def __init__(self,
keys='interactive',
size=(640, 480),
show=True,
**kwargs):
super().__init__(keys=keys, size=size, show=show, **kwargs)
self.unfreeze()
self._viewbox = self.central_widget.add_view(camera='turntable')
self._baseAxis = visuals.XYZAxis(parent=self._viewbox.scene, width=5)
self._gridLines = visuals.GridLines()
self._viewbox.add(self._gridLines)
self._cubeAxis = visuals.XYZAxis(parent=self._viewbox.scene, width=5)
Plot3D = scene.visuals.create_visual_node(LinePlotVisual)
self._plot = Plot3D(([0], [0], [0]),
width=3.0,
color='y',
edge_color='w',
symbol='x',
face_color=(0.2, 0.2, 1, 0.8),
parent=self._viewbox.scene)
self._xPos = np.array([0], dtype=np.float32)
self._yPos = np.array([0], dtype=np.float32)
self._zPos = np.array([0], dtype=np.float32)
self._cube = visuals.Cube(parent=self._viewbox.scene,
color=(0.5, 0.5, 1, 0.5),
edge_color=(0.6, 0.2, 0.8, 1))
self._transform = MatrixTransform()
self._cube.transform = self._transform
self._cubeAxis.transform = self._transform
self.freeze()
def resetTwo(self):
""" Reset. """
# last key press (it should have a mutex, but visualization is not
# safety critical, so let's do things wrong)
self.action = "no" # no, next, back, quit are the possibilities
# new canvas prepared for visualizing data
self.canvas = SceneCanvas(keys='interactive', show=True)
# interface (n next, b back, q quit, very simple)
self.canvas.events.key_press.connect(self.key_press)
self.canvas.events.draw.connect(self.draw)
# 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_vis = visuals.Markers()
self.scan_view.camera = 'turntable'
self.scan_view.add(self.scan_vis)
visuals.XYZAxis(parent=self.scan_view.scene)
#if self.instances:
print("Using instances in visualizer")
self.inst_view = vispy.scene.widgets.ViewBox(border_color='white',
parent=self.canvas.scene)
self.grid.add_widget(self.inst_view, 0, 1)
self.inst_vis = visuals.Markers()
self.inst_view.camera = 'turntable'
self.inst_view.add(self.inst_vis)
visuals.XYZAxis(parent=self.inst_view.scene)
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 simple_viewer(reconstruction, data_path, has_color=1, show_camera=1):
pos, color = get_points(reconstruction, has_color)
#
# Make a canvas and add simple view
#
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
# create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(pos, edge_color=None, face_color=color, size=5)
view.add(scatter)
if (show_camera):
attach_cameras_to_view(reconstruction, view, data_path)
view.camera = 'arcball' # or try 'turntable'
# add a colored 3D axis for orientation
visuals.XYZAxis(parent=view.scene)
canvas.app.run()
def reset(self):
""" Reset. """
# last key press (it should have a mutex, but visualization is not
# safety critical, so let's do things wrong)
self.action = "no" # no, next, back, quit are the possibilities
# new canvas prepared for visualizing data
self.canvas = SceneCanvas(keys='interactive',
show=True,
size=self.canvas_size)
# interface (n next, b back, q quit, very simple)
self.canvas.events.key_press.connect(self.key_press)
self.canvas.events.draw.connect(self.draw)
# laserscan part
self.scan_view = vispy.scene.widgets.ViewBox(border_color='white',
parent=self.canvas.scene)
self.scan_view.camera = vispy.scene.TurntableCamera(elevation=30,
azimuth=-90,
distance=30,
translate_speed=30,
up='+z')
# grid
self.grid = self.canvas.central_widget.add_grid()
self.grid.add_widget(self.scan_view)
self.scan_vis = visuals.Markers(parent=self.scan_view.scene)
self.scan_vis.antialias = 0
# self.scan_view.add(self.scan_vis)
visuals.XYZAxis(parent=self.scan_view.scene)
self.line = visuals.Line(width=1,
method='gl',
parent=self.scan_view.scene)
self.text = visuals.Text(color='red',
font_size=600,
bold=True,
parent=self.scan_view.scene)
self.gt_line = visuals.Line(width=1000, parent=self.scan_view.scene)
# self.sem_view.camera.link(self.scan_view.camera)
if self.show_img:
# img canvas size
# new canvas for img
self.img_canvas = SceneCanvas(keys='interactive',
show=True,
size=(1242, 375))
# grid
self.img_grid = self.img_canvas.central_widget.add_grid()
# interface (n next, b back, q quit, very simple)
self.img_canvas.events.key_press.connect(self.key_press)
self.img_canvas.events.draw.connect(self.draw)
# add a view for the depth
self.img_view = vispy.scene.widgets.ViewBox(
border_color='white', parent=self.img_canvas.scene)
self.img_grid.add_widget(self.img_view, 0, 0)
self.img_vis = visuals.Image(cmap='viridis')
self.img_view.add(self.img_vis)
def __init__(self, planes, leyeball, reyeball, pipe):
'''
NOTE: the R200 camera uses a right-handed coordinate system!
