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_camera_positions(self):
K = np.array(
[[1024.0, 0.0, 320.0], [0.0, 1024.0, 240.0], [0.0, 0.0, 1.0]],
dtype=np.float64)
lena = cv.imread(self.find_file("viz/lena.png"))
lena_gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY)
poses = []
for i in range(2):
pose = (5 * np.sin(3.14 + 2.7 + i * 60 * np.pi / 180), 2 - i * 1.5,
5 * np.cos(3.14 + 2.7 + i * 60 * np.pi / 180))
poses.append(
cv.viz.makeCameraPose(pose, (0.0, 0.0, 0.0), (0.0, -0.1, 0.0)))
viz = cv.viz_Viz3d("show_camera_positions")
viz.showWidget(
"sphe",
cv.viz_WSphere((0, 0, 0), 1.0, 10,
cv.viz_Color().orange_red()))
viz.showWidget("coos", cv.viz_WCoordinateSystem(1.5))
viz.showWidget("pos1", cv.viz_WCameraPosition(0.75), poses[0])
viz.showWidget(
"pos2",
cv.viz_WCameraPosition((0.78, 0.78), lena, 2.2,
cv.viz_Color().green()), poses[0])
viz.showWidget("pos3", cv.viz_WCameraPosition(0.75), poses[0])
viz.showWidget(
"pos4",
cv.viz_WCameraPosition(K, lena_gray, 3,
cv.viz_Color().indigo()), poses[1])
viz.showWidget(
"text2d",
cv.viz_WText("Camera positions with images", (20, 20), 20,
cv.viz_Color().green()))
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_polyline(self):
palette = [
cv.viz_Color().red(),
cv.viz_Color().green(),
cv.viz_Color().blue(),
cv.viz_Color().gold(),
cv.viz_Color().raspberry(),
cv.viz_Color().bluberry(),
cv.viz_Color().lime()
]
palette_size = len(palette)
polyline = np.zeros(shape=(1, 32, 3), dtype=np.float32)
colors = np.zeros(shape=(1, 32, 3), dtype=np.uint8)
for i in range(polyline.shape[1]):
polyline[0, i, 0] = i / 16.0
polyline[0, i, 1] = np.cos(i * np.pi / 6)
polyline[0, i, 2] = np.sin(i * np.pi / 6)
colors[0, i, 0] = palette[i % palette_size].get_blue()
colors[0, i, 1] = palette[i % palette_size].get_green()
colors[0, i, 2] = palette[i % palette_size].get_red()
viz = cv.viz_Viz3d("show_polyline")
viz.showWidget("polyline", cv.viz_WPolyLine(polyline, colors))
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget(
"text2d",
cv.viz_WText("Polyline", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_image_method(self):
lena = cv.imread(self.find_file("viz/lena.png"))
lena_gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY)
viz = cv.viz_Viz3d("show_image_method")
viz.showImage(lena)
viz.spinOnce(1500, True)
viz.showImage(lena, (lena.shape[1], lena.shape[0]))
viz.spinOnce(1500, 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_trajectories(self):
mat, path = generate_test_trajectory()
size = len(path)
sub0 = np.copy(mat[0:size // 10 + 1, ::])
sub1 = np.copy(mat[size // 10:size // 5 + 1, ::])
sub2 = np.copy(mat[size // 5:11 * size // 12, ::])
sub3 = np.copy(mat[11 * size // 12:size, ::])
sub4 = np.copy(mat[3 * size // 4:33 * size // 40, ::])
sub5 = np.copy(mat[11 * size // 12:size, ::])
K = np.array(
[[1024.0, 0.0, 320.0], [0.0, 1024.0, 240.0], [0.0, 0.0, 1.0]],
dtype=np.float64)
viz = cv.viz_Viz3d("show_trajectories")
viz.showWidget("coos", cv.viz_WCoordinateSystem())
