) # Absolute position on earth (lat, lon, yaw) sv3D.apply_local_adjustment( ) # Relative position according to anchor (anchor's lat,lon) if index == 0: data = sv3D.ptCLoudData dataGnd = sv3D.ptCLoudDataGnd else: data = np.concatenate((data, sv3D.ptCLoudData), axis=0) dataGnd = np.concatenate((data, sv3D.ptCLoudDataGnd), axis=0) index += 1 programSV3DRegion = glumpy_setting.ProgramSV3DRegion( data=data, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw) programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion( data=dataGnd, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw) programSV3DTopology = glumpy_setting.ProgramSV3DTopology( data=sv3DRegion.topologyData, name='ProgramSV3DRegion', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw) if needMatchInfo3d: # This rotate the SV3D for matching x-y plane
img_ratio2*img_color2 + img_ratio3*img_color3 perspective_90[p_y, p_x, :] = img_color scipy.misc.imsave( sv3D.panoMeta['panoId'] + '_' + str(degree) + '.png', perspective_90) perspective_90_set.append(perspective_90) """ Visualization Data """ if needVisual: programSV3DRegion = glumpy_setting.ProgramSV3DRegion( data=data, name='ProgramSV3DRegion', point_size=1, anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d) programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion( data=dataGnd, name='ProgramSV3DRegionGnd', point_size=1, anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d) programSV3DTopology = glumpy_setting.ProgramSV3DTopology( data=sv3DRegion.topologyData, name='programSV3DTopology', anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw,
sv3D.apply_local_adjustment() if index == 0: anchor_matrix_whole = np.dot(sv3D.matrix_local, sv3D.matrix_global) data = sv3D.ptCLoudData else: data = np.concatenate((data, sv3D.ptCLoudData), axis=0) index += 1 """ For info_3d """ ''' for img, gps in info_3d.items(): for gps, indices in info_3d[img].items(): print(gps, sv3DRegion.fileMeta['info2ID'][gps], sv3DRegion.fileMeta['id2GPS'][sv3DRegion.fileMeta['info2ID'][gps]]) sv3D = sv3DRegion.sv3D_Dict[sv3DRegion.fileMeta['info2ID'][gps]] programSV3D = glumpy_setting.ProgramSV3D(data=sv3D.ptCLoudData, name=str(index), point_size=1) index += 1 ''' programSV3DRegion = glumpy_setting.ProgramSV3DRegion( data=data, name=None, point_size=1, anchor=anchor_matrix_whole) gpyWindow.add_program(programSV3DRegion) programAxis = glumpy_setting.ProgramAxis(line_length=5) gpyWindow.add_program(programAxis) gpyWindow.run()
sv3D.apply_global_adjustment() # Absolute position on earth sv3D.apply_local_adjustment( ) # Relative position according to anchor if index == 0: data = sv3D.ptCLoudData dataGnd = sv3D.ptCLoudDataGnd else: data = np.concatenate((data, sv3D.ptCLoudData), axis=0) dataGnd = np.concatenate((data, sv3D.ptCLoudDataGnd), axis=0) index += 1 programSV3DRegion = glumpy_setting.ProgramSV3DRegion( data=data, name='ProgramSV3DRegion', point_size=1, anchor_matrix=anchor_matrix_whole) programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion( data=dataGnd, name='ProgramSV3DRegion', point_size=1, anchor_matrix=anchor_matrix_whole) if needMatchInfo3d: programSV3DRegion.apply_anchor_flip() programSV3DRegionGnd.apply_anchor_flip() """ For Visualize """ if needVisual: gpyWindow = glumpy_setting.GpyWindow()