This means that relative to the image projection, x-values
increase to the right and y-values increase as they go to the bottom
'''
self.leyeball = leyeball
self.reyeball = reyeball
self.le_vtx = None
self.re_vtx = None
self.canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
self.view = self.canvas.central_widget.add_view()
self.view.camera = 'turntable'
for p in planes:
mesh = self.__define_plane(p)
self.view.add(mesh)
self.__define_eyeballs()
axis = visuals.XYZAxis(parent=self.view.scene)
self.__build_gaze_rays()
self.pipe = pipe
self.quit = False
update_t = Thread(target=self.update, args=())
update_t.start()
self.run()
update_t.join()
def showInVispy(self, path):
# Make a canvas and add simple view
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
# 读取点云
with open(path, "r") as f:
lines = f.readlines()
lines = lines[13:]
points = np.ones((len(lines), 3))
colors = []
for i in range(len(lines)):
points[i, :3] = list(
map(float, lines[i].strip("\n").split(" ")[:3]))
colors.append(
tuple(
list(map(float,
lines[i].strip("\n").split(" ")[-3:]))))
colors = np.array(colors) / 255
# create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(points[:, :3],
edge_color=None,
face_color=colors,
size=4)
view.add(scatter)
view.camera = 'turntable' # or try 'arcball'
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
if sys.flags.interactive != 1:
vispy.app.run()
def plot_3d_point_clouds(pc1, pc2):
"""
Function plots 3d points from two pointclouds
Input:
pc1: Nx3 numpy array of first pointcloud
pc2: Nx3 numpy array of second pointcloud
"""
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
scatter1 = visuals.Markers()
scatter1.set_data(pc1,
edge_color=(1, 1, 1, .5),
face_color=(1, 1, 1, .5),
size=3)
scatter2 = visuals.Markers()
scatter2.set_data(pc2,
edge_color=(1, 1, 1, .5),
face_color=(1, 0, 0, .5),
size=5)
view.add(scatter1)
view.add(scatter2)
view.camera = 'turntable' # or try 'arcball'
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
vispy.app.run()
def draw_3D(*datas, labels=None):
canvas = vispy.scene.SceneCanvas(keys='interactive',
show=True,
bgcolor="white")
view = canvas.central_widget.add_view()
pos, colors = [], []
D = len(datas)
cm = matplotlib.cm.rainbow(np.linspace(0, 1, D))
for i, data in enumerate(datas):
pos.extend(data.T)
color = cm[i]
colors.extend([color] * len(data.T))
colors = np.array(colors)
pos = np.array(pos)
# create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(pos, edge_color=None, face_color=colors, size=5)
view.add(scatter)
view.camera = 'turntable' # or try 'arcball'
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
view.add(axis)
if labels is not None: # legend
for i, label in enumerate(labels):
leg = visuals.Text(label, color=cm[i], pos=(0, 10 * i))
canvas.scene.add(leg)
return canvas
def plot_structure_contours(point_cloud, title=''):
"""
PLot contours from Dicom Structure point cloud (x,y,z) property.
