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 """