| 750 | return image |
| 751 | |
| 752 | def read_data(self, pc_list, color_list, conf_list, edge_color_list=None): |
| 753 | pcs = {} |
| 754 | step_list = [] |
| 755 | for i, pc in enumerate(pc_list): |
| 756 | step = i |
| 757 | pcs.update( |
| 758 | { |
| 759 | step: { |
| 760 | "pc": pc, |
| 761 | "color": color_list[i], |
| 762 | "conf": conf_list[i], |
| 763 | "edge_color": ( |
| 764 | None if edge_color_list[i] is None else edge_color_list[i] |
| 765 | ), |
| 766 | } |
| 767 | } |
| 768 | ) |
| 769 | step_list.append(step) |
| 770 | # generate camera gradient colors |
| 771 | num_cameras = len(pc_list) |
| 772 | if num_cameras > 1: |
| 773 | normalized_indices = np.array(list(range(num_cameras))) / (num_cameras - 1) |
| 774 | else: |
| 775 | normalized_indices = np.array([0.0]) |
| 776 | cmap = cm.viridis |
| 777 | self.camera_colors = cmap(normalized_indices) |
| 778 | return pcs, step_list |
| 779 | |
| 780 | def parse_pc_data( |
| 781 | self, |