:param point_cloud: array of x,y,z contour points
:param symbol:
"""
#
# Make a canvas and add simple view
#
canvas = vispy.scene.SceneCanvas(title=title,
keys='interactive',
show=True,
bgcolor='white')
view = canvas.central_widget.add_view()
# create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(point_cloud, symbol='+', face_color=(1, 1, 1, .5), size=1)
view.add(scatter)
view.camera = 'arcball' # or try 'arcball'
# view.camera = 'turntable'
# add a colored 3D axis for orientation
visuals.XYZAxis(parent=view.scene)
vispy.app.run()
def __init__(self, width=800, height=800, show_axis=True):
self.canvas = SceneCanvas(size=(width, height), position=(0,0), keys='interactive', title=self.__class__.__name__)
self.view = self.canvas.central_widget.add_view()
self.view.camera = 'turntable'
if show_axis:
self.axis = visuals.XYZAxis(parent=self.view.scene)
self.canvas.show()
def draw_cloud(self, data, centroid, basis):
self.draw_axis(centroid, basis)
self.scatter.set_data(data,
edge_color=None,
face_color=(1, 1, 1, .5),
size=5)
self.view.add(self.scatter)
self.view.camera = 'turntable'
axis = visuals.XYZAxis(parent=self.view.scene)
def ScatterPlot3D(data,
labels=None,
x_feat=0,
y_feat=1,
z_feat=2,
label_feat=-1,
title="Scatterplot"):
""""
Creates a 3D scatterplot of data with unique colors for each label
:param
@data: matrix of row vectors containing data feature and optionally labels
@labels: optional vector of labels for the samples in @data
@x_feat: which feature in @data to use for the x-axis
@y_feat: which feature in @data to use for the y-axis
@z_feat: which feature in @data to use for the z-axis
@label_feat: which column in @data to use as labels (ignored if @labels is provided)
@title: plot window title
:returns
None
"""
# Extract data and labels if no label vector is supplied
if labels is None:
labels = data[:, label_feat]
data = np.delete(data, label_feat, axis=1)
# Create a canvas and add view
canvas = vispy.scene.SceneCanvas(title=title,
keys='interactive',
show=True)
view = canvas.central_widget.add_view()
# Separate data into point clouds based on label
unique_labels = np.unique(labels)
cm = Colormap(['r', 'g', 'b'])
for y in unique_labels:
cloud = data[np.where(labels.ravel() == y), :]
cloud = np.squeeze(cloud, axis=0)
# Define Colors
y = y / len(unique_labels)
color = cm[y]
# Create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(cloud[:, [x_feat, y_feat, z_feat]],
edge_color=None,
face_color=color,
size=5)
view.add(scatter)
# Define camara rotation
view.camera = 'turntable' # or try 'arcball'
# Add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
def __init__(self, width=600, height=600):
self._canvas = SceneCanvas(size=(width, height),
position=(0, 0),
keys='interactive',
title="ALife book " +
self.__class__.__name__)
self._view = self._canvas.central_widget.add_view()
#self._view.camera = 'arcball'
self._view.camera = 'turntable'
self._axis = visuals.XYZAxis(parent=self._view.scene)
self._arrows = None
self._markers = None
self._canvas.show()
def visualize_results(pcl,label = None):
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
