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# Copyright 2021 Toyota Research Institute. All rights reserved.
import numpy as np
import camviz as cv
# Load evaluation data
data = np.load('demos/data/ddad_eval.npz')
# Get image resolution
wh = data['rgb'].shape[:2][::-1]
# Create draw tool with specific width and height window dimensions
draw = cv.Draw(wh=(2000, 900), title='CamViz Pointcloud Demo')
# Create image screen to show the RGB image
draw.add2Dimage('rgb', luwh=(0.00, 0.00, 0.33, 0.50), res=wh)
# Create image screen to show the depth visualization
draw.add2Dimage('viz', luwh=(0.00, 0.50, 0.33, 1.00), res=wh)
# Create world screen at specific position inside the window (% left/up/right/down)
draw.add3Dworld('wld', luwh=(0.33, 0.00, 1.00, 1.00),
pose=(7.25323, -3.80291, -5.89996, 0.98435, 0.07935, 0.15674, 0.01431))
# Parse dictionary information
rgb = data['rgb']
intrinsics = data['intrinsics']
depth = data['depth']
viz = data['viz']
# Create camera from intrinsics and image dimensions (width and height)
camera = cv.objects.Camera(K=intrinsics, wh=wh)
# Project depth maps from image (i) to camera (c) coordinates
points = camera.i2c(depth)
# Create pointcloud colors
rgb_clr = rgb.reshape(-1, 3) # RGB colors
viz_clr = viz.reshape(-1, 3) # Depth visualization colors
hgt_clr = cv.utils.cmaps.jet(-points[:, 1]) # Height colors
# Create RGB and visualization textures
draw.addTexture('rgb', rgb) # Create texture buffer to store rgb image
draw.addTexture('viz', viz) # Create texture buffer to store visualization image
# Create buffers to store data for display
draw.addBufferf('pts', points) # Create data buffer to store depth points
draw.addBufferf('clr', rgb_clr) # Create data buffer to store rgb points color
draw.addBufferf('viz', viz_clr) # Create data buffer to store pointcloud heights
draw.addBufferf('hgt', hgt_clr) # Create data buffer to store pointcloud heights
# Color dictionary
color_dict = {0: 'clr', 1: 'viz', 2: 'hgt'}
# Display loop
color_mode = 0
while draw.input():
# If RETURN is pressed, switch color mode
if draw.RETURN:
color_mode = (color_mode + 1) % len(color_dict)
# Clear window
draw.clear()
# Draw image textures on their respective screens
draw['rgb'].image('rgb')
draw['viz'].image('viz')
# Draw points and colors from buffer
draw['wld'].size(2).points('pts', color_dict[color_mode])
# Draw camera with texture as image
draw['wld'].object(camera, tex='rgb')
# Update window
draw.update(30)
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