From a6d5c3a5b24e9347aa9edfe7188f563f55877775 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?F=C3=A9lix?= Date: Thu, 24 Oct 2024 20:44:22 +0200 Subject: [PATCH] Updating goos_vis --- testing/goose_visualizer.py | 14 ++++++-------- 1 file changed, 6 insertions(+), 8 deletions(-) diff --git a/testing/goose_visualizer.py b/testing/goose_visualizer.py index e388e04..9ca1a3a 100644 --- a/testing/goose_visualizer.py +++ b/testing/goose_visualizer.py @@ -136,7 +136,6 @@ def vis_first_file() -> None: vis.destroy_window() def vis_sequences(): - path_file_list = load_path_files(path) num_files = len(path_file_list) point_cloud = o3d.geometry.PointCloud() @@ -144,29 +143,28 @@ def vis_sequences(): vis = o3d.visualization.VisualizerWithKeyCallback() vis.create_window(window_name='PointCloud Sequence') - configure_visualizer(vis) - vis.add_geometry(point_cloud) + # Call to configure the camera view once the geometry has been added + configure_visualizer(vis) + frame = [0] last_update_time = [time.time()] # Track the time of the last update def update_frame(vis): current_time = time.time() - - if current_time - last_update_time[0] >= 0.001: + if current_time - last_update_time[0] >= 0.5: # Adjust the speed for faster updates frame[0] += 1 if frame[0] >= num_files: - frame[0] = 0 # Reset to loop the sequence if desired + frame[0] = 0 # Loop the sequence if desired update_pointcloud(path_file_list[frame[0]], point_cloud) vis.update_geometry(point_cloud) - vis.poll_events() vis.update_renderer() last_update_time[0] = current_time # Update the time of the last update - # Set a timer callback to update the frame + # Register a callback for each frame vis.register_animation_callback(lambda vis: update_frame(vis)) vis.run()