scatter = visuals.Markers()
# pcl = convert_pcl(pcl,label)
if (label.any() != None):
scatter.set_data(pcl[:,:3],edge_color = color_labels(label), size = 2)
else:
scatter.set_data(pcl[:,:3], size = 7)
# scatter.set_data(, edge_color=None, face_color=(1, 1, 1, .5), size=5)
view.add(scatter)
view.camera = 'turntable'
axis = visuals.XYZAxis(parent=view.scene)
vispy.app.run()
def plot_3d_point_cloud_vispy(points, colors, size=5):
canvas = vispy.scene.SceneCanvas(keys='interactive',
show=True,
bgcolor='w')
view = canvas.central_widget.add_view()
scatter = visuals.Markers()
scatter.set_data(points / (np.max(points) - np.min(points)),
edge_color=colors,
size=1)
# view.camera = 'turntable'
view.camera = 'arcball'
view.add(scatter)
visuals.XYZAxis(parent=view.scene)
vispy.app.run()
def draw():
canvas = scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
self.graphic_robots = []
self.graphic_trajectories = []
for _ in self.quads:
self.graphic_robots.append(GraphicQuad(view))
# Trtajectory
Plot3D = scene.visuals.create_visual_node(visualsplot.LinePlotVisual)
pos = np.c_[[0], [0], [0]]
gtraj = Plot3D(pos, width=2.0, color=(1, 0, 0, .9),
face_color=(0., 0., 0, 0.),
parent=view.scene)
self.graphic_trajectories.append(gtraj)
# Initial drawing for robots
for i, q in enumerate(self.quads):
self.graphic_robots[i].draw(q)
cam = scene.TurntableCamera(elevation=30, azimuth=45)
cam.set_range((-3, 3), (-3, 3), (-3, 3))
view.camera = cam
view.camera = 'arcball' # or try 'turntable'
def update(ev):
# Draw robots
for i, q in enumerate(self.quads):
self.graphic_robots[i].draw(q)
# Draw trajectories
for traj, gtraj in zip(self.trajectories, self.graphic_trajectories):
x, y, z = traj
pos = np.c_[x, y, z]
gtraj.set_data(pos, marker_size=0)
timer = app.Timer(interval=1 / refresh_rate, connect=update, start=True)
vispy.app.run()
def plot(self):
with open("./episode_1.pkl", "rb") as f:
self.data = pickle.load(f)
canvas = vispy.scene.SceneCanvas(keys="interactive",
show=True,
bgcolor="white")
view = canvas.central_widget.add_view()
self.idx = 0
colors = cm.get_cmap("tab10")(np.linspace(0.0, 1.0, 10))
self.color_id = colors[self.data["particle_ids"][0, self.idx, :, 1]]
self.data["flex_states"][:, :, :, [0, 1, 2]] = self.data[
"flex_states"][:, :, :, [0, 2, 1]]
pos = self.data["flex_states"][0, self.idx, :, :3]
self.scatter = visuals.Markers()
self.scatter.set_data(pos,
edge_color=None,
face_color=self.color_id,
size=5)
floor = visuals.Plane(width=5, height=5)
wall = visuals.Plane(width=5,
height=1,
direction="+x",
width_segments=4,
height_segments=10)
wall._mesh.color = "green"
view.add(wall)
wall.transform = transforms.STTransform(translate=(-2.5, 0.0, 0.5))
view.add(self.scatter)
view.add(floor)
view.camera = "turntable" # or try 'arcball'
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
self.reverse = False
timer = app.Timer(interval="1.1")
timer.connect(self.update)
timer.start(0.04)
vispy.app.run()
def __init__(self, data_getter_func, live=False):
"""
Initializes Display
:param live: Whether data is live; determines whether data is
updated for each draw frame.
