(self,
points,
bbox3d=None,
save_path=None,
points_size=2,
point_color=(0.5, 0.5, 0.5),
bbox_color=(0, 1, 0),
points_in_box_color=(1, 0, 0),
rot_axis=2,
center_mode='lidar_bottom',
mode='xyz')
| 354 | """ |
| 355 | |
| 356 | def __init__(self, |
| 357 | points, |
| 358 | bbox3d=None, |
| 359 | save_path=None, |
| 360 | points_size=2, |
| 361 | point_color=(0.5, 0.5, 0.5), |
| 362 | bbox_color=(0, 1, 0), |
| 363 | points_in_box_color=(1, 0, 0), |
| 364 | rot_axis=2, |
| 365 | center_mode='lidar_bottom', |
| 366 | mode='xyz'): |
| 367 | super(Visualizer, self).__init__() |
| 368 | assert 0 <= rot_axis <= 2 |
| 369 | |
| 370 | # init visualizer |
| 371 | self.o3d_visualizer = o3d.visualization.Visualizer() |
| 372 | self.o3d_visualizer.create_window() |
| 373 | mesh_frame = geometry.TriangleMesh.create_coordinate_frame( |
| 374 | size=1, origin=[0, 0, 0]) # create coordinate frame |
| 375 | self.o3d_visualizer.add_geometry(mesh_frame) |
| 376 | |
| 377 | self.points_size = points_size |
| 378 | self.point_color = point_color |
| 379 | self.bbox_color = bbox_color |
| 380 | self.points_in_box_color = points_in_box_color |
| 381 | self.rot_axis = rot_axis |
| 382 | self.center_mode = center_mode |
| 383 | self.mode = mode |
| 384 | self.seg_num = 0 |
| 385 | |
| 386 | # draw points |
| 387 | if points is not None: |
| 388 | self.pcd, self.points_colors = _draw_points( |
| 389 | points, self.o3d_visualizer, points_size, point_color, mode) |
| 390 | |
| 391 | # draw boxes |
| 392 | if bbox3d is not None: |
| 393 | _draw_bboxes(bbox3d, self.o3d_visualizer, self.points_colors, |
| 394 | self.pcd, bbox_color, points_in_box_color, rot_axis, |
| 395 | center_mode, mode) |
| 396 | |
| 397 | def add_bboxes(self, bbox3d, bbox_color=None, points_in_box_color=None): |
| 398 | """Add bounding box to visualizer. |
nothing calls this directly
no test coverage detected