) # Absolute position on earth (lat, lon, yaw)
sv3D.apply_local_adjustment(
) # Relative position according to anchor (anchor's lat,lon)
if index == 0:
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:
# This rotate the SV3D for matching x-y plane
img_ratio2*img_color2 + img_ratio3*img_color3
perspective_90[p_y, p_x, :] = img_color
scipy.misc.imsave(
sv3D.panoMeta['panoId'] + '_' + str(degree) + '.png',
perspective_90)
perspective_90_set.append(perspective_90)
"""
Visualization Data
"""
if needVisual:
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,
sv3D.apply_local_adjustment()
if index == 0:
anchor_matrix_whole = np.dot(sv3D.matrix_local, sv3D.matrix_global)
data = sv3D.ptCLoudData
else:
data = np.concatenate((data, sv3D.ptCLoudData), axis=0)
index += 1
"""
For info_3d
"""
'''
for img, gps in info_3d.items():
for gps, indices in info_3d[img].items():
print(gps, sv3DRegion.fileMeta['info2ID'][gps], sv3DRegion.fileMeta['id2GPS'][sv3DRegion.fileMeta['info2ID'][gps]])
sv3D = sv3DRegion.sv3D_Dict[sv3DRegion.fileMeta['info2ID'][gps]]
programSV3D = glumpy_setting.ProgramSV3D(data=sv3D.ptCLoudData, name=str(index), point_size=1)
index += 1
'''
programSV3DRegion = glumpy_setting.ProgramSV3DRegion(
data=data, name=None, point_size=1, anchor=anchor_matrix_whole)
gpyWindow.add_program(programSV3DRegion)
programAxis = glumpy_setting.ProgramAxis(line_length=5)
gpyWindow.add_program(programAxis)
gpyWindow.run()
sv3D.apply_global_adjustment() # Absolute position on earth
sv3D.apply_local_adjustment(
) # Relative position according to anchor
if index == 0:
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',
point_size=1,
anchor_matrix=anchor_matrix_whole)
programSV3DRegionGnd = glumpy_setting.ProgramSV3DRegion(
data=dataGnd,
name='ProgramSV3DRegion',
point_size=1,
anchor_matrix=anchor_matrix_whole)
if needMatchInfo3d:
programSV3DRegion.apply_anchor_flip()
programSV3DRegionGnd.apply_anchor_flip()
"""
For Visualize
"""
if needVisual:
gpyWindow = glumpy_setting.GpyWindow()