"""
# Make canvas and add view
self.pos = None
self.canvas = PointMapCanvas(keys='interactive', show=True)
self._data_getter = data_getter_func
self.view = self.canvas.central_widget.add_view()
self.scatter = visuals.Markers() # not an error
self.update_data()
self.view.add(self.scatter)
self.view.camera = 'turntable'
self.axis = visuals.XYZAxis(parent=self.view.scene) # not an error
if live:
self.canvas.draw_func = self.update_data
def reset(self):
""" Reset. """
# last key press (it should have a mutex, but visualization is not
# safety critical, so let's do things wrong)
self.action = "no" # no, next, back, quit are the possibilities
# new canvas prepared for visualizing data
self.canvas = SceneCanvas(keys='interactive', show=True)
# interface (n next, b back, q quit, very simple)
self.canvas.events.key_press.connect(self.key_press)
self.canvas.events.draw.connect(self.draw)
# 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_vis = visuals.Markers()
self.scan_view.camera = 'turntable'
self.scan_view.add(self.scan_vis)
visuals.XYZAxis(parent=self.scan_view.scene)
# img canvas size
self.multiplier = 1
self.canvas_W = 1024
self.canvas_H = 64
# new canvas for img
self.img_canvas = SceneCanvas(keys='interactive', show=True,
size=(self.canvas_W, self.canvas_H * self.multiplier))
# grid
self.img_grid = self.img_canvas.central_widget.add_grid()
# interface (n next, b back, q quit, very simple)
self.img_canvas.events.key_press.connect(self.key_press)
self.img_canvas.events.draw.connect(self.draw)
# add a view for the depth
self.img_view = vispy.scene.widgets.ViewBox(
border_color='white', parent=self.img_canvas.scene)
self.img_grid.add_widget(self.img_view, 0, 0)
self.img_vis = visuals.Image(cmap='viridis')
self.img_view.add(self.img_vis)
def vispy_plot_contours(pos, title=''):
canvas = vispy.scene.SceneCanvas(title=title,
keys='interactive',
show=True,
dpi=100)
view = canvas.central_widget.add_view()
# scatter = visuals.Line(method='gl')
# scatter.set_data(pos, width=3)
scatter = visuals.Isosurface()
scatter.set_data(pos)
view.add(scatter)
# # view.camera = 'arcball' # or try 'arcball'
view.camera = 'turntable'
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
axis.set_data(pos.mean(axis=0))
vispy.app.run()
def visualize_las(self, flag_label=False):
# create a rendering window and renderer
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
# data (Point cloud)
position = self.las[:, 0:3]
intensity = self.las[:, 3]
nPoints = position.shape[0]
colors = np.ones((nPoints, 4))
# Only show intensity
colors[:, 3] = colors[:, 3] * intensity
# create scatter object and fill in the data
scatter = visuals.Markers()
scatter.set_data(position, edge_color=None, face_color=colors, size=1)
view.add(scatter)
# data (Label)
if flag_label:
label = self.label
for iterId in range(len(label)):
scatter = visuals.Markers()
labelOne = label[iterId]
position = np.vstack(labelOne.position)
if position.shape[0] > 1:
scatter.set_data(position,
edge_color=None,
face_color=COLOR_CODE[labelOne.label],
size=3)
view.add(scatter)
# setting visualizer
view.camera = 'turntable'
axis = visuals.XYZAxis(parent=view.scene)
import sys
if sys.flags.interactive != 1:
vispy.app.run()
return 1
def setup_pcl_viewer(X, color=(1, 1, 1, .5), run=False):
# setup a point cloud viewer using vispy and return a drawing function
# make a canvas and add simple view
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
# create scatter object and fill in the data
# init_pc = np.random.normal(size=(100, 3), scale=0.2)
init_pc = X
scatter = visuals.Markers()