viz.showWidget("sub0", cv.viz_WTrajectorySpheres(sub0, 0.25, 0.07))
viz.showWidget(
"sub1",
cv.viz_WTrajectory(sub1, cv.viz.PyWTrajectory_PATH, 0.2,
cv.viz_Color().brown()))
viz.showWidget(
"sub2", cv.viz_WTrajectory(sub2, cv.viz.PyWTrajectory_FRAMES, 0.2))
viz.showWidget(
"sub3",
cv.viz_WTrajectory(sub3, cv.viz.PyWTrajectory_BOTH, 0.2,
cv.viz_Color().green()))
viz.showWidget(
"sub4",
cv.viz_WTrajectoryFrustums(sub4, K, 0.3,
cv.viz_Color().yellow()))
viz.showWidget("sub5",
cv.viz_WTrajectoryFrustums(
sub5, (0.78, 0.78), 0.15,
cv.viz_Color().magenta())) #BUG
viz.showWidget(
"text2d",
cv.viz_WText("Different kinds of supported trajectories", (20, 20),
20,
cv.viz_Color().green()))
i = 0
for num in range(50):
i = i - 1
a = i % 360
pose = (np.sin(a * np.pi / 180) * 7.5, 0.7,
np.cos(a * np.pi / 180) * 7.5)
viz.setViewerPose(
cv.viz.makeCameraPose(pose, (0.0, 0.5, 0.0), (0.0, 0.1, 0.0)))
viz.spinOnce(100, True)
viz.resetCamera()
viz.spinOnce(500, True)
def test_viz_show_overlay_image(self):
lena = cv.imread(self.find_file("viz/lena.png"))
gray = cv.cvtColor(lena, cv.COLOR_BGR2GRAY)
rows = lena.shape[0]
cols = lena.shape[1]
half_lsize = (lena.shape[1] // 2, lena.shape[0] // 2)
viz = cv.viz_Viz3d("show_overlay_image")
viz.setBackgroundMeshLab()
vsz = viz.getWindowSize()
viz.showWidget("coos", cv.viz_WCoordinateSystem())
viz.showWidget("cube", cv.viz_WCube())
x = cv.viz_WImageOverlay(lena, (10, 10, half_lsize[1], half_lsize[0]))
viz.showWidget("img1", x)
viz.showWidget(
"img2",
cv.viz_WImageOverlay(
gray,
(vsz[0] - 10 - cols // 2, 10, half_lsize[1], half_lsize[0])))
viz.showWidget(
"img3",
cv.viz_WImageOverlay(
gray,
(10, vsz[1] - 10 - rows // 2, half_lsize[1], half_lsize[0])))
viz.showWidget(
"img5",
cv.viz_WImageOverlay(lena,
(vsz[0] - 10 - cols // 2, vsz[1] - 10 -
rows // 2, half_lsize[1], half_lsize[0])))
viz.showWidget(
"text2d",
cv.viz_WText("Overlay images", (20, 20), 20,
cv.viz_Color().green()))
i = 0
for num in range(50):
i = i + 1
a = i % 360
pose = (3 * np.sin(a * np.pi / 180), 2.1,
3 * np.cos(a * np.pi / 180))
viz.setViewerPose(
cv.viz.makeCameraPose(pose, (0.0, 0.5, 0.0), (0.0, 0.1, 0.0)))
img = lena * (np.sin(i * 10 * np.pi / 180) * 0.5 + 0.5)
x.setImage(img.astype(np.uint8))
viz.spinOnce(100, True)
viz.showWidget(
"text2d",
cv.viz_WText("Overlay images (stopped)", (20, 20), 20,
cv.viz_Color().green()))
viz.spinOnce(500, True)
def test_viz_show_trajectory_reposition(self):
mat, path = generate_test_trajectory()
viz = cv.viz_Viz3d("show_trajectory_reposition_to_origin")
viz.showWidget("coos", cv.viz_WCoordinateSystem())
viz.showWidget(
"sub3",
cv.viz_WTrajectory(mat[0:len(path) // 3, :, :],
cv.viz.PyWTrajectory_BOTH, 0.2,
cv.viz_Color().brown()), path[0].inv())
viz.showWidget(
"text2d",
cv.viz_WText("Trajectory resposition to origin", (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 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_textured_mesh(self):
lena = cv.imread(self.find_file("viz/lena.png"))
angle = np.arange(0, 64)
points0 = np.vstack(
