def __init__(self,
position,
width,
height,
depth,
color,
shader_manager=None):
box_mesh, box_faces, _ = geometry.create_box(
width,
height,
depth,
width_segments=int(width * 5),
height_segments=int(height * 5),
depth_segments=int(depth * 5))
box_buffer = np.zeros(len(box_mesh['position']),
dtype=[('a_position', np.float32, 3),
('a_normal', np.float32, 3)])
box_buffer['a_position'] = box_mesh['position']
box_buffer['a_normal'] = box_mesh['normal']
# No textures for now
# vertex_buffer['a_texcoord'] = box_buffer['texcoord']
super(self.__class__, self).__init__(gloo.VertexBuffer(box_buffer),
faces=box_faces,
position=position,
color=color)
def __init__(self):
app.Canvas.__init__(self, keys='interactive', size=(800, 550))
vertices, faces, outline = create_box(width=1, height=1, depth=1,
width_segments=4,
height_segments=8,
depth_segments=16)
self.box = visuals.BoxVisual(width=1, height=1, depth=1,
width_segments=4,
height_segments=8,
depth_segments=16,
vertex_colors=vertices['color'],
edge_color='b')
self.theta = 0
self.phi = 0
self.transform = MatrixTransform()
self.box.transform = self.transform
self.show()
self.timer = app.Timer(connect=self.rotate)
self.timer.start(0.016)
def __init__(self):
app.Canvas.__init__(self, keys='interactive', size=(800, 550))
vertices, faces, outline = create_box(width=1, height=1, depth=1,
width_segments=4,
height_segments=8,
depth_segments=16)
self.box = visuals.BoxVisual(width=1, height=1, depth=1,
width_segments=4,
height_segments=8,
depth_segments=16,
vertex_colors=vertices['color'],
edge_color='b')
self.theta = 0
self.phi = 0
self.transform = MatrixTransform()
self.box.transform = self.transform
self.show()
self.timer = app.Timer(connect=self.rotate)
self.timer.start(0.016)
def reset(self, sem_color_dict=None):
""" Reset. """
# new canvas prepared for visualizing data
self.map_color(sem_color_dict=sem_color_dict)
self.canvas = SceneCanvas(keys='interactive', show=True)
# grid
self.grid = self.canvas.central_widget.add_grid()
# laserscan part
self.scan_view = vispy.scene.widgets.ViewBox(border_color='white',
parent=self.canvas.scene)
self.grid.add_widget(self.scan_view, 0, 0)
self.scan_view.camera = 'turntable'
self.scan_vis = visuals.Markers()
self.scan_view.add(self.scan_vis)
if self.viz_joint:
self.joint_vis = visuals.Arrow(connect='segments',
arrow_size=18,
color='blue',
width=10,
arrow_type='angle_60')
self.arrow_length = 10
self.scan_view.add(self.joint_vis)
if self.viz_box:
vertices, faces, outline = create_box(width=1,
height=1,
depth=1,
width_segments=1,
height_segments=1,
depth_segments=1)
vertices['color'][:, 3] = 0.2
# breakpoint()
self.box = visuals.Box(vertex_colors=vertices['color'],
edge_color='b')
self.box.transform = STTransform(translate=[-2.5, 0, 0])
self.theta = 0
self.phi = 0
self.scan_view.add(self.box)
visuals.XYZAxis(parent=self.scan_view.scene)
# add nocs
if self.viz_label:
print("Using nocs in visualizer")
self.nocs_view = vispy.scene.widgets.ViewBox(
border_color='white', parent=self.canvas.scene)
self.grid.add_widget(self.nocs_view, 0, 1)
self.label_vis = visuals.Markers()
self.nocs_view.camera = 'turntable'
self.nocs_view.add(self.label_vis)
visuals.XYZAxis(parent=self.nocs_view.scene)
self.nocs_view.camera.link(self.scan_view.camera)
def __init__(self, position, width, height, depth, color):
box_mesh, box_faces, _ = geometry.create_box(
width, height, depth,
width_segments=int(width * 5),
height_segments=int(height * 5),
depth_segments=int(depth * 5)
)
box_buffer = np.zeros(
len(box_mesh['position']),
dtype=[
('a_position', np.float32, 3),
('a_normal', np.float32, 3)
]
)
box_buffer['a_position'] = box_mesh['position']
box_buffer['a_normal'] = box_mesh['normal']
# No textures for now
# vertex_buffer['a_texcoord'] = box_buffer['texcoord']
super(self.__class__, self).__init__(gloo.VertexBuffer(box_buffer), faces=box_faces, position=position, color=color)
def test_box():
"""Test box function"""
vertices, filled, outline = create_box()
assert_array_equal(np.arange(len(vertices)), np.unique(filled))
assert_array_equal(np.arange(len(vertices)), np.unique(outline))
"""
Simple demonstration of the box geometry.
"""
import sys
from vispy import scene
from vispy import geometry
canvas = scene.SceneCanvas(keys='interactive', size=(800, 600), show=True)
view = canvas.central_widget.add_view()
vertices, faces, outline = geometry.create_box(width=2, height=4, depth=8,
width_segments=4,
height_segments=8,
depth_segments=16)
box = scene.visuals.Box(width=4, height=4, depth=8, width_segments=4,
height_segments=8, depth_segments=16,
vertex_colors=vertices['color'],
edge_color='k',
parent=view.scene)
camera = scene.cameras.TurntableCamera(fov=45, azimuth=60, parent=view.scene)
view.camera = camera
if __name__ == '__main__' and sys.flags.interactive == 0:
canvas.app.run()