draw_fn = partial(scatter.set_data,
edge_color=None,
face_color=color,
size=5)
draw_fn(init_pc)
view.add(scatter)
# set camera
view.camera = 'turntable' # ['turntable','arcball']
# add a colored 3D axis for orientation
axis = visuals.XYZAxis(parent=view.scene)
return draw_fn
def plot_surf_vispy(vertx, idx, surface_property, color_scheme, text=False):
canvas = scene.SceneCanvas(keys='interactive', show=True, bgcolor='white')
view = canvas.central_widget.add_view()
cm = plt.get_cmap('gist_rainbow')
p = len(vertx)
cmap = np.asarray([cm(1. * i / p) for i in range(p)])
# p = scene.visuals.Markers(pos=vertx, size=1, face_color='b') # Same color for all vertices
p = scene.visuals.Markers(
pos=vertx, size=10,
face_color=cmap) # Color the vertices according to their numbering
view.add(p)
c = surface_color_scale(
surface_property, idx,
'bwr_r') # Colormap according to crystalexplorer visualization
# c = np.tile([1, 1, 1], (len(idx), 1)) # Colormap for same color applied to all faces
mesh = scene.visuals.Mesh(vertices=vertx, faces=idx, face_colors=c)
view.add(mesh)
# t1 = scene.visuals.Text(str(1), pos=vertx[0], color='black')
# t1.font_size = 12
# view.add(t1)
#
# t1 = scene.visuals.Text(str(10+1), pos=vertx[10], color='black')
# t1.font_size = 12
# view.add(t1)
if text is True:
for k, v in enumerate(vertx):
t1 = scene.visuals.Text(str(k + 1), pos=v, color='black')
t1.font_size = 16
view.add(t1)
view.camera = 'turntable'
axis = visuals.XYZAxis(parent=view.scene)
import sys
canvas.show()
if sys.flags.interactive == 0:
app.run()
return canvas
def __init__(self):
self.canvas = SceneCanvas(keys='interactive', show=True)
self.grid = self.canvas.central_widget.add_grid()
self.view = vispy.scene.widgets.ViewBox(border_color='white',
parent=self.canvas.scene)
self.grid.add_widget(self.view, 0, 0)
# Point Cloud Visualizer
self.sem_vis = visuals.Markers()
self.view.camera = vispy.scene.cameras.TurntableCamera(up='z',
azimuth=90)
self.view.add(self.sem_vis)
visuals.XYZAxis(parent=self.view.scene)
# Object Detection Visualizer
self.obj_vis = visuals.Line()
self.view.add(self.obj_vis)
self.connect = np.asarray([[0, 1], [0, 3], [0, 4], [2, 1], [2, 3],
[2, 6], [5, 1], [5, 4], [5, 6], [7, 3],
[7, 4], [7, 6]])
self.data = load_data(
'data/data.p') # Change to data.p for your final submission
def __init__(self, reconstruction, data_path, has_color=1, show_camera=1):
self.data_path = data_path
self.has_color = has_color
self.show_camera = show_camera
pos, color = get_points(reconstruction, has_color)
# create scatter object and fill in the data
self.scatter = visuals.Markers()
self.scatter.set_data(pos, edge_color=None, face_color=color, size=5)
# self.canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
# self.view = self.canvas.central_widget.add_view()
vispy.scene.SceneCanvas.__init__(self, keys='interactive', show=True)
self.unfreeze()
self.view = self.central_widget.add_view()
self.view.add(self.scatter)
# size for plotting cameras
self.length = 1
self.font_size = 12
if (show_camera):
self.camera_nodes, self.text_nodes = \
attach_cameras_to_view(reconstruction, self.view, self.data_path,
length=self.length, font_size=self.font_size)
self.view.camera = 'arcball' # or try 'turntable'
# add a colored 3D axis for orientation
self.axis = visuals.XYZAxis(parent=self.view.scene)
self.visible = True
# self.canvas.app.run()
self.app.run()
# generate data
def solver(t):
pos = np.array([[0.5 + t / 10000, 0.5, 0], [0, 0, 0.5], [0, 0.5, 0],
[0.5, 0, 0]])
return pos
# These are the data that need to be updated each frame --^
scatter = visuals.Markers()
