def viz_regions(img, xyz, seg, planes, labels):
"""
img,depth,seg are images of the same size.
visualizes depth masks for top NOBJ objects.
"""
# plot the RGB-D point-cloud:
su.plot_xyzrgb(xyz.reshape(-1, 3), img.reshape(-1, 3))
# plot the RANSAC-planes at the text-regions:
for i, l in enumerate(labels):
mask = seg == l
xyz_region = xyz[mask, :]
su.visualize_plane(xyz_region, np.array(planes[i]))
mym.view(180, 180)
mym.orientation_axes()
mym.show(True)
def viz_regions(img,xyz,seg,planes,labels):
"""
img,depth,seg are images of the same size.
visualizes depth masks for top NOBJ objects.
"""
# plot the RGB-D point-cloud:
su.plot_xyzrgb(xyz.reshape(-1,3),img.reshape(-1,3))
# plot the RANSAC-planes at the text-regions:
for i,l in enumerate(labels):
mask = seg==l
xyz_region = xyz[mask,:]
su.visualize_plane(xyz_region,np.array(planes[i]))
mym.view(180,180)
mym.orientation_axes()
mym.show(True)
