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:
programSV3DRegion.apply_anchor_flip()
programSV3DRegionGnd.apply_anchor_flip()
programSV3DTopology.apply_anchor_flip()
"""
For Visualize
"""
if needVisual:
gpyWindow = glumpy_setting.GpyWindow()
if createSV:
gpyWindow.add_program(programSV3DRegion)
cur = y * pano_width + pano_width - 1
tri[tri_idx] = [cur, cur-pano_width+1, cur+pano_width]
tri[tri_idx+pano_height*pano_width] = [cur+pano_width, cur-pano_width+1, cur+1]
tri_idx += 1
# TODO: top and bottom
programPerspective = glumpy_setting.ProgramPlane(data=perspective_data, name='perspective',
face=tri)
else:
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, 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)
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']
show_pano = np.concatenate((ori_pano, syn_pano), axis=1)
#scipy.misc.imsave('yo.png', syn_pano)
#scipy.misc.imshow(show_pano)
programSV3DRegion = glumpy_setting.ProgramSV3DRegion(
data=data, name='ProgramSV3DRegion',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion(
data=dataGnd, name='ProgramSV3DRegion',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
programSV3DTopology = glumpy_setting.ProgramSV3DTopology(
data=sv3DRegion.topologyData, name='ProgramSV3DRegion',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
data = np.zeros(pano_length+1, dtype=[('a_position', np.float32, 3), ('a_color', np.float32, 3)])
data['a_color'] = [0, 1, 0]
data['a_color'][nearest_pano_idx] = [0, 0, 1]
for i in range(0, pano_length):
data['a_position'][i] = pano_ori_set[i]
data['a_position'][-1] = randomPos
data['a_color'][-1] = [1, 1, 0]
programSV3DNearest = glumpy_setting.ProgramSV3DTopology(
data=data, name='ProgramSV3DRegion',
anchor_matrix=sv3DRegion.anchorMatrix, anchor_yaw=sv3DRegion.anchorYaw, is_inverse=needMatchInfo3d)
"""
For Visualize