view.add(scatter)
#view.camera = scene.TurntableCamera(up='z')
# just makes the axes
axis = visuals.XYZAxis(parent=view.scene)
t = 0.0
def update(ev):
global scatter
global t
t += 1.0
scatter.set_data(solver(t),
edge_color=None,
face_color=(1, 1, 1, .5),
size=10)
timer = app.Timer()
def main(vid):
# Video capture
cap = cv2.VideoCapture(vid)
print("fps is ", cap.get(cv2.CAP_PROP_FPS))
# Make a canvas and add simple view
canvas = vispy.scene.SceneCanvas(keys='interactive', show=True)
view = canvas.central_widget.add_view()
# create scatter object
scatter = visuals.Markers()
# generate data or figure out how to prevent crash without data ^^
pos = np.random.normal(size=(100000, 3), scale=0.2)
scatter.set_data(pos, edge_color=None, face_color=(1, 1, 1, .5), size=5)
view.add(scatter)
#configure view
view.camera = 'turntable' # or try 'arcball'
axis = visuals.XYZAxis(parent=view.scene)
#load model
sess = tf.Session()
model = RunModel(config, sess=sess)
# verts_anim = []
i = 0
while True:
# Capture frame-by-frame
# print(cap.read())
ret, frame = cap.read()
if frame is None:
break
processed, proc_param, img = preprocess_image(frame)
# Add batch dimension: 1 x D x D x 3
input_img = np.expand_dims(processed, 0)
# Theta is the 85D vector holding [camera, pose, shape]
# where camera is 3D [s, tx, ty]
# pose is 72D vector holding the rotation of 24 joints of SMPL in axis angle format
# shape is 10D shape coefficients of SMPL
start = datetime.datetime.now()
joints, verts, cams, joints3d, theta = model.predict(
input_img, get_theta=True)
# verts_anim.append(verts.tolist())
cam_for_render, vert_shifted, joints_orig = vis_util.get_original(
proc_param, verts, cams[0], joints[0], img_size=img.shape[:2])
rend_img_overlay = renderer(
vert_shifted, cam=cam_for_render, img=img, do_alpha=True)
cv2.imshow('processed', rend_img_overlay)
end = datetime.datetime.now()
delta = end -start
print("took:" , delta)
# Display Camera frame
cv2.imshow('frame',frame)
# cv2.imshow('processed',processed)
if cv2.waitKey(1) & 0xFF == ord('q'):
break
# Display Plot
# pos = np.random.normal(size=(100000, 3), scale=0.2)
# scatter.set_data(verts[0], edge_color=None, face_color=(1, 1, 1, .5), size=5)
i = i + 1
print(i)
if i % 30 == 0:
print("new second!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
# to_json(verts_anim, "verts_anim.txt")
# When everything done, release the capture
cap.release()
cv2.destroyAllWindows()
def pcd_vispy(scans=None,
img=None,
boxes=None,
name=None,
index=0,
vis_size=(800, 600),
save_img=False,
visible=True,
no_gt=False,
multi_vis=False,
point_size=0.02):
if multi_vis:
canvas = vispy.scene.SceneCanvas(title=name,
keys='interactive',
size=vis_size,
show=True)
else:
canvas = vispy.scene.SceneCanvas(title=name,
keys='interactive',
size=vis_size,
show=visible)
grid = canvas.central_widget.add_grid()
vb = grid.add_view(row=0, col=0, row_span=2)
vb_img = grid.add_view(row=1, col=0)
vb.camera = 'turntable'
vb.camera.elevation = 90 # 21.0
vb.camera.center = (6.5, -0.5, 9.0)
vb.camera.azimuth = -90 # -75.5
vb.camera.scale_factor = 63 # 32.7
if scans is not None:
if not isinstance(scans, list):
pos = scans[:, :3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(1, 1, 1, 1),
size=point_size,
scaling=True)
vb.add(scatter)
else:
pos = scans[0][:, :3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(1, 1, 1, 1),
size=point_size,
scaling=True)
vb.add(scatter)
pos = scans[1][:, :3]
scatter = visuals.Markers()
scatter.set_gl_state('translucent', depth_test=False)
scatter.set_data(pos,
edge_width=0,
