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0d37127299
- Fix opencv bunny path for viz sample 3 - Fix viz sample 2 for proper rotation based on video in here[1] [1]: https://docs.opencv.org/4.5.3/d8/df0/tutorial_widget_pose.html
42 lines
1.4 KiB
Python
42 lines
1.4 KiB
Python
import numpy as np
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import cv2 as cv
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def load_bunny():
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with open(cv.samples.findFile("../viz/data/bunny.ply"), 'r') as f:
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s = f.read()
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ligne = s.split('\n')
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if len(ligne) == 5753:
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pts3d = np.zeros(shape=(1,1889,3), dtype=np.float32)
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pts3d_c = 255 * np.ones(shape=(1,1889,3), dtype=np.uint8)
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pts3d_n = np.ones(shape=(1,1889,3), dtype=np.float32)
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for idx in range(12,1889):
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d = ligne[idx].split(' ')
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pts3d[0,idx-12,:] = (float(d[0]), float(d[1]), float(d[2]))
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pts3d = 5 * pts3d
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return cv.viz_WCloud(pts3d)
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myWindow = cv.viz_Viz3d("Coordinate Frame")
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axe = cv.viz_WCoordinateSystem()
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myWindow.showWidget("axe",axe)
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cam_pos = (3.0, 3.0, 3.0)
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cam_focal_point = (3.0,3.0,2.0)
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cam_y_dir = (-1.0,0.0,0.0)
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cam_pose = cv.viz.makeCameraPose(cam_pos, cam_focal_point, cam_y_dir)
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print("OK")
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transform = cv.viz.makeTransformToGlobal((0.0,-1.0,0.0), (-1.0,0.0,0.0), (0.0,0.0,-1.0), cam_pos)
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pw_bunny = load_bunny()
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cloud_pose = cv.viz_Affine3d()
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cloud_pose = cloud_pose.translate((0, 0, 3))
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cloud_pose_global = transform.product(cloud_pose)
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cpw = cv.viz_WCameraPosition(0.5)
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cpw_frustum = cv.viz_WCameraPosition(0.3)
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myWindow.showWidget("CPW", cpw);
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myWindow.showWidget("CPW_FRUSTUM", cpw_frustum)
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myWindow.setViewerPose(cam_pose)
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myWindow.showWidget("bunny", pw_bunny, cloud_pose_global)
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#myWindow.setWidgetPosePy("bunny")
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myWindow.spin();
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print("Last event loop is over")
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