def load_bunny():
with open(cv.samples.findFile("../viz/data/bunny.ply"), 'r') as f:
s = f.read()
ligne = s.split('\n')
if len(ligne) == 5753:
pts3d = np.zeros(shape=(1,1889,3), dtype=np.float32)
pts3d_c = 255 * np.ones(shape=(1,1889,3), dtype=np.uint8)
pts3d_n = np.ones(shape=(1,1889,3), dtype=np.float32)
for idx in range(12,1889):
d = ligne[idx].split(' ')
pts3d[0,idx-12,:] = (float(d[0]), float(d[1]), float(d[2]))
pts3d = 5 * pts3d
return cv.viz_WCloud(pts3d)
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_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_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)