face_color=(0, 1, 1, 1),
size=point_size,
scaling=True)
vb.add(scatter)
axis = visuals.XYZAxis()
vb.add(axis)
if img is None:
img = np.zeros(shape=[1, 1, 3], dtype=np.float32)
image = visuals.Image(data=img, method='auto')
vb_img.camera = 'turntable'
vb_img.camera.elevation = -90.0
vb_img.camera.center = (2100, -380, -500)
vb_img.camera.azimuth = 0.0
vb_img.camera.scale_factor = 1500
vb_img.add(image)
if boxes is not None:
gt_indice = np.where(boxes["cls_rpn"] == 4)[0]
gt_cnt = len(gt_indice)
boxes_cnt = boxes["center"].shape[0]
i = 0
for k in range(boxes_cnt):
radio = max(boxes["score"][k] - 0.5, 0.005) * 2.0
color = (0, radio, 0, 1) # Green
if boxes["cls_rpn"][k] == 4: # gt boxes
i = i + 1
vsp_box = visuals.Box(depth=boxes["size"][k][0],
width=boxes["size"][k][1],
height=boxes["size"][k][2],
color=(0.3, 0.4, 0.0, 0.06),
edge_color='pink')
mesh_box = vsp_box.mesh.mesh_data
mesh_border_box = vsp_box.border.mesh_data
vertices = mesh_box.get_vertices()
center = np.array([
boxes["center"][k][0], boxes["center"][k][1],
boxes["center"][k][2]
],
dtype=np.float32)
vertices_roa_trans = box_rot_trans(vertices,
-boxes["yaw"][k][0],
center) #
mesh_border_box.set_vertices(vertices_roa_trans)
mesh_box.set_vertices(vertices_roa_trans)
vb.add(vsp_box)
if True:
text = visuals.Text(text='det: ({}/{})'.format(i, gt_cnt),
color='white',
face='OpenSans',
font_size=12,
pos=[
boxes["center"][k][0],
boxes["center"][k][1],
boxes["center"][k][2]
],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 0: # True negative cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color=color))
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 1: # False negative cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color="red"))
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 2: # False positive cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color="blue"))
elif (boxes["cls_rpn"][k] + boxes["cls_cube"][k]
) == 3: # True positive cls rpn divided by cube
vb.add(
line_box(boxes["center"][k],
boxes["size"][k],
-boxes["yaw"][k],
color="yellow"))
text = visuals.Text(
text=str(k),
color=color,
face='OpenSans',
font_size=12,
pos=[
boxes["center"][k][0] - boxes["size"][k][0] / 2,
boxes["center"][k][1] - boxes["size"][k][1] / 2,
boxes["center"][k][2] - boxes["size"][k][2] / 2
],
anchor_x='left',
anchor_y='top',
font_manager=None)
vb.add(text)
if save_img:
folder = path_add(cfg.TEST_RESULT, cfg.RANDOM_STR)
if not os.path.exists(folder):
os.makedirs(folder)
fileName = path_add(folder, str(index).zfill(6) + '.png')
res = canvas.render(bgcolor='black')[:, :, 0:3]
vispy_file.write_png(fileName, res)
@canvas.connect
def on_key_press(ev):
if ev.key.name in '+=':
a = vb.camera.get_state()
print(a)
if visible:
pass
vispy.app.run()
return canvas
mask_scatter = visuals.Markers()
pred_scatter = visuals.Markers()
real_scatter.set_data(data[:, :3], edge_color=None, face_color=real_colors, size=5)
mask_scatter.set_data(data[:, :3], edge_color=None, face_color=mask_colors, size=5)
pred_scatter.set_data(data[:, :3], edge_color=None, face_color=pred_colors, size=5)
vb1.add(real_scatter)
vb2.add(mask_scatter)
vb3.add(pred_scatter)
vb1.camera = 'turntable'
vb2.camera = 'turntable'
vb3.camera = 'turntable'
vb1.camera.link(vb2.camera)
vb1.camera.link(vb3.camera)
vb1.camera.set_range()
# add a colored 3D axis for orientation
real_axis = visuals.XYZAxis(parent=vb1.scene)
mask_axis = visuals.XYZAxis(parent=vb2.scene)
pred_axis = visuals.XYZAxis(parent=vb3.scene)
if __name__ == '__main__':
import sys
if sys.flags.interactive != 1:
vispy.app.run()