(np.zeros(shape=angle.shape, dtype=np.float32),
np.cos(angle * np.pi / 128), np.sin(angle * np.pi / 128)))
points1 = np.vstack(
(1.57 * np.ones(shape=angle.shape, dtype=np.float32),
np.cos(angle * np.pi / 128), np.sin(angle * np.pi / 128)))
tcoords0 = np.vstack((np.zeros(shape=angle.shape,
dtype=np.float32), angle / 64))
tcoords1 = np.vstack((np.ones(shape=angle.shape,
dtype=np.float32), angle / 64))
points = np.zeros(shape=(points0.shape[0], points0.shape[1] * 2),
dtype=np.float32)
tcoords = np.zeros(shape=(tcoords0.shape[0], tcoords0.shape[1] * 2),
dtype=np.float32)
tcoords[:, 0::2] = tcoords0
tcoords[:, 1::2] = tcoords1
points[:, 0::2] = points0 * 0.75
points[:, 1::2] = points1 * 0.75
polygons = np.zeros(shape=(4 * (points.shape[1] - 2) + 1),
dtype=np.int32)
for idx in range(points.shape[1] // 2 - 1):
polygons[8 * idx:8 * (idx + 1)] = [
3, 2 * idx, 2 * idx + 1, 2 * idx + 2, 3, 2 * idx + 1,
2 * idx + 2, 2 * idx + 3
]
mesh = cv.viz_Mesh()
mesh.cloud = points.transpose().reshape(1, points.shape[1],
points.shape[0])
mesh.tcoords = tcoords.transpose().reshape(1, tcoords.shape[1],
tcoords.shape[0])
mesh.polygons = polygons.reshape(1, 4 * (points.shape[1] - 2) + 1)
mesh.texture = lena
viz = cv.viz_Viz3d("show_textured_mesh")
viz.setBackgroundMeshLab()
viz.showWidget("coosys", cv.viz_WCoordinateSystem())
viz.showWidget("mesh", cv.viz_WMesh(mesh))
viz.setRenderingProperty("mesh", cv.viz.SHADING, cv.viz.SHADING_PHONG)
viz.showWidget(
"text2d",
cv.viz_WText("Textured mesh", (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_follower(self):
viz = cv.viz_Viz3d("show_follower")
viz.showWidget("coos", cv.viz_WCoordinateSystem())
viz.showWidget("cube", cv.viz_WCube())
text_3d = cv.viz_WText3D("Simple 3D follower", (-0.5, -0.5, 0.5),
0.125, True,
cv.viz_Color().green())
viz.showWidget("t3d_2", text_3d)
viz.showWidget(
"text2d",
cv.viz_WText("Follower: text always facing camera", (20, 20), 20,
cv.viz_Color().green()))
viz.setBackgroundMeshLab()
viz.spinOnce(500, True)
text_3d.setText("Updated follower 3D")
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_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)
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)
import numpy as np
import cv2 as cv
my_window = cv.viz_Viz3d("Coordinate Frame")
axe = cv.viz_PyWCoordinateSystem()
axis = cv.viz_PyWLine((-1.0, -1.0, -1.0), (1.0, 1.0, 1.0),
cv.viz_PyColor().green())
axis.setRenderingProperty(cv.viz.LINE_WIDTH, 4.0)
my_window.showWidget("axe", axis)
plan = cv.viz_PyWPlane((-1.0, -1.0, -1.0), (1.0, .0, .0), (-.0, .0, -1.0))
#my_window.showWidget("plan", plan)
cube = cv.viz_PyWCube((0.5, 0.5, 0.0), (0.0, 0.0, -0.5), True,
cv.viz_PyColor().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)
def test_viz(self):
dragon_cloud, _, _ = cv.viz.readCloud(self.find_file("viz/dragon.ply"))
myWindow = cv.viz_Viz3d("abc")
myWindow.showWidget("coo", cv.viz_WCoordinateSystem(1))
myWindow.showWidget("cloud", cv.viz_WPaintedCloud(dragon_cloud))
myWindow.spinOnce(500, True)
