-
Notifications
You must be signed in to change notification settings - Fork 0
/
show3d_balls.py
158 lines (144 loc) · 4.95 KB
/
show3d_balls.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
import numpy as np
import ctypes as ct
import cv2
import sys
showsz=800
mousex,mousey=0.5,0.5
zoom=1.0
changed=True
def onmouse(*args):
global mousex,mousey,changed
y=args[1]
x=args[2]
mousex=x/float(showsz)
mousey=y/float(showsz)
changed=True
cv2.namedWindow('show3d')
cv2.moveWindow('show3d',0,0)
cv2.setMouseCallback('show3d',onmouse)
dll=np.ctypeslib.load_library('render_balls_so','.')
def showpoints(xyz,c_gt=None, c_pred = None ,waittime=0,showrot=False,magnifyBlue=0,freezerot=False,background=(0,0,0),normalizecolor=True,ballradius=10):
global showsz,mousex,mousey,zoom,changed
xyz=xyz-xyz.mean(axis=0)
radius=((xyz**2).sum(axis=-1)**0.5).max()
xyz/=(radius*2.2)/showsz
if c_gt is None:
c0=np.zeros((len(xyz),),dtype='float32')+255
c1=np.zeros((len(xyz),),dtype='float32')+255
c2=np.zeros((len(xyz),),dtype='float32')+255
else:
c0=c_gt[:,0]
c1=c_gt[:,1]
c2=c_gt[:,2]
if normalizecolor:
c0/=(c0.max()+1e-14)/255.0
c1/=(c1.max()+1e-14)/255.0
c2/=(c2.max()+1e-14)/255.0
c0=np.require(c0,'float32','C')
c1=np.require(c1,'float32','C')
c2=np.require(c2,'float32','C')
show=np.zeros((showsz,showsz,3),dtype='uint8')
def render():
rotmat=np.eye(3)
if not freezerot:
xangle=(mousey-0.5)*np.pi*1.2
else:
xangle=0
rotmat=rotmat.dot(np.array([
[1.0,0.0,0.0],
[0.0,np.cos(xangle),-np.sin(xangle)],
[0.0,np.sin(xangle),np.cos(xangle)],
]))
if not freezerot:
yangle=(mousex-0.5)*np.pi*1.2
else:
yangle=0
rotmat=rotmat.dot(np.array([
[np.cos(yangle),0.0,-np.sin(yangle)],
[0.0,1.0,0.0],
[np.sin(yangle),0.0,np.cos(yangle)],
]))
rotmat*=zoom
nxyz=xyz.dot(rotmat)+[showsz/2,showsz/2,0]
ixyz=nxyz.astype('int32')
show[:]=background
dll.render_ball(
ct.c_int(show.shape[0]),
ct.c_int(show.shape[1]),
show.ctypes.data_as(ct.c_void_p),
ct.c_int(ixyz.shape[0]),
ixyz.ctypes.data_as(ct.c_void_p),
c0.ctypes.data_as(ct.c_void_p),
c1.ctypes.data_as(ct.c_void_p),
c2.ctypes.data_as(ct.c_void_p),
ct.c_int(ballradius)
)
if magnifyBlue>0:
show[:,:,0]=np.maximum(show[:,:,0],np.roll(show[:,:,0],1,axis=0))
if magnifyBlue>=2:
show[:,:,0]=np.maximum(show[:,:,0],np.roll(show[:,:,0],-1,axis=0))
show[:,:,0]=np.maximum(show[:,:,0],np.roll(show[:,:,0],1,axis=1))
if magnifyBlue>=2:
show[:,:,0]=np.maximum(show[:,:,0],np.roll(show[:,:,0],-1,axis=1))
if showrot:
cv2.putText(show,'xangle %d'%(int(xangle/np.pi*180)),(30,showsz-30),0,0.5,cv2.cv.CV_RGB(255,0,0))
cv2.putText(show,'yangle %d'%(int(yangle/np.pi*180)),(30,showsz-50),0,0.5,cv2.cv.CV_RGB(255,0,0))
cv2.putText(show,'zoom %d%%'%(int(zoom*100)),(30,showsz-70),0,0.5,cv2.cv.CV_RGB(255,0,0))
changed=True
while True:
if changed:
render()
changed=False
cv2.imshow('show3d',show)
if waittime==0:
cmd=cv2.waitKey(10)%256
else:
cmd=cv2.waitKey(waittime)%256
if cmd==ord('q'):
break
elif cmd==ord('Q'):
sys.exit(0)
if cmd==ord('t') or cmd == ord('p'):
if cmd == ord('t'):
if c_gt is None:
c0=np.zeros((len(xyz),),dtype='float32')+255
c1=np.zeros((len(xyz),),dtype='float32')+255
c2=np.zeros((len(xyz),),dtype='float32')+255
else:
c0=c_gt[:,0]
c1=c_gt[:,1]
c2=c_gt[:,2]
else:
if c_pred is None:
c0=np.zeros((len(xyz),),dtype='float32')+255
c1=np.zeros((len(xyz),),dtype='float32')+255
c2=np.zeros((len(xyz),),dtype='float32')+255
else:
c0=c_pred[:,0]
c1=c_pred[:,1]
c2=c_pred[:,2]
if normalizecolor:
c0/=(c0.max()+1e-14)/255.0
c1/=(c1.max()+1e-14)/255.0
c2/=(c2.max()+1e-14)/255.0
c0=np.require(c0,'float32','C')
c1=np.require(c1,'float32','C')
c2=np.require(c2,'float32','C')
changed = True
if cmd==ord('n'):
zoom*=1.1
changed=True
elif cmd==ord('m'):
zoom/=1.1
changed=True
elif cmd==ord('r'):
zoom=1.0
changed=True
elif cmd==ord('s'):
cv2.imwrite('show3d.png',show)
if waittime!=0:
break
return cmd
if __name__=='__main__':
np.random.seed(100)
showpoints(np.random.randn(2500,3))