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- import numpy as np
- import cv2 as cv
- def load_bunny():
- with open(cv.samples.findFile("../viz/data/bunny.ply"), 'r') as f:
- s = f.read()
- ligne = s.split('\n')
- if len(ligne) == 5753:
- pts3d = np.zeros(shape=(1,1889,3), dtype=np.float32)
- pts3d_c = 255 * np.ones(shape=(1,1889,3), dtype=np.uint8)
- pts3d_n = np.ones(shape=(1,1889,3), dtype=np.float32)
- for idx in range(12,1889):
- d = ligne[idx].split(' ')
- pts3d[0,idx-12,:] = (float(d[0]), float(d[1]), float(d[2]))
- pts3d = 5 * pts3d
- return cv.viz_WCloud(pts3d)
- myWindow = cv.viz_Viz3d("Coordinate Frame")
- axe = cv.viz_WCoordinateSystem()
- myWindow.showWidget("axe",axe)
- cam_pos = (3.0, 3.0, 3.0)
- cam_focal_point = (3.0,3.0,2.0)
- cam_y_dir = (-1.0,0.0,0.0)
- cam_pose = cv.viz.makeCameraPose(cam_pos, cam_focal_point, cam_y_dir)
- print("OK")
- transform = cv.viz.makeTransformToGlobal((0.0,-1.0,0.0), (-1.0,0.0,0.0), (0.0,0.0,-1.0), cam_pos)
- pw_bunny = load_bunny()
- cloud_pose = cv.viz_Affine3d()
- cloud_pose = cloud_pose.translate((0, 0, 3))
- cloud_pose_global = transform.product(cloud_pose)
- cpw = cv.viz_WCameraPosition(0.5)
- cpw_frustum = cv.viz_WCameraPosition(0.3)
- myWindow.showWidget("CPW", cpw);
- myWindow.showWidget("CPW_FRUSTUM", cpw_frustum)
- myWindow.setViewerPose(cam_pose)
- myWindow.showWidget("bunny", pw_bunny, cloud_pose_global)
- #myWindow.setWidgetPosePy("bunny")
- myWindow.spin();
- print("Last event loop is over")
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