def getImageRepresentation(self):
print("getImageRepresentation:", self._bestReferenceName)
text = self._bestReferenceName
size = 100
canvas = Image.new("RGB", [size, size], (255, 255, 255))
draw = ImageDraw.Draw(canvas)
textWidth, textHeight = draw.textsize(text)
offset = (5, 5)
white = "#000000"
draw.text(offset, text, fill=white)
ret = 255.0 - np.asarray(canvas)
middleOfImage = np.array([[50.0, 50.0]])
cloudPoints = np.dot(
self._lastCloud,
self._transformation[1]) + self._transformation[2] + middleOfImage
referencePoints = self._referenceClouds[
self._bestReferenceName] + middleOfImage
ImageUtilities.addPointsToImage(ret, cloudPoints, 0)
ImageUtilities.addPointsToImage(ret, referencePoints, 1)
return ret
def PointCloudToRgbImage(cloud, color):
if 0 == cloud.size():
return np.zeros((10, 10, 3))
cols = int(cloud.max()[1] + cloud.min()[1]) + 1
rows = int(cloud.max()[0] + cloud.min()[0]) + 1
ret = np.zeros((rows, cols, 3))
ImageUtilities.addPointsToImage(ret, cloud, color)
return ret
