from asyncio import sleep
from io import BytesIO
import numpy as np
import PIL.Image as PImage
from vuer import Vuer
from vuer.events import ClientEvent
from vuer.schemas import (
Box,
Sphere,
DefaultScene,
CameraView, Plane,
)
app = Vuer(
queries=dict(
reconnect=True,
grid=False,
backgroundColor="black",
),
# debug=True,
)
@app.spawn
async def show_heatmap(proxy):
app.set @ DefaultScene(
rawChildren=[
CameraView(
fov=50,
width=320,
height=240,
key="ego",
position=[-0.5, 1.25, 0.5],
rotation=[-0.4 * np.pi, -0.1 * np.pi, 0.15 + np.pi],
stream="frame",
fps=30,
showFrustum=True,
downsample=1,
# dpr=1,
),
],
# hide the helper to only render the objects.
show_helper=False,
)
app.add @ Box(
key="box",
args=[0.2, 0.2, 0.2],
position=[0, 0, 0.1],
rotation=[0, 0, 0],
materialType="depth",
meterial=dict(color="green"),
outlines=dict(angle=0, thickness=0.005, color="white"),
)
app.add @ Plane(
key="ground-plane",
args=[10, 10, 10],
position=[0, 0, 0],
rotation=[0, 0, 0],
materialType="depth",
meterial=dict(color="green", side=2),
)
app.add @ Sphere(
key="sphere",
args=[0.1, 200, 200],
position=[0.2, 0, 0.1],
rotation=[0, 0, 0],
materialType="depth",
outlines=dict(angle=0, thickness=0.002, color="white"),
),
i = 0
while True:
i += 1
h = 0.25 - (0.00866 * (i % 120 - 60)) ** 2
position = [0.2, 0.0, 0.1 + h]
# phase = 2 * np.pi * i / 240
# position = [0.15 + 0.25 * np.sin(phase), 0.1, 0.2 * np.cos(phase)]
app.update @ Sphere(
key="sphere",
args=[0.1, 20, 20],
position=position,
rotation=[0, 0, 0],
materialType="depth",
),
await sleep(0.014)
counter = 0
async def collect_render(event: ClientEvent, _):
global counter
import cv2
# add you render saving logic here.
counter += 1
if counter % 1 == 0:
value = event.value
buff = value['frame']
pil_image = PImage.open(BytesIO(buff))
img = np.array(pil_image)
img_bgr = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
cv2.imshow('frame', img_bgr)
if cv2.waitKey(1) == ord('q'):
exit()
app.add_handler("CAMERA_VIEW", collect_render)
app.run()