opencv_pointcloud_viewer Namespace Reference

Classes
class	AppState

Functions
def	axes (out, pos, rotation=np.eye(3), size=0.075, thickness=2)
def	frustum (out, intrinsics, color=(0x40, 0x40, 0x40))
def	grid (out, pos, rotation=np.eye(3), size=1, n=10, color=(0x80, 0x80, 0x80))
def	line3d (out, pt1, pt2, color=(0x80, 0x80, 0x80), thickness=1)
def	mouse_cb (event, x, y, flags, param)
def	pointcloud (out, verts, texcoords, color, painter=True)
def	project (v)
def	view (v)

Variables
	color_frame = frames.get_color_frame()
	color_image = np.asanyarray(color_frame.get_data())
	color_source
	colorizer = rs.colorizer()
	config = rs.config()
	decimate = rs.decimation_filter()
	depth_colormap
	depth_frame = frames.get_depth_frame()
	depth_image = np.asanyarray(depth_frame.get_data())
	depth_intrinsics = depth_profile.get_intrinsics()
	depth_profile = rs.video_stream_profile(profile.get_stream(rs.stream.depth))
	dt = time.time()-now
	frames = pipeline.wait_for_frames()
	h
	key = cv2.waitKey(1)
	mapped_frame
	n
	now = time.time()
	out = np.empty((h, w, 3), dtype=np.uint8)
	pc = rs.pointcloud()
	pipeline = rs.pipeline()
	points = pc.calculate(depth_frame)
	profile = pipeline.get_active_profile()
	rotation
	size
	state = AppState()
	t
	texcoords = np.asanyarray(t).view(np.float32).reshape(-1, 2)
	thickness
	tmp = np.zeros((h, w, 3), dtype=np.uint8)
	v
	verts = np.asanyarray(v).view(np.float32).reshape(-1, 3)
	w

Function Documentation

def opencv_pointcloud_viewer.axes	(		out,
			pos,
			rotation = np.eye(3),
			size = 0.075,
			thickness = 2
	)

draw 3d axes

Definition at line 190 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.frustum	(		out,
			intrinsics,
			color = (0x40, 0x40, 0x40)
	)

draw camera's frustum

Definition at line 200 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.grid	(		out,
			pos,
			rotation = np.eye(3),
			size = 1,
			n = 10,
			color = (0x80, 0x80, 0x80)
	)

draw a grid on xz plane

Definition at line 175 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.line3d	(		out,
			pt1,
			pt2,
			color = (0x80, 0x80, 0x80),
			thickness = 1
	)

draw a 3d line from pt1 to pt2

Definition at line 161 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.mouse_cb	(		event,
			x,
			y,
			flags,
			param
	)

Definition at line 89 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.pointcloud	(		out,
			verts,
			texcoords,
			color,
			painter = True
	)

draw point cloud with optional painter's algorithm

Definition at line 222 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.project

(

v

)

project 3d vector array to 2d

Definition at line 140 of file opencv_pointcloud_viewer.py.

def opencv_pointcloud_viewer.view

(

v

)

apply view transformation on vector array

Definition at line 156 of file opencv_pointcloud_viewer.py.

Variable Documentation

opencv_pointcloud_viewer.color_frame = frames.get_color_frame()

Definition at line 273 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.color_image = np.asanyarray(color_frame.get_data())

Definition at line 283 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.color_source

Definition at line 289 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.colorizer = rs.colorizer()

Definition at line 86 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.config = rs.config()

Definition at line 68 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.decimate = rs.decimation_filter()

Definition at line 84 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.depth_colormap

Initial value:

= np.asanyarray(
            colorizer.colorize(depth_frame).get_data())

Definition at line 285 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.depth_frame = frames.get_depth_frame()

Definition at line 272 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.depth_image = np.asanyarray(depth_frame.get_data())

Definition at line 282 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.depth_intrinsics = depth_profile.get_intrinsics()

Definition at line 79 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.depth_profile = rs.video_stream_profile(profile.get_stream(rs.stream.depth))

Definition at line 78 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.dt = time.time()-now

Definition at line 322 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.frames = pipeline.wait_for_frames()

Definition at line 270 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.h

Definition at line 80 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.key = cv2.waitKey(1)

Definition at line 329 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.mapped_frame

Definition at line 289 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.n

Definition at line 306 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.now = time.time()

Definition at line 302 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.out = np.empty((h, w, 3), dtype=np.uint8)

Definition at line 264 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.pc = rs.pointcloud()

Definition at line 83 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.pipeline = rs.pipeline()

Definition at line 67 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.points = pc.calculate(depth_frame)

Definition at line 293 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.profile = pipeline.get_active_profile()

Definition at line 77 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.rotation

Definition at line 308 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.size

Definition at line 306 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.state = AppState()

Definition at line 64 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.t

Definition at line 297 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.texcoords = np.asanyarray(t).view(np.float32).reshape(-1, 2)

Definition at line 299 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.thickness

Definition at line 308 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.tmp = np.zeros((h, w, 3), dtype=np.uint8)

Definition at line 313 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.v

Definition at line 297 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.verts = np.asanyarray(v).view(np.float32).reshape(-1, 3)

Definition at line 298 of file opencv_pointcloud_viewer.py.

opencv_pointcloud_viewer.w

Definition at line 80 of file opencv_pointcloud_viewer.py.