def text_3d()

in contactopt/util.py [0:0]

• 22 lines of code
• 3 McCabe index (conditional complexity)

def text_3d(text, pos, direction=None, degree=-90.0, density=10, font='/usr/share/fonts/truetype/freefont/FreeMono.ttf', font_size=10):
    """
    Generate a Open3D text point cloud used for visualization.
    https://github.com/intel-isl/Open3D/issues/2
    :param text: content of the text
    :param pos: 3D xyz position of the text upper left corner
    :param direction: 3D normalized direction of where the text faces
    :param degree: in plane rotation of text
    :param font: Name of the font - change it according to your system
    :param font_size: size of the font
    :return: o3d.geoemtry.PointCloud object
    """
    if direction is None:
        direction = (0., 0., 1.)

    # font_obj = ImageFont.truetype(font, font_size)
    font_obj = ImageFont.truetype(font, font_size * density)
    font_dim = font_obj.getsize(text)

    img = Image.new('RGB', font_dim, color=(255, 255, 255))
    draw = ImageDraw.Draw(img)
    draw.text((0, 0), text, font=font_obj, fill=(0, 0, 0))
    img = np.asarray(img)
    img_mask = img[:, :, 0] < 128
    indices = np.indices([*img.shape[0:2], 1])[:, img_mask, 0].reshape(3, -1).T

    pcd = open3d.geometry.PointCloud()
    pcd.colors = open3d.utility.Vector3dVector(img[img_mask, :].astype(float) / 255.0)
    # pcd.points = o3d.utility.Vector3dVector(indices / 100.0)
    pcd.points = open3d.utility.Vector3dVector(indices / 1000 / density)

    raxis = np.cross([0.0, 0.0, 1.0], direction)
    if np.linalg.norm(raxis) < 1e-6:
        raxis = (0.0, 0.0, 1.0)
    trans = (Quaternion(axis=raxis, radians=np.arccos(direction[2])) *
             Quaternion(axis=direction, degrees=degree)).transformation_matrix
    trans[0:3, 3] = np.asarray(pos)
    pcd.transform(trans)
    return pcd