if imageSynthesis and i == nearest_pano_idx:
# calculate synthesis view
ori_pano = scipy.misc.imresize(
sv3D.panorama,
(256, 512), interp='bilinear', mode=None) / 255.0
index_pano = np.full((256, 512), False, dtype=bool)
point = sv3D.ptCLoudData[np.nonzero(
sv3D.gnd_con)]['a_position']
yo_xyz = []
yo_color = []
yo_len = 0
for point in sv3D.ptCLoudData:
if np.isnan(point['a_position']).any():
continue
x, y, z = point['a_position'] - np.array(randomPos)
lng, lat = base_process.pos_2_deg(x, y, z)
lng = (lng + randomDeg) % 360
img_x = int(lng / 360.0 * 512.0)
img_y = int(-(lat - 90) / 180.0 * 256.0)
syn_pano[img_y, img_x, :] = point['a_color']
index_pano[img_y, img_x] = True
yo_xyz.append([img_x, img_y, 0])
yo_color.append(point['a_color'])
yo_len += 1
show_pano = np.concatenate((ori_pano, syn_pano), axis=1)
#scipy.misc.imsave('yo.png', syn_pano)
scipy.misc.imshow(show_pano)
data_all = sv3D.ptCLoudData
programTexture_set, rrr = [], []
# For each planes
for plane_idx in range(0, len(plane_split)):
print('{:d}/{:d}'.format(plane_idx, len(plane_split)))
# Prepared for texture output
if needTexture:
# Reset for each plane
texture_xyz_3d, texture_xyz, texture_color, texture_len = [], [], [], 0
sel = data_all[np.nonzero(indices_split == plane_idx)]
# For each point
for point in sel:
if np.isnan(point['a_position']).any():
continue
x, y, z = point['a_position'] - np.array(randomPos)
lng, lat = base_process.pos_2_deg(x, y, z)
lng = (lng + randomDeg) % 360
img_x = int(lng / 360.0 * texture_width)
img_y = int(-(lat - 90) / 180.0 * texture_height)
syn_pano[img_y, img_x, :] = point['a_color']
index_pano[img_y, img_x] = True
if needTexture:
texture_xyz_3d.append([x, y, z])
texture_xyz.append([img_x, img_y, 0])
texture_color.append(point['a_color'])
texture_len += 1
#indices_split_visual = np.zeros((256, 512))
#indices_split_visual[np.nonzero(indices_split_reshape == plane_idx)] = 1
#scipy.misc.imshow(indices_split_visual)
