0, zMax=4) self.ren.AddActor(interp_lanes_actor) # ml.fixMissingPoints() # saveClusters(ml.lanes, ml.times, -1, 5) print 'Adding car' self.car = load_ply('../mapping/viz/gtr.ply') self.ren.AddActor(self.car) self.car.GetProperty().LightingOff() print 'Rendering' self.ren.ResetCamera() self.win = vtk.vtkRenderWindow() self.ren.SetBackground(0, 0, 0) self.win.AddRenderer(self.ren) self.win.SetSize(800, 400) self.iren = vtk.vtkRenderWindowInteractor() self.iren.SetRenderWindow(self.win) mouseInteractor = vtk.vtkInteractorStyleTrackballCamera() self.iren.SetInteractorStyle(mouseInteractor) self.iren.Initialize() # Whether to write video self.record = False # Set up time self.iren.AddObserver('TimerEvent', self.update) self.timer = self.iren.CreateRepeatingTimer(100) # Add keypress event self.iren.AddObserver('KeyPressEvent', self.keyhandler) self.mode = 'ahead' self.iren.Start()